Robot head and neck structure, robot trunk and humanoid robot

Abstract

The embodiment of the utility model provides a robot head and neck structure, a robot trunk and a humanoid robot, the head and neck structure comprises a head structure and a neck structure, the neck structure comprises a first driving piece, a second driving piece and a connecting piece, the output end of the first driving piece is connected to the connecting piece, and the second driving piece is fixed to the connecting piece; the output end of the second driving part is connected to the head structure, the output end of the first driving part is used for outputting rotation around the first axis, and the output end of the second driving part is used for outputting rotation around the second axis. A first limiting structure is arranged between the connecting piece and the first driving piece and used for limiting the rotating range of the connecting piece around the first axis, and a second limiting structure is arranged between the head structure and the connecting piece and used for limiting the rotating range of the head structure around the second axis. The head structure has a plurality of movable degrees of freedom, and rotation of the head structure is limited under the condition of power loss, so that the position of the head structure is fixed within a certain range.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot head-neck structure, a robot torso and a humanoid robot. BACKGROUND

[0002] In the field of robots, especially in the field of humanoid robots, the head and neck module is an important part of the robot body. In order to meet the appearance and motion posture of the humanoid robot, the head structure of the humanoid robot is becoming more and more important.

[0003] In the related art, the robot head structure only has one degree of freedom in circumferential rotation, which makes the flexibility of the robot head not high, and when the robot does not exist brake and power off, the head of the robot is easy to rotate freely, which leads to the head of the robot is easy to rotate in the circumferential direction, which is not conducive to transportation and placement. Utility model content

[0004] The robot head-neck structure, the robot torso and the humanoid robot provided by the embodiments of the present application have multiple degrees of freedom of movement, and the rotation of the head structure is limited in the case of power loss, so that the position of the head structure is fixed within a certain range.

[0005] In a first aspect, the embodiments of the present application provide a robot head-neck structure, comprising a head structure and a neck structure, the neck structure comprising a first driving member, a second driving member and a connecting member, the output end of the first driving member being connected to the connecting member, the second driving member being fixed to the connecting member, and the output end of the second driving member being connected to the head structure, the output end of the first driving member being used to output rotation around a first axis, the output end of the second driving member being used to output rotation around a second axis, the first axis being perpendicular to the second axis; a first limiting structure is arranged between the connecting member and the first driving member to limit the rotation range of the connecting member around the first axis, and a second limiting structure is arranged between the head structure and the connecting member to limit the rotation range of the head structure around the second axis.

[0006] The robot head-neck structure provided by the embodiments of the present application has the first driving member and the second driving member, the output end of the first driving member can drive the connecting member to rotate the head structure around the first axis, and the output end of the second driving member can drive the head structure to rotate around the second axis, so that the head structure can move in two degrees of freedom. Compared with the head structure in the related art, the head structure of the present application has increased degrees of freedom of movement, and the head structure of the present application is more flexible.

[0007] In addition, the first driving structure and the connecting piece are provided with a first limiting structure, the rotation range of the connecting piece relative to the first driving piece is limited through the first limiting structure, the rotation range of the head structure relative to the connecting piece around the second axis is limited through the second limiting structure, and the starting and ending positions of the head structure rotating around the first axis direction and the second axis direction are limited through the cooperation of the first limiting structure and the second limiting structure, thereby solving the problem that the head structure is prone to circumrotation when the first driving piece and the second driving piece do not have a brake and lose power, the head structure is prevented from circumrotation in this case through the first limiting structure and the second limiting structure, the movement range of the robot head structure of the application in each degree of freedom is limited under the condition of multi-degree-of-freedom movement, circumrotation is avoided, and transportation and placement are facilitated.

[0008] In a possible implementation, the connecting piece includes a first connecting part and a second connecting part, the first connecting part and the second connecting part are connected, and the rotor of the first driving piece is connected to the first connecting part, and the stator of the second driving piece is connected to the second connecting part.

[0009] In a possible implementation, the fixed structure includes a fixing piece and an assembly piece, the fixing piece is connected to the assembly piece, the assembly piece is connected to the first driving piece, the assembly piece and the first connecting part are arranged at intervals, the first limiting structure includes a first limiting step and a second limiting step, the first limiting step is protruded from the first connecting part towards the assembly piece, the second limiting step is protruded from the assembly piece towards the first connecting part, and the second limiting step is located on the rotation path of the first limiting step rotating with the first connecting part.

[0010] In a possible implementation, the second limiting structure includes a positioning pin and a positioning groove, the positioning pin is used for inserting into the positioning groove, the positioning groove is a circular arc groove, the positioning pin is protruded from the second connecting part, and the positioning groove is arranged at the position corresponding to the positioning pin on the head structure.

[0011] In a possible implementation, the head structure includes a connecting shell, the connecting shell is provided with a mounting part, the mounting part is used for connecting to the rotor of the second driving piece, and the connecting shell is further provided with a heat dissipation frame, the heat dissipation frame has a heat dissipation opening in communication with the inside of the head structure, and the heat dissipation opening is used for air flow exchange between the inside of the head structure and the external environment.

[0012] In a possible implementation, the connecting shell comprises a first shell and a second shell connected together, the heat dissipation frame is connected to the first shell, a communication space is formed between the first shell and the second shell, both sides of the communication space are in communication with the outside, and a ventilation opening is further formed in the heat dissipation frame and in communication with the communication space and the inside of the head structure.

[0013] In a possible implementation, a wire hole is further formed in the second shell, one end of the wire hole is in communication with the outside, and the other end is in communication with the inside of the head structure.

[0014] In a possible implementation, the head structure further comprises an outer shell and a front cover, the outer shell is integrally formed, the outer shell is provided with a first opening end and a second opening end opposite to each other, the front cover is connected to the first opening end, and the connecting shell is connected to the second opening end.

[0015] In a second aspect, an embodiment of the present application provides a robot trunk, comprising a trunk body and the robot head-neck structure.

[0016] In a third aspect, an embodiment of the present application provides a humanoid robot, comprising the robot trunk. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the present application.

[0018] Figure 1 An exploded view of the robot head-neck structure provided by the present application;

[0019] Figure 2 A structural schematic view of a partial structure of the robot head-neck structure provided by the present application;

[0020] Figure 3 A structural schematic view of the connecting shell provided by the present application;

[0021] Figure 4 Another structural schematic view of the connecting shell provided by the present application;

[0022] Figure 5 Another exploded view of the robot head-neck structure provided by the present application.

[0023] 10, head structure; 11, outer shell; 111, first open end; 112, second open end; 12, front cover; 13, connecting shell; 131, heat dissipation frame; 1311, heat dissipation opening; 1312, ventilation opening; 132, first shell; 133, second shell; 1331, wire passing hole; 134, communication space; 135, mounting portion; 14, loudspeaker; 15, camera; 16, display screen; 17, main control; 18, voltage reduction module; 20, neck structure; 21, first driving member; 22, second driving member; 23, connecting member; 231, first connecting portion; 232, second connecting portion; 30, first limiting structure; 31, first limiting step; 32, second limiting step; 40, second limiting structure; 41, positioning pin; 42, positioning groove; 50, fixing structure; 51, fixing member; 52, assembling member.

[0024] The specific embodiments of the application have been shown by way of example in the above figures, and will be described in more detail hereafter. These figures and this written description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate the inventive concept by reference to specific embodiments. DETAILED DESCRIPTION

[0025] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements, unless the context clearly dictates otherwise. The subject matter of the exemplary embodiments described herein is not intended to be limited to the particular embodiments described in the following description. Rather, the following description includes specific details to assist in ascertaining the inventive concept. However, various alternative embodiments can be devised which will fall within the spirit and scope of the inventive concept.

[0026] The present application provides a humanoid robot and a robot trunk capable of being applied to the robot, the humanoid robot mainly comprises a limb structure and a robot trunk, the limb structure of the humanoid robot simulates the limbs of a human being, the robot trunk also simulates the trunk of a human being, the limbs of the robot are divided into an arm structure of the upper two limbs and a leg structure of the lower two limbs, and the limb structure of the humanoid robot is connected to the corresponding position of the robot trunk.

[0027] Referring to Figures 1 to 3 The present application also provides a robot head-neck structure, the robot head-neck structure is connected to the robot trunk, and is used for simulating the head and the neck of a human being. The head-neck structure of the present application comprises a head structure 10 and a neck structure 20, wherein the neck structure 20 is used for being connected between the head structure 10 and the robot trunk, and the neck structure 20 can also be used for the movement of the head structure 10.

[0028] Specifically, the neck structure 20 comprises a first driving member 21, a second driving member 22 and a connecting member 23, the first driving member 21 and the second driving member 22 are connected together through the connecting member 23, and the head structure 10 is connected to the robot trunk through the first driving member 21 and the second driving member 22, and the cooperation between the first driving member 21 and the second driving member 22 can realize the movement of the head structure 10 in two degrees of freedom.

[0029] It should be noted that the first driving member 21 and the second driving member 22 of the present application can be driving motors, which comprise a stator and a rotor capable of relative rotation, and the stator and the rotor rotate relative to a rotation axis. The rotor of the present application is the output end of the first driving member 21 and the second driving member 22.

[0030] In the present application, the output end of the first driving member 21 (the rotor of the first driving member 21) is connected to the connecting member 23, the shell 11 of the second driving member 22 or the stator of the second driving member 22 is fixed to the connecting member 23, and the output end of the second driving member 22 (the rotor of the second driving member 22) is connected to the head structure 10. At this time, the axis of rotation of the rotor of the first driving member 21 around its stator is the first axis, and the axis of rotation of the rotor of the second driving member 22 around its stator is the second axis. For ease of description, see the dashed line H in FIG. 1 as the first axis, and the dashed line L as the second axis. In this way, the rotor of the first driving member 21 is used to output rotation around the first axis, and the rotor of the second driving member 22 is used to output rotation around the second axis. The first driving member 21 can drive the connecting member 23 to rotate around the first axis, and the second driving member 22 can drive the head structure 10 to rotate around the second axis, so that the head structure 10 can rotate around both the first axis and the second axis. Figure 1 , Figure 1

[0031] It is worth mentioning that the first axis of the present application is perpendicular to the second axis, so that the head structure 10 can move in two perpendicular degrees of freedom.

[0032] In addition, the first limiting structure 30 is arranged between the connecting member 23 and the first driving member 21 of the present application, which is used to limit the rotation range of the connecting member 23 around the first axis, and the second limiting structure 40 is arranged between the head structure 10 and the connecting member 23, which is used to limit the rotation range of the head structure 10 around the second axis.

[0033] ​The robot head-neck structure of the present application, by setting the first driving member 21 and the second driving member 22, the output end of the first driving member 21 can drive the connecting member 23 to drive the head structure 10 to rotate around the first axis, the output end of the second driving member 22 can drive the head structure 10 to rotate around the second axis, so that the head structure 10 can move in two degrees of freedom, and the head structure 10 of the present application has more degrees of freedom than the head structure 10 in the related art, and the head structure 10 of the present application is more flexible.

[0034] In addition, the first driving structure and the connecting member 23 of the present application are provided with the first limiting structure 30, which can limit the rotation range of the connecting member 23 relative to the first driving member 21, so as to limit the rotation range of the head structure 10 around the first axis, and the second limiting structure 40 can limit the rotation range of the head structure 10 around the second axis relative to the connecting member 23, which can be used to limit the starting position of the head structure 10 in two directions, solving the problem that the head structure 10 is prone to rotational motion when there is no brake and power loss inside the first driving member 21 and the second driving member 22. The first limiting structure 30 and the second limiting structure 40 of the present application can prevent the head structure 10 from rotating in this case, so that the robot head structure 10 of the present application can limit the movement range in each degree of freedom under the condition of multi-degree-of-freedom movement, avoid rotation, and be beneficial to transportation and placement.

[0035] Reference Figures 1 to 3 In some realizable ways, the connecting member 23 includes a first connecting part 231 and a second connecting part 232, the first connecting part 231 and the second connecting part 232 are connected, and the first connecting part 231 and the second connecting part 232 can be connected together by screws, clamping structures or buckling structures, or the first connecting part 231 and the second connecting part 232 can be integrally formed, which is not limited by the present application. It should be noted that the first connecting part 231 and the second connecting part 232 integrally formed between them are shown in the present application, but the present application is not limited thereto. Figure 1

[0036] The rotor of the first driving member 21 is connected to the first connecting part 231, and the stator of the second driving member 22 is connected to the second connecting part 232. When the first driving member 21 and the second driving member 22 are connected to the first connecting part 231 and the second connecting part 232 respectively, the first axis is perpendicular to the second axis.

[0037] For example, the rotor of the first driving member 21 and the first connecting part 231 can be connected by screws, and the stator of the second driving member 22 and the second connecting part 232 can be connected by screws.

[0038] ​In the present application, an angle is provided between the first connecting portion 231 and the second connecting portion 232, more specifically, the angle between the first connecting portion 231 and the second connecting portion 232 is 90°, that is, the first connecting portion 231 is perpendicular to the second connecting portion 232, when the rotor of the first driving member 21 is connected to the first connecting portion 231, the first axis is perpendicular to the first connecting portion 231, when the second driving member 22 is connected to the second connecting portion 232, the second axis is perpendicular to the second connecting portion 232. The first driving member 21 and the second connecting portion 232 are located on opposite sides of the first connecting portion 231, and the second driving member 22 and the first connecting portion 231 are located on the same side of the second connecting portion 232. In this way, the first driving member 21 can be vertically arranged, and the second driving member 22 can be horizontally arranged, thereby reducing the arrangement space between the first driving member 21 and the second driving member 22, and making the structure of the neck structure 20 more compact.

[0039] In some possible implementation manners, the head-neck structure 20 further comprises a fixing structure 50, the fixing structure 50 is connected to the first driving member 21, and the fixing structure 50 can be connected to a robot trunk to connect the entire head-neck structure 20 to the robot trunk.

[0040] Specifically, the fixing structure 50 comprises a fixing member 51 and an assembly member 52, the fixing member 51 is connected to the assembly member 52, the fixing member 51 can be connected to the robot trunk by screws, and the assembly member 52 is connected to the first driving member 21. In the present application, the assembly member 52 is connected to one end of the first driving member 21 close to the output end, one end face of the assembly member 52 faces the first connecting portion 231, and the end face of the assembly member 52 and the first connecting portion 231 are arranged in a spaced manner. The first limiting structure 30 in the present application is located between the assembly member 52 and the first connecting portion 231.

[0041] The first limiting structure 30 in the present application comprises a first limiting step 31 and a second limiting step 32, the first limiting step 31 is arranged on the first connecting portion 231, and the second limiting step 32 is arranged on the assembly member 52. Specifically, the first limiting step 31 is protruded on the end face of the first connecting portion 231 facing the assembly member 52, the second limiting step 32 is protruded on the end face of the assembly member 52 facing the first connecting portion 231, and the first limiting step 31 extends towards the assembly member 52, and the second limiting step 32 extends towards the first connecting portion 231.

[0042] It is worth mentioning that the sum of the size of the first limiting step 31 along the first axis and the size of the second limiting step 32 along the first axis is greater than half the distance between the assembly 52 and the first connecting portion 231, and the second limiting step 32 is located in the rotation path of the first limiting step 31, so that when the first limiting step 31 rotates with the first connecting portion 231 around the first axis, the first limiting step 31 can abut against the second limiting step 32, and the first limiting step 31 can abut against the second limiting step 32 during clockwise rotation and counterclockwise rotation around the first axis. Thus, when the first limiting step 31 rotates clockwise to abut against the second limiting step 32 and the first limiting step 31 rotates counterclockwise to abut against the second limiting step 32, they respectively correspond to two limit positions of the first limiting step 31 during rotation, and the angle between the two limit positions is the angle of rotation of the head structure 10 around the first axis.

[0043] Referring to Figures 1 to 3 In some possible implementations, the second limiting structure 40 includes a positioning pin 41 and a positioning groove 42, the positioning pin 41 is used for insertion into the positioning groove 42, and the length of the positioning groove 42 can determine the movement range of the positioning pin 41 in the positioning groove 42, thereby determining the movement range of the head structure 10 around the second axis.

[0044] Specifically, the head structure 10 of the present application includes a mounting portion 135, which is used for connection with the rotor of the second driving member 22. The mounting portion 135 and the second driving member 22 are respectively located on the opposite sides of the second connecting portion 232, and the middle position of the second connecting portion 232 is provided with a through hole, the rotor of the second driving member 22 is arranged opposite to the through hole, and the mounting portion 135 is arranged opposite to the through hole. The mounting portion 135 on the head structure 10 and the rotor of the second driving member 22 are connected together by screws.

[0045] The positioning pin 41 of the present application protrudes from the end surface of the second connecting portion 232 away from the second driving member 22, and extends towards the mounting portion 135 of the head structure 10. The positioning groove 42 is formed on the mounting portion 135 of the head structure 10, and is formed at a position of the mounting portion 135 corresponding to the positioning pin 41. When the mounting portion 135 and the rotor of the second driving member 22 are connected, the positioning groove 42 is inserted into the positioning pin 41.

[0046] It should be noted that the head structure 10 rotates around the second axis, in order to facilitate the rotation of the head structure 10, the positioning groove 42 is a circular arc groove, and the center of the circular arc groove is located on the second axis. It is worth mentioning that the arc length of the positioning groove 42 can limit the movement range of the positioning pin 41, thereby limiting the rotation range of the head structure 10 around the second axis.

[0047] Exemplarily, the angle range of the head structure 10 around the first axis can be determined according to the cooperation of the first limiting step 31 and the second limiting step 32, and the rotation range of the head structure 10 around the second axis can be determined according to the movement path of the positioning pin 41 in the positioning groove 42. In the present application, the rotation range of the head structure 10 around the first axis and the second axis is both -45°-45°.

[0048] It should be further noted that, in order to fix the head structure 10, a limiting screw can also be arranged on the first limiting step 31, and a screw hole can be arranged on the assembly part 52, which is located on the path of the limiting screw rotating with the first limiting step 31. When the head structure 10 rotates to the position that the limiting screw faces the screw hole, the position of the head structure 10 can be fixed by screwing the limiting screw in the screw hole, so as to prevent the head structure 10 from rotating and pitching, which is beneficial to positioning the head structure 10 when the robot is displayed, and realizing static display.

[0049] Referring to Figures 1 to 3 In some possible implementation manners, the head structure 10 comprises a connecting shell 13, which is used to be connected with the second driving member 22, and the mounting part 135 of the present application is arranged on the connecting shell 13. The mounting part 135 of the present application can be a plate-shaped structure, and two mounting parts 135 can be arranged on the connecting shell 13 at intervals, both of which can be used to be connected with the rotor of the second driving member 22. When one of the mounting parts 135 is connected with the rotor of the second driving member 22, the second driving member 22 is located between the two spaced mounting parts 135.

[0050] The connecting shell 13 of the present application can be used to connect the head structure 10 with the second driving member 22, and can also be used for heat dissipation of the internal elements of the head structure 10.

[0051] In combination Figure 4 Specifically, the connecting shell 13 is further provided with a heat dissipation frame 131, which has a heat dissipation opening 1311 in communication with the interior of the head structure 10. The heat dissipation frame 131 is provided with a plurality of heat dissipation openings 1311, which are used for air exchange between the interior of the head structure 10 and the external environment, and are further used for heat exchange in the interior of the head structure 10. By arranging the heat dissipation frame 131, the interior of the head structure 10 can be effectively cooled, so as to ensure that the temperature in the interior of the head structure 10 does not become too high when the robot works.

[0052] In some possible implementation manners, the connecting shell 13 comprises a first shell 132 and a second shell 133 connected to each other, and the first shell 132 and the second shell 133 can be detachably connected, for example, connected together through a buckling structure, a clamping structure or a screw, and the first shell 132 and the second shell 133 can also be connected together through adhesion or welding, or the first shell 132 and the second shell 133 can also be integrally formed, which is not limited in the present application.

[0053] The heat dissipation frame 131 of the present application is connected to the first shell 132, and the first shell 132 and the second shell 133 are both bent at the middle positions, and when the first shell 132 and the second shell 133 are connected, a communication space 134 is formed between the first shell 132 and the second shell 133, and the two sides of the communication space 134 are both in communication with the outside, and the heat dissipation frame 131 is located in the communication space 134.

[0054] The heat dissipation frame 131 of the present application is also provided with a ventilation opening 1312, which is in communication with the communication space 134 and the inside of the head structure 10. The ventilation opening 1312 can increase the degree of communication between the heat dissipation frame 131 and the outside environment, thereby increasing the heat dissipation effect of the heat dissipation frame 131.

[0055] The first shell 132 and the second shell 133 of the present application are both provided with the communication space 134, and the heat dissipation frame 131 is located in the communication space 134, which can not only dissipate heat for the elements in the head structure 10, but also hide the heat dissipation frame 131 between the first shell 132 and the second shell 133, beautifying the appearance of the head structure 10.

[0056] In some possible implementation manners, the second shell 133 is also provided with a wire passing hole 1331, one end of the wire passing hole 1331 is in communication with the outside environment, and the other end is in communication with the inside of the head structure 10, and the wires of the first driving member 21 and the second driving member 22 and the like can pass through the wire passing hole 1331, so that the wires are not exposed, which can not only ensure the orderly storage of the wires, but also protect the wires from being easily torn.

[0057] In some possible implementation manners, the head structure 10 further comprises a shell 11 and a front cover 12, the shell 11 of the present application is integrally formed, and the shell 11 serves as the main body of the head structure 10 and is used for mounting and protecting the elements in the head structure 10. In some examples, the shell 11 is provided with a first open end 111 and a second open end 112 opposite to each other, the front cover 12 is connected to the first open end 111, and the connecting shell 13 is connected to the second open end 112.

[0058] In the application, the front cover 12 can be connected to the shell 11 by gluing, the connecting shell 13 can be connected to the shell 11 by screws, or can also be connected to the shell 11 by a clamping structure or a buckling structure.

[0059] Referring to Figure 5 As shown, the head structure 10 of the application is internally provided with a loudspeaker 14, a display screen 16, a camera 15, a main control 17 and a voltage reduction module 18, wherein the loudspeaker 14, the display screen 16 and the camera 15 are all mounted on the shell 11, the main control 17 and the voltage reduction module 18 are all mounted on the connecting shell 13, so that the loudspeaker 14, the display screen 16 and the camera 15 can be integrated on the shell 11, the main control 17 and the voltage reduction module 18 can be integrated on the connecting shell 13, and the head structure 10 can be modularized, facilitating the assembly of the head structure 10.

[0060] In addition, the front cover 12 of the application is provided with an opening corresponding to the position of the camera 15, the camera part of the camera 15 can be exposed from the opening, and the head of the camera 15 is obliquely arranged, and the oblique angle is not limited, and the oblique angle of the camera 15 in the application is 20°.

[0061] Finally, it should be noted that: other embodiments of the application will be easily thought of by those skilled in the art after considering the specification and practicing the utility model disclosed herein. The application is intended to cover any variations, uses or adaptations of the application that follow the general principles of the application and include common knowledge or conventional technical means in the art not disclosed by the application, and is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the application is only limited by the appended claims.

Claims

1. A robot head-neck structure, characterized in that, The robot head-neck structure comprises: a head structure; and a neck structure, the neck structure comprising a first driving member, a second driving member and a connecting member, an output end of the first driving member being connected to the connecting member, the second driving member being fixed to the connecting member, and an output end of the second driving member being connected to the head structure, the output end of the first driving member being used to output rotation around a first axis, the output end of the second driving member being used to output rotation around a second axis, the first axis being perpendicular to the second axis; a first limiting structure being arranged between the connecting member and the first driving member to limit the rotation range of the connecting member around the first axis, and a second limiting structure being arranged between the head structure and the connecting member to limit the rotation range of the head structure around the second axis. The connecting member comprises a first connecting part and a second connecting part, the first connecting part and the second connecting part being connected, a rotor of the first driving member being connected to the first connecting part, and a stator of the second driving member being connected to the second connecting part.

2. The robot head-neck structure according to claim 1, characterized in that, The robot head-neck structure further comprises a fixing structure, the fixing structure comprising a fixing member and an assembling member, the fixing member being connected to the assembling member, and the assembling member being connected to the first driving member, the assembling member and the first connecting part being arranged in a spaced manner, the first limiting structure comprising a first limiting step and a second limiting step, the first limiting step being protruded from the first connecting part towards the assembling member, and the second limiting step being protruded from the assembling member towards the first connecting part, the second limiting step being located on the rotation path of the first limiting step with the first connecting part.

3. The robot head-neck structure according to claim 2, characterized in that, The second limiting structure comprises a positioning pin and a positioning groove, the positioning pin being used to be inserted into the positioning groove, the positioning groove being a circular arc groove, the positioning pin being protruded from the second connecting part, and the positioning groove being arranged on the head structure at a position corresponding to the positioning pin.

4. The robot head-neck structure according to claim 3, characterized in that, The head structure comprises a connecting shell, the connecting shell being provided with a mounting part, the mounting part being used to be connected to a rotor of the second driving member, and the connecting shell being further provided with a heat dissipation frame, the heat dissipation frame having a heat dissipation opening in communication with the inside of the head structure, the heat dissipation opening being used for air flow exchange between the inside of the head structure and the external environment.

5. A robot head-neck structure according to any of claims 1-4, characterized in that, The connecting shell comprises a first shell and a second shell connected to each other, the heat dissipation frame being connected to the first shell, a communication space being formed between the first shell and the second shell, both sides of the communication space being in communication with the external environment, and a ventilation opening being further arranged on the heat dissipation frame, the ventilation opening being in communication with the communication space and the inside of the head structure.

6. The robot head-neck structure of claim 5, wherein, A wire passing hole is further arranged on the second shell, one end of the wire passing hole being in communication with the external environment, and the other end being in communication with the inside of the head structure.

7. The robot head-neck structure according to claim 6, characterized in that, The head structure further comprises an outer shell and a front cover, the outer shell being integrally formed, the outer shell being provided with a first open end and a second open end opposite to each other, the front cover being connected to the first open end, and the connecting shell being connected to the second open end.

8. The robot head-neck structure of claim 5, wherein, The robot trunk comprises a trunk body and the robot head-neck structure according to any one of claims 1-8.

9. A robot trunk, characterized in that The robot trunk comprises the robot trunk according to claim 9.

10. A humanoid robot, characterized by, ​

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