Robot neck structure and robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot neck structure and a robot. The robot neck structure comprises a trunk connecting platform, a rotating disc is rotationally arranged on the trunk connecting platform, and a first rotation driving assembly is arranged at the bottom of the trunk connecting platform to drive the rotating disc to rotate; the turntable is connected with a head connecting platform through a universal coupling assembly; the head connecting platform is connected with a second rotary driving assembly and a third rotary driving assembly, and output shafts of the two are spherically hinged to the turntable through a first connecting rod assembly and a second connecting rod assembly respectively; the driving mode of controlling the second rotation driving assembly and the third rotation driving assembly is matched with the universal coupling assembly to control the head connecting platform to conduct head swinging motion or nodding motion, in this way, the head inertia can be dispersed to the two motors to bear no matter the head swinging motion or the nodding motion is conducted, the single-axis load is reduced, and the working efficiency is improved. And the size is reduced and compact.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robot neck structure and a robot. Background Technology

[0002] With the development of humanoid robots and AI, robots with flexible necks can obtain more information about their surroundings while maintaining head stability during movement. Therefore, robot neck mechanisms with biomimetic appearance and flexible movement have become a hot research and development topic. However, traditional three-degree-of-freedom (Yaw, Pitch, Roll) neck structures often have the following problems in terms of spatial layout and load distribution:

[0003] Large space occupation: Yaw, Pitch and Roll often use independent drive units, with each axis motor installed separately, resulting in a large overall height or width of the neck, which makes it difficult to meet the requirements of miniaturization and aesthetics.

[0004] Concentrated load and high motor requirements: If the pitch and roll are arranged in series or in the same direction, a single motor needs to bear a large torque and load when rotating rapidly or bearing the weight and inertia of the head, which requires a larger motor and is not conducive to reducing structural weight and energy consumption.

[0005] Therefore, the purpose of this invention is to provide a compact three-degree-of-freedom robot neck structure. Utility Model Content

[0006] To address the problem of unreasonable design of current robot neck structures, this utility model provides a robot neck structure and a robot.

[0007] The technical solution of this utility model is as follows:

[0008] On the one hand, this utility model provides a robot neck structure, characterized in that it includes:

[0009] A torso-connecting platform, on which a turntable is rotatably mounted;

[0010] A first rotary drive assembly is disposed at the bottom of the torso connection platform and drives the turntable.

[0011] The universal coupling assembly has a first end connected to the turntable and a second end connected to the head connection platform;

[0012] The second and third rotary drive components are both mounted on the head connection platform. The output shaft of the second rotary drive component is ball-jointed to the turntable via the first linkage component, and the third rotary drive component is ball-jointed to the turntable via the second linkage component, so that the head connection platform has a head-swaying motion tendency and a head-nodding motion tendency.

[0013] Furthermore, the output shafts of the second rotary drive assembly and the third rotary drive assembly are oriented opposite to each other in a first direction and spaced apart in a second direction; the first linkage assembly includes a first rotating arm; the second linkage assembly includes a second rotating arm; the output shaft of the second rotary drive assembly is connected to the first rotating arm; the output shaft of the third rotary drive assembly is connected to the second rotating arm; the first rotating arm and the second rotating arm are oriented towards each other in a second direction; wherein, the first direction and the second direction are perpendicular to each other in the horizontal plane.

[0014] Furthermore, the head connection platform includes a support portion, and the second rotation drive component and the third rotation drive component are disposed on the support portion and arranged closely along a first direction or a second direction.

[0015] Furthermore, the head connection platform also includes a head connection part, and the head connection part is provided at one end of the support part along the second direction.

[0016] Furthermore, the first rotating arm is close to the driving body of the second rotating drive assembly in a first direction and does not extend beyond the driving body of the second rotating drive assembly in a second direction; the second rotating arm is close to the third rotating drive assembly in a first direction and does not extend beyond the driving body of the third rotating drive assembly in a second direction.

[0017] Furthermore, the first link assembly further includes a first ball joint, the first end of which is ball-hinged to the first rotating arm, and the second end of which is ball-hinged to the turntable; the second link assembly further includes a second ball joint, the first end of which is ball-hinged to the second rotating arm, and the second end of which is ball-hinged to the turntable.

[0018] Furthermore, the turntable has a rotating connection portion extending along a first direction, and the rotating connection portion is disposed on one side of the universal coupling assembly in a second direction. The first ball joint connecting rod is ball-hinged to the first end of the rotating connection portion; the second ball joint connecting rod is ball-hinged to the second end of the rotating connection portion.

[0019] Furthermore, the first rotary drive assembly includes a first drive member and a neck center shaft connected to the output shaft of the first drive member, the neck center shaft being connected to the turntable; and the neck center shaft being coaxially arranged with the universal coupling assembly; the universal coupling assembly includes a first shaft portion extending along the first direction and a second shaft portion extending along the second direction.

[0020] Furthermore, the bottom of the torso connection platform is provided with an accommodating space, and the first driving component is installed in the accommodating space.

[0021] According to another aspect of the present invention, a robot is also provided, including the robot neck structure, robot head and robot torso as described above, wherein the torso connecting platform is connected to the robot torso; and the head connecting platform is connected to the robot head.

[0022] The beneficial effects achieved by this utility model are as follows:

[0023] This invention relates to a robot neck structure. A turntable is rotatably mounted on a torso connection platform. A first rotary drive assembly is located at the bottom of the torso connection platform to drive the turntable to rotate. The first rotary drive assembly's location at the bottom of the torso connection platform reduces the space occupied by the robot's neck. A head connection platform is connected to the turntable via a universal coupling assembly, allowing the head connection platform to have multiple degrees of freedom. A second and third rotary drive assembly are connected to the head connection platform. The head connection platform's head-swinging motion is controlled by adjusting the driving methods of the second and third rotary drive assemblies in conjunction with the universal coupling assembly. The head-nodding motion distributes the head's inertia across two motors, reducing the load on a single axis, whether it's a head-swaying or head-nodding motion. In summary, in this application, the first rotary drive assembly enables the head-nodding motion; the second and third rotary drive assemblies enable the left-right head-swaying and pitching head-nodding motions, ensuring their stability. This achieves highly anthropomorphic movements of the robot's neck structure. Furthermore, the universal coupling assembly and ball joints distribute the load and inertia, allowing for the selection of motors with lower torque and lighter weight. This structure also effectively utilizes space, making the neck mechanism more suitable for biomimetic requirements in terms of size and function. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0027] Figure 1 This is a first three-dimensional structural schematic diagram of this application;

[0028] Figure 2 This is a side view structural diagram of this application;

[0029] Figure 3 This is a schematic diagram of the main view structure of this application;

[0030] Figure 4 This is a second three-dimensional structural schematic diagram of this application;

[0031] Figure 5 This is a schematic diagram of the third three-dimensional structure of this application.

[0032] In the picture,

[0033] 100. Torso connection platform; 200. First rotary drive assembly; 300. Universal coupling assembly; 400. Head connection platform; 500. Second rotary drive assembly; 600. Third rotary drive assembly; 700. First link assembly; 800. Second link assembly; 110. Turntable; 111. Rotating connection part; 120. Accommodating space; 210. First drive component; 220. Neck center pivot; 310. First pivot part; 320. Second pivot part; 410. Support part; 420. Head connection part; 710. First rotating arm; 720. First ball joint link; 810. Second rotating arm; 820. Second ball joint link. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by a person of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0035] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0036] For ease of description, spatial relative terms may be used in this text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in this text will be interpreted accordingly.

[0037] Example 1

[0038] This application embodiment illustrates a robot neck structure, including a torso connection platform 100 on which a turntable 110 is rotatably mounted; a first rotary drive assembly 200 is disposed at the bottom of the torso connection platform 100, which drives the turntable 110; a first end of a universal coupling assembly 300 is connected to the turntable 110, and a second end of the universal coupling assembly 300 is connected to a head connection platform 400; a second rotary drive assembly 500 and a third rotary drive assembly 600 are connected to the head connection platform 400, the output shaft of the second rotary drive assembly 500 is ball-hinged to the turntable 110 via a first connecting rod assembly 700, and the third rotary drive assembly 600 is ball-hinged to the turntable 110 via a second connecting rod assembly 800; the second rotary drive assembly 500 and the third rotary drive assembly 600 drive each other to give the head connection platform 400 a tendency to swing its head and a tendency to nod its head.

[0039] In this embodiment, a torso connection platform 100 is provided to connect the robot's torso. A turntable 110 is rotatably mounted on the torso connection platform 100. A first rotation drive assembly 200 is provided at the bottom of the torso connection platform 100 to drive the turntable 110 to rotate. This can be understood as driving the robot's neck structure to rotate. Since the torso itself has a relatively large space, there is sufficient space for convenient installation of the first rotation drive assembly 200. This design reduces the space occupied by the robot's neck, facilitating structural miniaturization. A head connection platform 400 is connected to the turntable 110 via a universal coupling assembly 300, allowing the head connection platform 400 to have multiple degrees of freedom, such as left and right head tilting and pitching. A second rotary drive assembly 500 and a third rotary drive assembly 600 are connected to the head connection platform 400. The output shaft of the second rotary drive assembly 500 is ball-hinged to the turntable 110 via a first linkage assembly 700, and the third rotary drive assembly 600 is ball-hinged to the turntable 110 via a second linkage assembly 800. The ball joint is hinged to the turntable 110, allowing the head connection platform 400 to perform either a swaying or nodding motion by controlling the driving mode of the second rotary drive assembly 500 and the third rotary drive assembly 600 in conjunction with the universal coupling assembly 300. This ensures that the head inertia can be distributed to the two motors for both swaying and nodding motions, reducing the load on a single axis. Alternatively, the swaying and nodding motions can be understood as being "parallel," with the two drive assemblies ball-jointed to the turntable 110 and working in conjunction with the universal coupling assembly 300 to complete both swaying and nodding motions. In summary, in this application, the first rotary drive assembly 200 can complete the nodding action; the second rotary drive assembly 500 and the third rotary drive assembly 600 can complete the left and right head swinging and pitching nodding actions and ensure their stability, thereby achieving highly anthropomorphic movement of the robot's neck structure. At the same time, the universal coupling assembly 300 and ball joint realize the sharing of load and inertia, so that a smaller torque and lighter motor can be selected. Moreover, this structure can effectively utilize space, making the neck mechanical mechanism more suitable for bionic needs in terms of shape and function.

[0040] In an optional or preferred embodiment, the bottom of the torso connection platform 100 is provided with a receiving space 120, and the first drive member 210 is installed in the receiving space 120. The receiving space 120 facilitates the installation of the first drive member 210 and reduces the space occupied in the neck area.

[0041] In an optional or preferred embodiment, the first rotary drive assembly 200, the second rotary drive assembly 500, and the third rotary drive assembly 600 may all be configured as, but are not limited to, motors, servos, motors, etc.

[0042] In an optional or preferred embodiment, the output shafts of the second rotary drive assembly 500 and the third rotary drive assembly 600 are oriented opposite to each other in the first direction X and spaced apart in the second direction Y; the first link assembly 700 includes a first rotating arm 710; the second link assembly 800 includes a second rotating arm 810; the output shaft of the second rotary drive assembly 500 is connected to the first rotating arm 710; the output shaft of the third rotary drive assembly 600 is connected to the second rotating arm 810; the first rotating arm 710 and the second rotating arm 810 are arranged facing each other in the second direction Y; wherein, the first direction X and the second direction Y are perpendicular to each other in the horizontal plane.

[0043] In this embodiment, for ease of understanding of the technical solution, the appendix is ​​provided. Figure 1 The first direction X and the second direction Y are marked as references. In existing technologies, the overall height, width, or depth of the robot's neck structure are often large, affecting the aesthetics and compactness of the robot's neck shape. To solve this problem, this application designs the following solution, please refer to the appendix. Figure 1-4 The first linkage assembly 700 includes a first rotating arm 710; the second linkage assembly 800 includes a second rotating arm 810; the output shaft of the second rotary drive assembly 500 is connected to the first rotating arm 710; the output shaft of the third rotary drive assembly 600 is connected to the second rotating arm 810; based on this, the output shafts of the second rotary drive assembly 500 and the third rotary drive assembly 600 are arranged opposite to each other in the first direction X and spaced apart in the second direction Y, and the first rotating arm 710 and the second rotating arm 810 are arranged facing each other in the second direction Y. (Refer to the attached diagram.) Figure 4 The first rotating arm 710 on the right is arranged from back to front, and the second rotating arm 810 on the left is arranged from front to back. That is, the output shaft connected to the first rotating arm 710 is located behind the output shaft connected to the second rotating arm 810 (the front-back direction here can be understood as the second direction Y); thus achieving the purpose of compact structure and miniaturization.

[0044] Preferably, please refer to Figure 2 , Figure 3 The first rotating arm 710 is close to the driving body of the second rotating drive assembly 500 in the first direction X and does not extend beyond the driving body of the second rotating drive assembly 500 in the second direction Y; the second rotating arm 810 is close to the third rotating drive assembly 600 in the first direction X and does not extend beyond the driving body of the third rotating drive assembly 600 in the second direction Y. For ease of understanding, specific orientations will be used in the following descriptions, which should not be regarded as limitations. Examples are as follows: Figure 3 By bringing the first rotating arm 710 and the second rotating arm 810 closer to the motor body, the space occupied in the left and right directions of the neck area can be reduced; for example Figure 2The first rotating arm 710 and the second rotating arm 810 do not extend beyond the drive bodies of the second rotary drive assembly 500 and the third rotary drive assembly 600 in the second direction Y, effectively reducing the space occupied in the front-back direction of the neck region. Furthermore, the structural design of this application ensures that the rotation angle of the first rotating arm 710 and the second rotating arm 810 does not need to be large when the robot nods or shakes its head. Therefore, even during movement, the first rotating arm 710 and the second rotating arm 810 will never extend beyond the motor bodies of the second rotary drive assembly 500 and the third rotary drive assembly 600. Further, by arranging the second rotary drive assembly 500 and the third rotary drive assembly 600 closely along the first direction X or along the second direction Y, the space occupied in the height direction of the neck region can also be reduced. This design allows this application to significantly reduce the space occupied in the neck region from all directions, which is beneficial for the miniaturization design of the robot's neck.

[0045] In an optional or preferred embodiment, the first link assembly 700 further includes a first ball joint link 720, the first end of which is ball-jointed to the first rotating arm 710, and the second end of which is ball-jointed to the turntable 110; the second link assembly 800 further includes a second ball joint link 820, the first end of which is ball-jointed to the second rotating arm 810, and the second end of which is ball-jointed to the turntable 110.

[0046] In this embodiment, the first end of the first ball joint 720 is ball-hinged to the first rotating arm 710, and the second end of the first ball joint 720 is ball-hinged to the turntable 110; the first end of the second ball joint 820 is ball-hinged to the second rotating arm 810, and the second end of the second ball joint 820 is ball-hinged to the turntable 110, so that the head connecting platform 400 has multiple degrees of freedom of movement.

[0047] In an optional or preferred embodiment, the turntable 110 has a rotating connection portion 111 extending along a first direction X, and the rotating connection portion 111 is disposed on one side of the universal coupling assembly 300 along a second direction Y. The first connecting rod assembly 700 is ball-hinged to the first end of the rotating connection portion 111; the second connecting rod assembly 800 is ball-hinged to the second end of the rotating connection portion 111.

[0048] In this embodiment, by ball-hinging the first link assembly 700 to the first end of the rotary connection 111 and ball-hinging the second link assembly 800 to the second end of the rotary connection 111, it is possible for the second rotary drive assembly 500 and the third rotary drive assembly 600 to drive the first link assembly 700 and the second link assembly 800 to move along a preset path when performing drive work.

[0049] In an optional or preferred embodiment, the head connection platform 400 includes a support portion 410, and a second rotation drive assembly 500 and a third rotation drive assembly 600 are disposed on the support portion 410 and arranged closely along a first direction X or a second direction Y.

[0050] In this embodiment, the second rotary drive assembly 500 and the third rotary drive assembly 600 are supported and positioned by the support part 410. At the same time, the second rotary drive assembly 500 and the third rotary drive assembly 600 are arranged closely along the first direction X or the second direction Y, which can reduce the neck space occupied by the two in the height direction after installation, which is beneficial to the miniaturization design of the robot's neck.

[0051] In an optional or preferred embodiment, the head connection platform 400 further includes a head connection portion 420, which is provided at one end of the support portion 410 along the second direction Y. The head of the robot can be directly connected through the head connection portion 420. At the same time, by setting the head connection portion 420 at one end of the support portion 410 along the second direction Y, and in conjunction with the spatial structure design of the first rotary drive component 200, the second rotary drive component 500 and the third rotary drive component 600, the large area of ​​the robot's neck in the horizontal plane can be avoided, which can effectively ensure the compactness and aesthetics of the robot's neck area design.

[0052] In an optional or preferred embodiment, the universal coupling assembly 300 includes a first pivot portion 310 extending along a first direction X and a second pivot portion 320 extending along a second direction Y, such that the robot has a nodding motion tendency to rotate about the first pivot portion 310 and a swaying motion tendency to rotate about the second pivot portion 320.

[0053] In an optional or preferred embodiment, the first rotary drive assembly 200 includes a first drive member 210 and a neck center shaft 220 connected to the output shaft of the first drive member 210. The neck center shaft 220 is connected to the turntable 110. The neck center shaft 220 is coaxially arranged with the universal coupling assembly 300. The universal coupling assembly 300 is coaxially arranged with the neck center shaft 220 and located at the center of the neck, which can reduce the space occupation during the movement.

[0054] Example 2

[0055] The robot includes the robot neck structure, robot head, and robot torso as described above. The torso connection platform 100 connects to the robot torso, and the head connection platform 400 connects to the robot head. Since the robot includes the robot neck structure, it should have all the technical effects of the robot neck structure described above, which will not be repeated here.

[0056] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0057] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0058] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A robotic neck configuration, characterized by: The utility model relates to a kind of head moving device, including Trunk connecting platform (100), which is rotatably arranged with a turntable (110); First rotary drive assembly (200) is arranged at the bottom of the trunk connecting platform (100) and drives the connection of the turntable (110); Universal coupling assembly (300), the first end is connected to the turntable (110), and the second end is connected to the head connecting platform (400); Second rotary drive assembly (500) and third rotary drive assembly (600) are both installed on the head connecting platform (400), the output shaft of the second rotary drive assembly (500) is ball-hinged to the turntable (110) through first connecting rod assembly (700), and the third rotary drive assembly (600) is ball-hinged to the turntable (110) through second connecting rod assembly (800), so that the head connecting platform (400) has a trend of nodding and a trend of nodding.

2. The robotic neck configuration of claim 1, wherein: The output shafts of the second rotary drive assembly (500) and the third rotary drive assembly (600) are arranged in the first direction (X) and spaced apart in the second direction (Y) from each other;The first rotary drive assembly (200) includes a first rotary arm (710), and the second rotary drive assembly (500) includes a second rotary arm (810). The output shaft of the second rotary drive assembly (500) is connected to the first rotary arm (710), and the output shaft of the third rotary drive assembly (600) is connected to the second rotary arm (810). The first rotary arm (710) and the second rotary arm (810) are arranged in the second direction (Y) and face each other.

3. The robotic neck configuration of claim 2, wherein: The head connecting platform (400) includes a support portion (410), and the second rotary drive assembly (500) and the third rotary drive assembly (600) are arranged on the support portion (410) and closely arranged along the first direction (X) or the second direction (Y).

4. The robotic neck configuration of claim 3, wherein: The head connecting platform (400) further includes a skull connecting portion (420), and the support portion (410) is provided with the skull connecting portion (420) at one end in the second direction (Y).

5. The robotic neck configuration of claim 2, wherein: The first rotary arm (710) is close to the driving member body of the second rotary drive assembly (500) in the first direction (X) and does not exceed the driving member body of the second rotary drive assembly (500) in the second direction (Y). The second rotary arm (810) is close to the third rotary drive assembly (600) in the first direction (X) and does not exceed the driving member body of the third rotary drive assembly (600) in the second direction (Y).

6. The robotic neck configuration of claim 2, wherein: The first connecting rod assembly (700) further comprises a first ball head connecting rod (720), a first end of the first ball head connecting rod (720) is spherically hinged to the first rotating arm (710), and a second end of the first ball head connecting rod (720) is spherically hinged to the rotating disc (110); the second connecting rod assembly (800) further comprises a second ball head connecting rod (820), a first end of the second ball head connecting rod (820) is spherically hinged to the second rotating arm (810), and a second end of the second ball head connecting rod (820) is spherically hinged to the rotating disc (110).

7. The robotic neck configuration of claim 6, wherein: The rotating disc (110) is provided with a rotating connecting part (111) extending along a first direction (X), and the rotating connecting part (111) is arranged on one side of the universal coupling assembly (300) along a second direction (Y), the first ball head connecting rod (720) is spherically hinged to a first end of the rotating connecting part (111), and the second ball head connecting rod (820) is spherically hinged to a second end of the rotating connecting part (111).

8. A robotic neck configuration according to any one of claims 2-7, characterized in that: The first rotating driving assembly (200) comprises a first driving member (210) and a neck center rotating shaft (220) connected to an output shaft of the first driving member (210), the neck center rotating shaft (220) is connected to the rotating disc (110), and the neck center rotating shaft (220) is coaxially arranged with the universal coupling assembly (300); the universal coupling assembly (300) comprises a first rotating shaft part (310) extending along the first direction (X) and a second rotating shaft part (320) extending along the second direction (Y).

9. The robotic neck configuration of claim 8, wherein: The bottom of the trunk connecting platform (100) is provided with a containing space (120), and the first driving member (210) is arranged in the containing space (120). 10.A robot comprising the robot neck structure, the robot head and the robot trunk as claimed in any one of claims 1-9, the trunk connecting platform (100) being connected to the robot trunk, and the head connecting platform (400) being connected to the robot head.

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