Head structure and robot

Abstract

The utility model discloses a head structure and robot relates to the field of robot, wherein, head structure includes: the main part is equipped with the camera unit for the exchange of information to outside, first support the main part is located first support with first support rotation connection, first drive part is located first support with main part drive connection to drive main part rotates around first axis, second support is used for the external connection trunk, and first support is located second support still, second drive part is located second support, and second drive part is driven connection with first support, and drive first support rotates around second axis, third drive part is located second support, and third drive part is used for drive second support rotates around third axis, and third drive part is connected trunk still, first axis and third axis are parallel, and with second axis vertical. The head structure provided by the utility model technical scheme can increase the visual angle range of camera unit.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a head structure and robot. Background Technology

[0002] Robotics is a comprehensive discipline that has developed in recent years. As a leading technology for the future, robots are creating new industries and business models, driving the transformation of production and consumption towards intelligence, and profoundly impacting human production and life. Robotics technology has been widely applied in fields such as industrial automation, service robots, medical care, and security inspection. The robot's head typically carries visual sensors (such as cameras and LiDAR) for environmental perception, target recognition, and navigation. The breadth and flexibility of the observation angle directly affect the robot's environmental adaptability and task execution capabilities; therefore, optimizing the robot's head's observation angle is one of the keys to improving its performance.

[0003] Currently, existing solutions typically only consider the horizontal field of view of the robot's head, while insufficient optimization of the vertical direction (such as pitch angle). This limits the applicability of the robot in complex environments (such as scenarios with height differences), resulting in problems such as insufficient field of view coverage, low adjustment flexibility, complex mechanical structure, or poor stability of the robot's head observation field of view. Utility Model Content

[0004] The main purpose of this invention is to provide a head structure that addresses the technical problem of insufficient coverage of the observation field of current robot heads.

[0005] To achieve the above objectives, the head structure proposed in this utility model includes:

[0006] The main body is equipped with a camera unit for external information exchange;

[0007] A first support, wherein the main body is disposed on the first support and rotatably connected to the first support;

[0008] A first driving unit is disposed on the first bracket and drivenly connected to the main body to drive the main body to rotate around the first axis;

[0009] The second support is used to connect to the external torso, and the first support is also provided on the second support;

[0010] A second driving unit is disposed on the second bracket, and the second driving unit is drivingly connected to the first bracket, driving the first bracket to rotate about a second axis; and

[0011] A third drive unit is disposed on the second bracket. The third drive unit is used to drive the second bracket to rotate around a third axis. The third drive unit is also externally connected to the torso. The first axis and the third axis are parallel and perpendicular to the second axis.

[0012] In one embodiment, the first driving unit, the second driving unit, and the third driving unit each include a driving unit for providing rotational driving force.

[0013] In one embodiment, the first drive unit further includes a first housing and a first drive shaft. The first housing is fixedly connected to the first bracket. The corresponding drive unit is disposed inside the first housing and connected to the first drive shaft. The main body is connected to a drive disk. One end of the first drive shaft extends out of the first housing and is connected to the drive disk. The axis of the first drive shaft coincides with the first axis.

[0014] In one embodiment, the drive disks are respectively connected to both sides of the main body. The first bracket includes a first connecting part and a second connecting part. There are two first connecting parts, which are rotatably connected to the corresponding drive disks. The second connecting part is connected to the second drive part.

[0015] In one embodiment, the second drive unit includes a second housing and a second drive shaft. The second housing is fixedly connected to the second bracket. The corresponding drive unit is located inside the second housing and is connected to the second drive shaft. One end of the second drive shaft passes through the second bracket and is connected to the first bracket. The axis of the second drive shaft coincides with the second axis.

[0016] In one embodiment, the second bracket is provided with a connection channel, the second drive shaft is inserted into the connection channel, and the second drive part further includes a second locking bolt, one end of the second locking bolt passing through the second bracket and locked to the second drive shaft.

[0017] In one embodiment, the third drive unit includes a third housing and a third drive shaft. The third housing is fixedly connected to the second bracket. The corresponding drive unit is provided inside the third housing and connected to the third drive shaft. One end of the third drive shaft is fixedly connected to the second bracket, and the other end is fixedly connected to the torso. The axis of the third drive shaft coincides with the third axis.

[0018] In one embodiment, a fixing block is connected to one end of the third drive shaft. The fixing block is fixedly embedded in the torso. The fixing block and the third drive shaft cooperate with each other through a matching limiting groove and a limiting block to restrict the rotation of the third drive shaft. The third drive shaft is also locked and fixed to the torso.

[0019] In one embodiment, the fixing block includes a limiting part and a fixing part arranged side by side. The fixing part is connected to the third drive shaft. The third drive part also includes a third bolt. One end of the third bolt passes through the body and the fixing part and is locked to the third drive shaft.

[0020] This utility model also proposes a robot, which includes a torso and the head structure described above, wherein the head structure is located on the torso.

[0021] This invention employs a camera unit mounted on the main body for exchanging information with the outside world. The main body is mounted on a first support and driven to rotate around a first axis by a first drive unit. The first support is mounted on a second support, with a second drive unit fixed to the second support and driving the first support to rotate along a second axis, perpendicular to the second axis. This allows the main body to rotate around both axes, enabling pitch and lateral rotation. Furthermore, a third drive unit is mounted on the second support, which is also connected to the torso. The second drive unit drives the second support to rotate around a third axis, parallel to the first axis. The rotation of the second support simultaneously rotates the main body and the first support, allowing the main body to move and improving the camera unit's viewing angle. This results in a wider field of view for the head structure, enhancing the robot's adaptability to complex environments. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0023] Figure 1 A schematic diagram of the head structure of this utility model at an angle;

[0024] Figure 2 This is a schematic diagram of the head structure embodiment provided by this utility model from another angle;

[0025] Figure 3 An exploded view of the head structure embodiment one provided by this utility model;

[0026] Figure 4 A partially exploded structural diagram of the third driving section of the head structure embodiment provided by this utility model;

[0027] Figure 5 A partially exploded structural diagram of the first driving part of the head structure embodiment provided by this utility model;

[0028] Figure 6 An exploded view of the driving unit of the head structure embodiment provided by this utility model.

[0029] Explanation of icon numbers:

[0030] 10. Torso;

[0031] 100. Main body; 110. Drive disk;

[0032] 200, First support; 210, First connecting part; 220, Second connecting part;

[0033] 300, First drive unit; 310, First housing; 320, First drive shaft; 330, First locking bolt;

[0034] 400. Second bracket; 410. Third connecting part; 420. Fourth connecting part;

[0035] 500, Second drive unit; 510, Second housing; 520, Second drive shaft; 530, Second locking bolt;

[0036] 600, Third drive unit; 610, Third housing; 620, Third drive shaft; 630, Fixing block; 631, Limiting part; 632, Fixing part; 640, Third locking bolt;

[0037] 700, Drive unit; 710, Motor; 720, Transmission assembly; 721, Worm gear; 722, Helical gear; 730, Reduction assembly; 731, First planetary disk; 732, Second planetary disk; 733, Protective housing.

[0038] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0040] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0041] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0042] In existing technologies, only the horizontal field of view of the robot head is usually considered, while the optimization of the vertical direction (such as pitch angle) is insufficient. This limits the applicability of the robot in complex environments (such as scenarios with height differences), resulting in problems such as insufficient field of view coverage, low adjustment flexibility, complex mechanical structure, or poor stability of the robot head observation field of view.

[0043] This utility model proposes a head structure.

[0044] Please see Figure 1 and Figure 2In one embodiment of this utility model, the head structure includes: a main body 100, a first support 200, a first driving part 300, a second support 400, a second driving part 500, and a third driving part 600; wherein, the main body 100 is provided with a camera unit for external information exchange; the main body 100 is disposed on the first support 200 and rotatably connected to the first support 200; the first driving part 300 is disposed on the first support 200 and drivenly connected to the main body 100 to drive the main body 100 to rotate around a first axis; the second support 400, the second driving part 500, and the third driving part 600; wherein, the main body 100 is provided with a camera unit for external information exchange; the main body 100 is disposed on the first support 200 and rotatably connected to the first support 200; the first driving part 400 is disposed on the first support 200 and rotatably connected to the first support 200; the first driving part 500 is disposed on the first support 200 and rotatably connected to the first support 200; the second ... The frame 400 is used to connect the torso 10 externally, and the first support 200 is also provided on the second support 400; the second drive unit 500 is provided on the second support 400, and the second drive unit 500 is drivenly connected to the first support 200 and drives the first support 200 to rotate around the second axis; the third drive unit 600 is provided on the second support 400, and the third drive unit 600 is used to drive the second support 400 to rotate around the third axis, and the third drive unit 600 is also connected to the torso 10 externally; the first axis and the third axis are parallel and perpendicular to the second axis.

[0045] It should be noted that the head structure proposed in this embodiment is rotatably mounted on the upper part of the torso 10. Specifically, the top of the torso 10 is U-shaped, and the two sides of the head structure are rotatably connected to the torso 10, with the drive unit providing support for the head structure. In this embodiment, a camera unit is provided inside the main body 100 for exchanging information with the outside world, such as through video or scanning recognition, to achieve the corresponding functions of the robot, which will not be described in detail here.

[0046] In the specific implementation process, the first drive unit 300 and the main body 100 are respectively mounted on the first bracket 200, and the first drive unit 300 drives the main body 100 to rotate around the first axis and relative to the first bracket 200. The first axis of rotation extends horizontally, and the main body 100 can scan up and down. The second drive unit 500 and the first bracket 200 are respectively mounted on the second bracket 400, and the second drive unit 500 drives the first bracket 200 to rotate around the second axis and relative to the second bracket 400. The second axis of rotation extends vertically, and the main body 100 can scan left and right. The second bracket 400 is externally connected to the torso 10, and the third drive unit 600 is fixed on the second bracket 400 and fixedly connected to the torso 10. The third drive unit 600 drives the second bracket 400 to rotate along the third axis. The third axis is parallel to the second axis and located below the second axis. In this way, the rotation of the second bracket 400 can drive the second bracket 400 and the main body 100 to rotate around the third axis, thereby adjusting the position of the main body 100 to increase the field of view coverage of the main body 100 in vertical scanning.

[0047] This utility model's technical solution employs a camera unit mounted on the main body 100 for exchanging information with the outside world. The main body 100 is mounted on a first bracket 200 and driven to rotate around a first axis by a first driving unit 300. The first bracket 200 is mounted on a second bracket 400, wherein a second driving unit 500 is fixed to the second bracket 400 and drives the first bracket 200 to rotate along a second axis, with the first axis perpendicular to the second axis. In this way, the main body 100 can rotate around the first axis and the second axis respectively, such as achieving pitch and lateral rotation of the main body 100. Furthermore, the second support 400 is also provided with a third drive unit 600. The second support 400 is also externally connected to the torso 10, and the second drive unit 500 is also connected to the torso 10 and drives the second support 400 to rotate around the third axis. The third axis is parallel to the first axis. The rotation of the second support 400 simultaneously drives the main body 100 and the first support 200 to rotate, thereby moving the position of the main body 100 and improving the observation angle of the camera unit. This makes the field of view of the head structure wider and improves the robot's applicability to complex environments.

[0048] In one embodiment, the first drive unit 300, the second drive unit 500, and the third drive unit 600 all include a drive unit 700, which provides rotational driving force. It is understood that the drive unit 700 can be powered by a motor 710, or by other power mechanisms. It can be driven by a lead screw or movable rod as in the prior art, or by a motor 710 driving rotation through a rotating shaft, thereby maximizing the rotation of the main body 100, the first support 200, and the second support 400, and obtaining a larger rotation angle.

[0049] In this embodiment, the drive unit 700 includes a motor 710, a reduction gear assembly 730, and a transmission assembly 720. Specifically, the reduction gear assembly 730 can reduce the high-speed rotation of the motor 710 to a suitable rotational speed for the main body 100, the first support 200, and the second support 400, while correspondingly increasing the output torque, so that the components have sufficient force to complete the corresponding actions. (Reference) Figure 6As shown, the reduction assembly 730 adopts a planetary reduction structure. Specifically, the planetary reduction structure includes a first planetary disk 731, a second planetary disk 732, three first planetary gears (not shown in the figure), three second planetary gears (not shown in the figure), a first sun gear (not shown in the figure), and a second sun gear (not shown in the figure). The first planetary disk 731 has a first output rod and three first input rods on its two sides respectively. The second planetary disk 732 has three second input rods. Each first planetary gear is fitted onto one first input rod, and each second planetary gear is fitted onto one second input rod. The first sun gear is fitted onto the output shaft of the motor 710 and meshes with the three first planetary gears. The second sun gear is fitted onto the first output rod and meshes with the three second planetary gears. The transmission assembly 720 is inserted into the second planetary disk 732. Two-stage reduction is achieved through the meshing of the first sun gear with the three first planetary gears, and the meshing of the second sun gear with the three second planetary gears. This multi-stage reduction structure can achieve a large reduction ratio within a small volume, thereby reducing the high-speed rotation of the motor 710 to a lower speed suitable for the movement of the corresponding components, while significantly increasing the output torque. Furthermore, the planetary reduction structure includes a protective housing 733, which is connected to the outer casing of the motor 710. The first planetary disk 731, the second planetary disk 732, three first planetary gears, three second planetary gears, the first sun gear, and the second sun gear are all located within the protective housing 733. The transmission assembly 720 includes a helical gear 722 and a worm gear 721 that are mutually cored. The motor 710 is connected to and drives the worm gear 721 to rotate. The rotation of the worm gear 721 drives the helical gear 722 to rotate, and the helical gear 722 is used to output the driving force for the drive unit 700 to rotate.

[0050] refer to Figure 5 As shown, in one embodiment, the first drive unit 300 further includes a first housing 310 and a first drive shaft 320. The first housing 310 is fixedly connected to the first bracket 200. The corresponding drive unit 700 is disposed in the first housing 310 and connected to the first drive shaft 320. The main body 100 is connected to a drive disk 110. One end of the first drive shaft 320 extends out of the first housing 310 and is connected to the drive disk 110.

[0051] In this embodiment, the first housing 310 is fixed to the first bracket 200 by screws. The helical gear 722 of the drive unit 700 of the first drive unit 300 is fixedly connected to the first drive shaft 320. The rotation of the helical gear 722 drives the first drive shaft 320 to rotate. The first drive shaft 320 is rotatably connected to the first housing 310 through bearings. In addition, both ends of the first drive shaft 320 extend out of the first housing 310. One end is locked by the first locking bolt 330, and the other end is fixedly connected to the drive disk 110 to drive the drive disk 110 to rotate. It can be understood that the drive disk 110 extends with a connecting shaft, which passes through the first bracket 200 and is connected to the first drive shaft 320, such as through a coupling structure. The outer peripheral wall of the connecting shaft is also movably or rotatably connected to the first bracket 200. The drive disk 110 is fixedly connected to the main body 100 by screws or other connecting parts.

[0052] refer to Figure 3 As shown, further, drive disks 110 are connected to both sides of the main body 100 respectively. The first bracket 200 includes a first connecting part 210 and a second connecting part 220. There are two first connecting parts 210, which are rotatably connected to the corresponding drive disks 110 respectively. The second connecting part 220 is connected to the second drive part 500.

[0053] To ensure the balance of the rotation of the main body 100, in this embodiment, drive disks 110 are fixed on both opposite sides of the main body 100. Correspondingly, the two first connecting portions 210 of the first bracket 200 are rotatably connected to the corresponding drive disks 110. It can be understood that the first bracket 200 has a U-shaped or V-shaped structure, with the two first connecting portions 210 arranged opposite to each other. The second connecting portion 220 is located below the first connecting portions 210 and is used to cooperate with the second bracket 400 and connect to the second drive portion 500.

[0054] refer to Figure 4 As shown, in one embodiment, the second drive unit 500 includes a second housing 510 and a second drive shaft 520. The second housing 510 is fixedly connected to the second bracket 400. The corresponding drive unit 700 is inside the second housing 510 and connected to the second drive shaft 520. One end of the second drive shaft 520 passes through the second bracket 400 and is connected to the first bracket 200.

[0055] Specifically, the drive unit 700 of the second drive unit 500 is fixed inside the second housing 510. The helical gear 722 of the drive unit 700 is fixedly connected to the second drive shaft 520. One end of the second drive shaft 520 extends out of the second housing 510 and further passes through the second bracket 400 to connect to the first bracket 200. Thus, the rotation of the helical gear 722 of the drive unit 700 drives the second drive shaft 520 to rotate, thereby driving the first bracket 200 to rotate. In specific implementation, the first bracket 200 rotates around a second axis, which coincides with the axis of the second drive shaft 520, allowing the main body 100 to rotate left and right to achieve scanning in different field of view directions. It can be understood that the second connecting part 220 of the first bracket 200 is connected to the second drive unit 500, and the second housing 510 is fixed to the second bracket 400 by screws.

[0056] Furthermore, the second bracket 400 is provided with a connection channel, and the second drive shaft 520 is plugged into the connection channel. The second drive unit 500 also includes a second locking bolt 530, one end of which passes through the second bracket 400 and is locked to the second drive shaft 520.

[0057] In this embodiment, the second drive shaft 520 is inserted into the connection channel, and the second bracket 400 is also provided with a connection hole communicating with the connection channel. The second locking bolt 530 extends from the side of the first bracket 200 away from the second bracket 400 through the connection hole into the connection channel and locks the second drive shaft 520, thereby realizing the drive connection between the second drive shaft 520 and the first bracket 200 and driving the first bracket 200 to rotate.

[0058] Continue to refer to Figure 4 As shown, in one embodiment, the third drive unit 600 includes a third housing 610 and a third drive shaft 620. The third housing 610 is fixedly connected to the second bracket 400. The corresponding drive unit 700 is provided inside the third housing 610 and connected to the third drive shaft 620. One end of the third drive shaft 620 is rotatably connected to the second bracket 400, and the other end is fixedly connected to the external torso 10.

[0059] In this embodiment, it should first be noted that the second bracket 400 can be a U-shaped or V-shaped structure, and includes a third connecting part 410 and a fourth connecting part 420. Two third connecting parts 410 are provided, each externally connected to the body 10. The fourth connecting part 420 is used to mount and fix the second drive unit 500. The third housing 610 is fixed to the second bracket 400 by screws, specifically located in one of the third connecting parts 410. The third drive shaft 620 is fixedly connected to the body 10 and rotates relative to the second bracket 400. Thus, the turbine of the drive unit 700 of the second drive unit 500 rotates, and the helical gear 722 meshing with the turbine is fixedly connected to the third drive shaft 620. The third drive shaft 620 rotates relative to the second bracket 400, and the third housing 610 is fixedly connected to the second bracket 400, thereby causing the worm gear 721 to rotate around the helical gear 722, which in turn drives the second housing 510 to rotate around the third drive shaft 620, thus driving the second bracket 400 to rotate. The third axis coincides with the axis of the third drive shaft 620 and is parallel to the first axis, located below the first axis. Thus, rotation of the second support 400 allows the first support 200 and the main body 100 to flip, adjusting the position of the main body 100 and increasing the field of vision. Another third connecting part 410 is rotatably connected to the torso 10 via a pivot, thereby enabling the second support 400 to rotate relative to the torso 10.

[0060] In one embodiment, a fixing block 630 is connected to one end of the third drive shaft 620. The fixing block 630 is fixedly embedded in the torso 10. The fixing block 630 and the third drive shaft 620 cooperate with each other through a matching limiting groove and a limiting block to restrict the rotation of the third drive shaft 620. The third drive shaft 620 is also locked and fixed to the torso 10.

[0061] The third drive shaft 620 is relatively fixed to the body 10 via a fixing block 630. In specific implementation, the body 10 has a groove adapted to the fixing block 630, which is embedded in the groove. The fixing block 630 is elongated and its connection with the third drive shaft 620 is off-center to restrict the rotation of the third drive shaft 620. In this embodiment, a limiting groove is formed on one end face of the third drive shaft 620, and limiting blocks are formed on other parts. Correspondingly, a limiting block is provided on one side of the fixing block 630, and a limiting groove is formed between the limiting blocks. The limiting block of the third drive shaft 620 is inserted into the limiting groove of the fixing block 630, and the limiting block of the fixing block 630 is adapted to be inserted into the limiting groove of the third drive shaft 620, thereby connecting the third drive shaft 620 and the fixing block 630 and restricting the rotation of the third limiting shaft.

[0062] In one embodiment, the fixing block 630 includes a limiting part 631 and a fixing part 632 arranged side by side. The fixing part 632 is connected to the third drive shaft 620. The third drive part 600 also includes a third locking bolt 640, one end of which passes through the torso 10 and the fixing part 632 and is locked to the third drive shaft 620. In a specific implementation, the limiting part 631 and the fixing part 632 are located on both sides of the center of the fixing block 630. The third locking bolt 640 passes through the torso 10 and the fixing part 632 and is locked to the third drive shaft 620, thereby improving the connection strength and effectiveness between the third drive shaft 620 and the torso 10.

[0063] This utility model also proposes a robot, which includes a torso 10 and a head structure. The specific structure of the head structure is as described in the above embodiments. Since this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. The head structure is installed on the upper part of the torso 10 and rotates relative to the torso 10, thereby realizing head structure scanning for information exchange with the outside world.

[0064] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the inventive concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. A head structure, characterized by, include: The main body is equipped with a camera unit for external information exchange; A first support, wherein the main body is disposed on the first support and rotatably connected to the first support; A first driving unit is disposed on the first bracket and drivenly connected to the main body to drive the main body to rotate around the first axis; The second support is used to connect to the external torso, and the first support is also provided on the second support; The second drive unit is disposed on the second bracket, and the second drive unit is drivenly connected to the first bracket and drives the first bracket to rotate around the second axis. as well as A third drive unit is disposed on the second bracket. The third drive unit is used to drive the second bracket to rotate around a third axis. The third drive unit is also externally connected to the torso. The first axis and the third axis are parallel and perpendicular to the second axis.

2. The head structure of claim 1, wherein The first driving unit, the second driving unit, and the third driving unit all include a driving unit, which is used to provide rotational driving force.

3. The head construction of claim 2 wherein, The first drive unit further includes a first housing and a first drive shaft. The first housing is fixedly connected to the first bracket. The corresponding drive unit is disposed inside the first housing and connected to the first drive shaft. The main body is connected to a drive disk. One end of the first drive shaft extends out of the first housing and is connected to the drive disk. The axis of the first drive shaft coincides with the first axis.

4. The head structure as described in claim 3, characterized in that, The main body is connected to the drive disk on both sides respectively. The first bracket includes a first connecting part and a second connecting part. There are two first connecting parts, which are rotatably connected to the corresponding drive disks respectively. The second connecting part is connected to the second drive part.

5. A head construction as claimed in claim 2 or 4, characterized in that The second drive unit includes a second housing and a second drive shaft. The second housing is fixedly connected to the second bracket. The corresponding drive unit is inside the second housing and connected to the second drive shaft. One end of the second drive shaft passes through the second bracket and is connected to the first bracket. The axis of the second drive shaft coincides with the second axis.

6. The head construction of claim 5 wherein, The second bracket is provided with a connection channel, and the second drive shaft is inserted into the connection channel. The second drive part also includes a second locking bolt, one end of which passes through the second bracket and is locked to the second drive shaft.

7. The head construction of claim 2 wherein, The third drive unit includes a third housing and a third drive shaft. The third housing is fixedly connected to the second bracket. The corresponding drive unit is located inside the third housing and connected to the third drive shaft. One end of the third drive shaft is fixedly connected to the second bracket, and the other end is fixedly connected to the torso. The axis of the third drive shaft coincides with the third axis.

8. The head construction of claim 7 wherein, One end of the third drive shaft is connected to a fixing block, which is fixedly embedded in the torso. The fixing block and the third drive shaft cooperate with each other through a matching limiting groove and a limiting block to restrict the rotation of the third drive shaft. The third drive shaft is also locked and fixed to the torso.

9. The head construction of claim 8 wherein, The fixing block includes a limiting part and a fixing part arranged side by side. The fixing part is connected to the third drive shaft. The third drive part also includes a third bolt. One end of the third bolt passes through the body and the fixing part and is locked to the third drive shaft.

10. A robot, characterized in that The robot includes a torso and a head structure as described in any one of claims 1-9, wherein the head structure is disposed on the torso.

Images