Head structure and robot

Abstract

The utility model discloses a head structure and robot, include: casing, form having accommodating cavity in casing, first mounting support, first mounting support is located accommodating cavity, first mounting support is connected with casing, first drive component, first drive component is located accommodating cavity, the drive end of first drive component is connected with first mounting support, and first drive component can drive first mounting support rotates around first axis, elastic component, elastic component is located accommodating cavity, and elastic component is connected with first drive component and first mounting support respectively, and elastic component can make first mounting support keep in preset position. The technical scheme provided in the application can make the structure of head structure simpler, and the cost is lower.

Description

Technical Field

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

[0002] In the head structure of a robot, the drive mechanism typically employs a brake component to maintain the posture of the head structure and prevent it from falling off in the event of a power outage.

[0003] Currently, drive structures with brake mechanisms are expensive and difficult to install, which increases the overall cost of the head structure. Utility Model Content

[0004] The purpose of this application is to provide a head structure and a robot.

[0005] According to a first aspect of the embodiments of this application, a head structure is provided, comprising:

[0006] A housing having a receiving cavity formed within it;

[0007] A first mounting bracket is disposed in the receiving cavity and is connected to the housing.

[0008] A first driving component is disposed in the receiving cavity, and the driving end of the first driving component is connected to the first mounting bracket. The first driving component is capable of driving the first mounting bracket to rotate around a first axis.

[0009] An elastic component is disposed in the receiving cavity and is connected to the first driving component and the first mounting bracket respectively. The elastic component enables the first mounting bracket to be held in a preset position.

[0010] Optionally, the resilient component includes:

[0011] A first mounting component is disposed on the first mounting bracket;

[0012] A second mounting component is disposed on the first drive assembly;

[0013] An elastic element is disposed on the first mounting member and connected to the second mounting member.

[0014] Optionally, the second mounting member has a through hole, and the second mounting member includes a first mounting part and a second mounting part connected together. The first mounting part is rotatably connected to the first mounting bracket, and the second mounting part is connected to the first mounting bracket.

[0015] The first mounting component includes a third mounting portion and a fourth mounting portion connected together, wherein the third mounting portion passes through the through hole and is connected to the first mounting bracket;

[0016] The elastic element is a torsion spring, which is disposed on the fourth mounting part and connected to the second mounting part.

[0017] Optionally, the second mounting portion has a slot, the depth direction of which intersects the direction of the first axis, and the length direction of the slot is the same as the direction of the first axis; the connecting portion of the torsion spring is disposed within the slot; or

[0018] The second mounting part has multiple slots, which are spaced apart circumferentially along the second mounting part. The depth direction of the slots intersects the direction of the first axis, and the length direction of the slots is the same as the direction of the first axis. The connecting part of the torsion spring is located in one of the slots.

[0019] Optionally, the head structure further includes a second driving component, the driving end of the second driving component being connected to the first driving component, and the second driving component being able to drive the first driving component to rotate around a second axis;

[0020] The first axis intersects with the second axis.

[0021] Optionally, the second drive assembly includes a drive element, a second mounting bracket, and a gasket. One end of the second mounting bracket is connected to the first drive assembly, and the other end of the second mounting bracket is connected to the drive end of the drive element. The gasket is disposed between the second mounting bracket and the drive element.

[0022] Optionally, the head structure further includes a third mounting bracket and a first acquisition component, a second acquisition component, and a third acquisition component disposed on the third mounting bracket. The third mounting bracket is connected to the first mounting bracket. The first acquisition component and the second acquisition component are spaced apart along a first axis. The third acquisition component is disposed between the first acquisition component and the second acquisition component. The third acquisition component is located above the first acquisition component and the second acquisition component along a second axis.

[0023] Optionally, the third mounting bracket includes a first mounting surface, a second mounting surface, and a third mounting surface. The third mounting surface is parallel to the first axis. The extension surface of the first mounting surface and the extension surface of the third mounting surface form a first angle. The extension surface of the second mounting surface and the extension surface of the third mounting surface form a second angle.

[0024] The first included angle is an acute angle, and the second included angle is an acute angle;

[0025] The first acquisition component is disposed on the first mounting surface, the second acquisition component is disposed on the second mounting surface, and the third acquisition component is disposed on the third mounting surface.

[0026] Optionally, the head structure further includes a depth camera assembly disposed on the third mounting bracket, and the depth camera assembly is positioned between the second acquisition assembly and the third acquisition assembly in the direction of the second axis.

[0027] In a second aspect of the embodiments, a robot is provided, including the head structure described above.

[0028] One technical advantage of this application embodiment is that by setting an elastic component, the head structure can be kept in a preset position, eliminating the need for a brake structure, thereby making the head structure simpler and the cost lower.

[0029] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0031] Figure 1 This is a schematic diagram of the head structure in an embodiment of this application;

[0032] Figure 2 for Figure 1 Sectional view at CC in the middle;

[0033] Figure 3 for Figure 2 A magnified view of point E in the image;

[0034] Figure 4 for Figure 1 Sectional view at DD in the middle;

[0035] Figure 5 for Figure 4 A magnified view of point F in the image;

[0036] Figure 6 This is a schematic diagram of the structure of the first mounting bracket, the elastic component, and the first driving component in the embodiments of this application;

[0037] Figure 7 for Figure 6 A cross-sectional view at point HH in the diagram;

[0038] Figure 8 for Figure 7A magnified view of point M in the image;

[0039] Figure 9 for Figure 6 A magnified view of point J in the image;

[0040] Figure 10 This is a schematic diagram of the head structure in an embodiment of this application;

[0041] Figure 11 This is a schematic diagram of the head structure in an embodiment of this application;

[0042] Figure 12 This is a schematic diagram of the head structure in an embodiment of this application.

[0043] Explanation of reference numerals in the attached drawings: Head structure 100; Housing 1; Receiving cavity 11; First mounting bracket 2; First drive assembly 3; Elastic assembly 4; First mounting member 41; Third mounting part 411; Fourth mounting part 412; Second mounting member 42; First mounting part 421; Second mounting part 422; Slot 4221; Through hole 423; Elastic member 43; Torsion spring 43a; Body 431; First connecting part 432; Second connecting part 433; Bearing 44; Second drive assembly 5; Drive member 51; Second mounting bracket 52; Gasket 53; Groove 54; Third mounting bracket 6; First mounting surface 61; Second mounting surface 62; Third mounting surface 63; Fourth mounting surface 64; Second included angle a; First acquisition assembly 7; Second acquisition assembly 8; Third acquisition assembly 9; Depth camera assembly 10; First axis A; Second axis B. Detailed Implementation

[0044] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0045] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0046] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0047] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0048] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0049] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0050] In the description of this invention, it should be understood that if the terms "axial", "radial", etc., are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] like Figures 1-12 As shown, according to a first aspect of the embodiments of this application, a head structure 100 is provided, including a housing 1, a first mounting bracket 2, a first driving assembly 3, and an elastic assembly 4; a receiving cavity 11 is formed within the housing 1; the first mounting bracket 2 is disposed in the receiving cavity 11 and is connected to the housing 1; the first driving assembly 3 is disposed in the receiving cavity 11, and the driving end of the first driving assembly 3 is connected to the first mounting bracket 2, the first driving assembly 3 being capable of driving the first mounting bracket 2 to rotate around a first axis A; the elastic assembly 4 is disposed in the receiving cavity 11, the elastic assembly 4 being connected to the first driving assembly 3 and the first mounting bracket 2 respectively, the elastic assembly 4 being capable of holding the first mounting bracket 2 in a preset position.

[0053] like Figure 1 and Figure 2As shown, the head structure 100 includes a housing 1, a first mounting bracket 2, a first driving component 3, and an elastic component 4; wherein, a receiving cavity 11 is formed inside the housing 1, and the first mounting bracket 2, the first driving component 3, and the elastic component 4 are all disposed in the receiving cavity 11.

[0054] To further explain, the first mounting bracket 2 is disposed within the receiving cavity 11 and is connected to the inner wall of the housing 1, thereby fixing the first mounting bracket 2 within the receiving cavity 11; the driving end of the first driving component 3 is connected to the first mounting bracket 2, and the first driving component 3 can drive the first mounting bracket 2 around the first axis A, thereby causing the housing 1 to rotate around the first axis A. The rotation of the housing 1 and the first mounting bracket 2 around the first axis A enables the head structure 100 to perform nodding and head-raising actions.

[0055] To further explain, the elastic component 4 is disposed within the receiving cavity 11. The elastic component 4 is connected to the first drive component 3 and the first mounting bracket 2 respectively. The elastic component 4 enables the first mounting bracket 2 to be held in a preset position. Specifically, since the drive end of the first drive component 3 is not equipped with a brake structure, when the first drive component 3 is in a de-energized state, the drive end of the first drive component 3 will not automatically lock, and will rotate under the action of external force or gravity. The elastic component 4 of the groove in this application enables the first mounting bracket 2 to be held in a preset position. That is to say, it enables both the first mounting bracket 2 and the housing 1 to be held in a preset position. It can also be understood that the elastic component 4 can apply torque through elastic force to resist the gravity of the head structure 100, so as to maintain the head structure 100 in a preset position.

[0056] The preset position can be the position of the head structure 100 when it is in a horizontal posture.

[0057] The head structure 100 of this application can be kept in a preset position by setting the elastic component 4, eliminating the need for a brake structure, thereby making the structure of the head structure 100 simpler and the cost lower.

[0058] like Figure 2 , Figure 3 , Figure 6 , Figure 7 , Figure 8 and Figure 9As shown, in an optional embodiment, the elastic component 4 includes a first mounting member 41, a second mounting member 42, and an elastic member 43; the first mounting member 41 is disposed on the first mounting bracket 2; the second mounting member 42 is disposed on the first driving component 3, and the elastic member 43 is disposed on the first mounting member 41, and the elastic member 43 is connected to the second mounting member 42; specifically, the first mounting member 41 is disposed on the first mounting bracket 2, the second mounting member 42 is disposed on the first driving component 3, and the elastic member 43 is connected to the first mounting member 41 and the second mounting member 42 respectively; when the first driving component 3 drives the first mounting bracket 2 to rotate around the first axis A, the elastic member 43 will be subjected to external force, thereby deforming, which will not affect the normal operation of the first driving component 3; when the first driving component 3 is de-energized, the elastic force of the elastic member 43 will resist the gravity of the head structure 100, thereby keeping the head structure 100 in a preset position.

[0059] like Figure 3 and Figure 8 As shown, in an optional embodiment, the second mounting member 42 is rotatably connected to the first mounting bracket 2; specifically, the second mounting member 42 is connected to the first mounting bracket 2 via a bearing 44. Since the second mounting member 42 is disposed on the first drive assembly 3, it can provide support for the first drive assembly 3 through the first mounting bracket 2, thereby improving the stability of the output of the first drive assembly 3.

[0060] In one specific embodiment, the elastic element 43 is a helical spring, one end of which is connected to the first mounting member 41 and the other end of which is connected to the second mounting member 42. When the first drive assembly 3 drives the first mounting bracket 2 to rotate around the first axis A, the helical spring will be subjected to a lateral bending force, which will cause deformation. At this time, it will not affect the normal operation of the first drive assembly 3. When the first drive assembly 3 is de-energized, the lateral bending torque of the helical spring will resist the gravity of the head structure 100, thereby keeping the head structure 100 in a preset position.

[0061] like Figure 3 and Figure 8As shown, in another specific embodiment, the second mounting member 42 has a through hole 423. The second mounting member 42 includes a first mounting portion 421 and a second mounting portion 422 connected together. The first mounting portion 421 is rotatably connected to the first mounting bracket 2, and the second mounting portion 422 is connected to the first drive assembly 3. Specifically, the second mounting member 42 has a through hole 423, the axis of which coincides with the first axis A, and the through hole 423 passes through the first mounting portion 421 and the second mounting portion 422. The first mounting portion 421 and the second mounting portion 422 are connected along the direction of the first axis A. The first mounting portion 421 and the first mounting bracket 2 are rotatably connected by a bearing 44. The inner ring of the bearing 44 cooperates with the first mounting portion 421, and the outer ring of the bearing 44 cooperates with the first mounting bracket 2. The second mounting portion 422 is fixedly connected to the first drive assembly 3.

[0062] To further explain, the first mounting component 41 includes a third mounting portion 411 and a fourth mounting portion 412 connected together. The third mounting portion 411 passes through the through hole 423 and is connected to the first mounting bracket 2. Specifically, the third mounting portion 411 and the fourth mounting portion 412 are connected along the direction of the first axis A. The third mounting portion 411 passes through and is connected to the first mounting bracket 2. There is a gap between the third mounting portion 411 and the inner wall of the through hole 423.

[0063] like Figure 8 As shown, further explanation is provided: the elastic element 43 is a torsion spring 43a, which is disposed on the fourth mounting portion 412 and connected to the second mounting portion 422; specifically, the torsion spring 43a includes a body 431, a first connecting portion 432, and a second connecting portion 433; wherein, both the first connecting portion 432 and the second connecting portion 433 are connected to the body 431; the body 431 is sleeved on the fourth mounting portion 412, the second connecting portion 433 is connected to the fourth mounting portion 412, and the first connecting portion 432 is connected to the second mounting portion 422; when the first driving assembly 3 drives the first mounting portion 422... When the bracket 2 rotates around the first axis A, the first connecting part 432 and the second connecting part 433 of the torsion spring 43a will be subjected to external force, and the body 431 will deform. At this time, it will not affect the normal operation of the first drive component 3. When the first drive component 3 is de-energized, the first connecting part 432 and the second connecting part 433 of the torsion spring 43a will resist the gravity of the head structure 100 under the action of the body 431, so that the head structure 100 is kept in the preset position. In this embodiment, the elastic element 43 is a torsion spring 43a, which makes the structure of the elastic component 4 simpler, easier to install, and lower in cost.

[0064] like Figure 8 and Figure 9As shown, in one specific embodiment, the second mounting portion 422 has a slot 4221. The depth direction of the slot 4221 intersects the direction of the first axis A, and the length direction of the slot 4221 is the same as the direction of the first axis A. The connecting portion of the torsion spring 43a is disposed in the slot 4221. Specifically, the depth direction of the slot 4221 intersects the direction of the first axis A, the slot 4221 penetrates the second mounting portion 422 in the depth direction, and the length direction of the slot 4221 is the same as the direction of the first axis A. In the length direction, the opening of the slot 4221 faces the first driving assembly 3. The connecting portion of the torsion spring 43a refers to the first connecting portion 432, which is disposed in the slot 4221. In this embodiment, the first connecting portion 432 is disposed in the slot 4221, which facilitates the installation of the torsion spring 43a and the second mounting member 42.

[0065] like Figure 8 and Figure 9 As shown, in another specific embodiment, the second mounting part 422 has a plurality of slots 4221, which are spaced apart circumferentially along the second mounting part 422. The depth direction of the slots 4221 intersects the direction of the first axis A, and the length direction of the slots 4221 is the same as the direction of the first axis A. The connecting part of the torsion spring 43a is located in one of the slots 4221. Specifically, different slots 4221 can adjust the torque of the torsion spring 43a. Selecting a suitable slot 4221 position can balance the torque of the torsion spring 43a and the weight of the head structure 100, so that the head structure 100 can maintain a horizontal posture and not fall due to gravity.

[0066] like Figure 1 , Figure 4 , Figure 10 , Figure 11 and Figure 12 As shown, in an optional embodiment, the head structure 100 further includes a second driving component 5, the driving end of the second driving component 5 being connected to the first driving component 3, and the second driving component 5 being able to drive the first driving component 3 to rotate around a second axis B; the first axis A intersects with the second axis B; specifically, the second driving component 5 is able to drive the first driving component 3 to rotate around the second axis B, thereby also being able to drive the first mounting bracket 2 and the housing 1 to rotate around the second axis B, that is, enabling the head structure 100 to perform nodding and head-raising actions.

[0067] In related technologies, when the reducer of the drive component 51 is a planetary reducer, the backlash of the planetary reducer gears is large. When the drive component 51 drives the second mounting bracket 52 to rotate, it will cause the head structure 100 to shake, which will cause the camera's field of view to shake, resulting in poor camera observation effect and the acquired video not meeting the requirements. However, if the backlash of the planetary gear reducer is controlled within a very small range, it will increase the difficulty of processing and assembling the planetary reducer gears and increase the overall cost of the machine.

[0068] like Figure 5 As shown, to address the aforementioned problems, this application provides a specific implementation method. The second driving assembly 5 includes a driving member 51, a second mounting bracket 52, and a gasket 53. One end of the second mounting bracket 52 is connected to the first driving assembly 3, and the other end of the second mounting bracket 52 is connected to the driving end of the driving member 51. The gasket 53 is disposed between the second mounting bracket 52 and the driving member 51. Specifically, the second mounting bracket 52 is connected to the driving end of the driving member 51, and the gasket 53 is provided between the second mounting bracket 52 and the driving member 51. The gasket 53 abuts against the driving member 51 and the second mounting bracket 52 respectively. In this implementation method, by setting the gasket 53, the driving member 51 is in a certain compressed state, which can increase the rotational damping of the second mounting bracket 52, thereby reducing the shaking of the head structure 100 and meeting the video acquisition requirements.

[0069] Among them, gasket 53 can be an O-ring.

[0070] like Figure 5 As shown, in a preferred embodiment, the drive member 51 includes a drive shaft, the second mounting bracket 52 is connected to the drive shaft, the drive member 51 is provided with a groove 54 around the drive shaft, and a gasket 53 is embedded in the groove 54. The gasket 53 abuts against the drive member 51 and the second mounting bracket 52 respectively. In this embodiment, by setting the drive member 51 in the groove 54, the gasket 53 can be prevented from moving and can play a role in installation and positioning.

[0071] like Figures 10-12As shown, in an optional embodiment, the head structure 100 further includes a third mounting bracket 6 and a first acquisition component 7, a second acquisition component 8, and a third acquisition component 9 disposed on the third mounting bracket 6. The third mounting bracket 6 is connected to the first mounting bracket 2. The first acquisition component 7 and the second acquisition component 8 are spaced apart along the direction of the first axis A. The third acquisition component 9 is disposed between the first acquisition component 7 and the second acquisition component 8. The third acquisition component 9 is located above the first acquisition component 7 and the second acquisition component 8 along the direction of the second axis B. Specifically, the first acquisition component 7, the second acquisition component 8, and the third acquisition component 9 are all disposed on the first mounting bracket 2, and the first mounting bracket 2 provides mounting support for the first acquisition component 7, the second acquisition component 8, and the third acquisition component 9.

[0072] To further explain, the first acquisition component 7 and the second acquisition component 8 are spaced apart along the direction of the first axis A, and the third acquisition component 9 is located between the first acquisition component 7 and the second acquisition component 8 along the direction of the first axis A. The third acquisition component 9 is located above the first acquisition component 7 and the second acquisition component 8 along the direction of the second axis B. In other words, the first acquisition component 7, the second acquisition component 8, and the third acquisition component 9 are arranged in a triangle. In this embodiment, by adjusting the positions of the first acquisition component 7, the second acquisition component 8, and the third acquisition component 9, more environmental information can be collected in the same posture of the head structure 100. When the head structure 100 shakes its head left and right or nods its head up and down, the first acquisition component 7, the second acquisition component 8, and the third acquisition component 9 cooperate to collect 360° or even 720° environmental information of the head structure 100, thereby obtaining more information about the environment and providing a better interactive experience.

[0073] like Figures 10-12As shown, in an optional embodiment, the third mounting bracket 6 includes a first mounting surface 61, a second mounting surface 62, and a third mounting surface 63. The third mounting surface 63 is parallel to the first axis A. The extension surface of the first mounting surface 61 and the extension surface of the third mounting surface 63 form a first included angle (not shown in the figure, but refer to the second included angle α). The extension surface of the second mounting surface 62 and the extension surface of the third mounting surface 63 form a second included angle α. The first included angle is an acute angle, and the second included angle α is an acute angle. The first acquisition component 7 is disposed on the first mounting surface 61, the second acquisition component 8 is disposed on the second mounting surface 62, and the third acquisition component 9 is disposed on the third mounting surface 63. Specifically, since the third mounting surface 63 is parallel to the first axis A, when the head structure 100 is in a horizontal posture, the third mounting surface 63 faces the front of the head structure 100. Since a first included angle is formed between the first mounting surface 61 and the third mounting surface 63, and a second included angle α is formed between the second mounting surface 62 and the third mounting surface 63, both of which are acute angles, the first mounting surface 61 and the second mounting surface 62 face the front and lower part of the head structure 100. The first acquisition component 7 is located on the first mounting surface 61, and the second acquisition component 8 is located on the second mounting surface 62. Therefore, the first acquisition component 7 and the second acquisition component 8 can acquire environmental information of the front and lower part of the head structure 100, and the third acquisition component 9 can acquire environmental information of the front of the head structure 100. When the head structure 100 shakes its head left and right or nods up and down, the first acquisition component 7, the second acquisition component 8 and the third acquisition component 9 cooperate with each other to acquire environmental information of the head structure 100 from 360° or even 720°, thereby obtaining more information from the environment and providing a better interactive experience.

[0074] like Figures 10-12 As shown, in an optional embodiment, the head structure 100 further includes a depth camera component 10, which is disposed on the third mounting bracket 6 and positioned between the second acquisition component 8 and the third acquisition component 9 along the direction of the second axis B. Specifically, the depth camera component 10 can acquire RGB information and depth information. RGB information refers to providing color details of the scene for tasks such as visual recognition and classification. Depth information refers to providing the depth of each pixel in the scene (distance from the first depth camera component 10) for tasks such as 3D reconstruction, spatial perception, and object detection. In this embodiment, the depth camera component 10 is mounted on the fourth mounting surface 64 of the third mounting bracket 6. The depth camera component 10 can help the head structure 100 understand the 3D structure of the environment and achieve navigation, obstacle avoidance, and object grasping.

[0075] Among them, the first acquisition component 7 is a fisheye camera, the second acquisition component 8 is a fisheye camera, and the third acquisition component 9 is a fisheye camera.

[0076] According to a second aspect of the embodiments of this application, a robot is provided, including the head structure 100 described above.

[0077] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A head structure, characterized in that, include: A housing having a receiving cavity formed within it; A first mounting bracket is disposed in the receiving cavity and is connected to the housing. A first driving component is disposed in the receiving cavity, and the driving end of the first driving component is connected to the first mounting bracket. The first driving component is capable of driving the first mounting bracket to rotate around a first axis. An elastic component is disposed in the receiving cavity and is connected to the first driving component and the first mounting bracket respectively. The elastic component enables the first mounting bracket to be held in a preset position.

2. The head structure according to claim 1, characterized in that, The elastic component includes: A first mounting component is disposed on the first mounting bracket; A second mounting component is disposed on the first drive assembly; An elastic element is disposed on the first mounting member and connected to the second mounting member.

3. The head structure according to claim 2, characterized in that, The second mounting component has a through hole and includes a first mounting part and a second mounting part connected together. The first mounting part is rotatably connected to the first mounting bracket, and the second mounting part is connected to the first mounting bracket. The first mounting component includes a third mounting portion and a fourth mounting portion connected together, wherein the third mounting portion passes through the through hole and is connected to the first mounting bracket; The elastic element is a torsion spring, which is disposed on the fourth mounting part and connected to the second mounting part.

4. The head structure according to claim 3, characterized in that, The second mounting part has a slot, the depth direction of which intersects the direction of the first axis, and the length direction of the slot is the same as the direction of the first axis. The connecting part of the torsion spring is disposed in the slot; or The second mounting part has multiple slots, which are spaced apart circumferentially along the second mounting part. The depth direction of the slots intersects the direction of the first axis, and the length direction of the slots is the same as the direction of the first axis. The connecting part of the torsion spring is located in one of the slots.

5. The head structure according to claim 1, characterized in that, The head structure further includes a second driving component, the driving end of which is connected to the first driving component, and the second driving component is capable of driving the first driving component to rotate around a second axis; The first axis intersects with the second axis.

6. The head structure according to claim 5, characterized in that, The second drive assembly includes a drive element, a second mounting bracket, and a gasket. One end of the second mounting bracket is connected to the first drive assembly, and the other end of the second mounting bracket is connected to the drive end of the drive element. The gasket is disposed between the second mounting bracket and the drive element.

7. The head structure according to claim 1, characterized in that, The head structure further includes a third mounting bracket and a first acquisition component, a second acquisition component, and a third acquisition component disposed on the third mounting bracket. The third mounting bracket is connected to the first mounting bracket. The first acquisition component and the second acquisition component are spaced apart along a first axis. The third acquisition component is disposed between the first acquisition component and the second acquisition component. The third acquisition component is located above the first acquisition component and the second acquisition component along a second axis.

8. The head structure according to claim 7, characterized in that, The third mounting bracket includes a first mounting surface, a second mounting surface, and a third mounting surface. The third mounting surface is parallel to the first axis. The extension surface of the first mounting surface and the extension surface of the third mounting surface form a first angle. The extension surface of the second mounting surface and the extension surface of the third mounting surface form a second angle. The first included angle is an acute angle, and the second included angle is an acute angle; The first acquisition component is disposed on the first mounting surface, the second acquisition component is disposed on the second mounting surface, and the third acquisition component is disposed on the third mounting surface.

9. The head structure according to claim 7, characterized in that, The head structure also includes a depth camera component, which is disposed on the third mounting bracket and positioned between the second acquisition component and the third acquisition component in the direction of the second axis.

10. A robot, characterized in that, Includes the head structure as described in any one of claims 1-9.

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