Head assembly and humanoid robot

Abstract

The utility model discloses a head assembly and humanoid robot, head assembly includes shell, first drive part, second drive part, mounting bracket, connecting rod, mounting bracket is located the inside of shell, is provided with first installation groove, second installation groove thereon, first drive part is located in first installation groove, and the casing of first drive part is pivoted with mounting bracket to make the casing of first drive part can rotate about first axis relative to mounting bracket, and the output of first drive part is connected with shell to drive shell to rotate about second axis, second drive part is located in second installation groove, connecting rod includes first end, second end, and first end is pivoted on the casing of first drive part and deviates second axis, and second end is pivoted on the output of second drive part and deviates the rotation axis of second drive part output. The utility model can make first drive part and second drive part have relatively larger size, ensure that the movable joint of head assembly has higher flexibility and precision.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, specifically to a head assembly and a humanoid robot. Background Technology

[0002] Humanoid robots feature a highly anthropomorphic design, closely resembling the human body in structure. Specifically, they consist of a head, torso, two upper limbs, and two lower limbs, with the head attached to the top of the torso. Existing humanoid robot heads possess at least three degrees of freedom and three corresponding actuators, enabling them to swing back and forth, side to side, and rotate about an axis extending vertically relative to the torso. However, the layout of the head components in existing humanoid robots is not optimal. For example, the actuators used for back-and-forth and side-to-side swinging are positioned at the same height. Due to the relatively small lateral dimension of the head, larger actuators cannot be used, and these smaller actuators cannot accommodate sophisticated reduction mechanisms and precise control modules, resulting in poor flexibility and accuracy in the head's back-and-forth and side-to-side swinging. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the present invention is to provide a head assembly and a humanoid robot to solve the problem that the head of the humanoid robot in the prior art cannot be equipped with a large-sized drive component.

[0004] The objective of this utility model is achieved through the following technical solution:

[0005] The head assembly includes a housing, a first drive component, a second drive component, a mounting bracket, and a connecting rod;

[0006] The mounting bracket is located inside the housing and has a first mounting slot and a second mounting slot located below the first mounting slot.

[0007] The first drive unit is located in the first mounting slot. The housing of the first drive unit is pivotally engaged with the mounting bracket so that the housing of the first drive unit can rotate relative to the mounting bracket about the first axis. The output end of the first drive unit is connected to the housing to drive the housing to rotate about the second axis, which is perpendicular to the first axis.

[0008] The second drive unit is located in the second mounting slot, and the housing of the second drive unit is fixedly fitted with the mounting bracket;

[0009] The connecting rod includes a first end and a second end opposite to the first end. The first end is pivotally connected to the housing of the first drive member and is offset from the second axis. The second end is pivotally connected to the output end of the second drive member and is offset from the rotation axis of the output end of the second drive member.

[0010] According to the head assembly of this utility model embodiment, the housing of the first driving member is pivotally connected to the mounting bracket, and the output end of the second driving member is connected to the housing of the first driving member through a connecting rod, so that the second driving member drives the first driving member to swing, thereby realizing the back-and-forth swing and left-and-right swing of the housing; the mounting bracket is provided with a first mounting groove and a second mounting groove arranged vertically, and the first driving member and the second driving member are respectively placed in the first mounting groove and the second mounting groove, so that the first driving member and the second driving member are arranged vertically, thereby reducing the size occupied by the overall structure formed by the first driving member, the second driving member and the mounting bracket in the lateral direction of the head assembly, allowing the first driving member and the second driving member to have relatively large sizes, ensuring that the movable joints of the head assembly have high flexibility and precision.

[0011] In a preferred embodiment, a swing arm is fixed to the housing of the first drive member, and a turntable is fixedly connected to the output end of the second drive member. The first end of the connecting rod is pivotally connected to the swing arm, and the second end of the connecting rod is pivotally connected to the turntable. By providing the swing arm and the turntable, the connecting rod can be easily assembled with the housing of the first drive member and the output end of the second drive member.

[0012] In a preferred embodiment, the head assembly includes two parallel connecting rods. A first shaft head is provided at each end of the swing arm, and a second shaft head is provided on each side of the turntable. The first ends of the two connecting rods are pivotally connected to the two first shaft heads via bearings, and the second ends of the two connecting rods are pivotally connected to the two second shaft heads via bearings. By providing two connecting rods between the swing arm and the turntable, the swing arm can swing more smoothly around the second axis, improving the stability of the head assembly's left-right lateral swing.

[0013] In a preferred embodiment, a first sidewall and a second sidewall are formed on both sides of the first mounting groove on the mounting bracket. A first shaft portion extending into the first mounting groove is provided on the first sidewall and the second sidewall respectively. A second shaft portion is provided on both sides of the housing of the first drive member. The two second shaft portions are pivotally connected to the two first shaft portions respectively so that the housing of the first drive member is pivotally engaged with the mounting bracket. At least one of the first sidewall and the second sidewall is detachably fixed to the mounting bracket, so that the first drive member can be easily installed on the mounting bracket and the housing of the first drive member is pivotally engaged with the mounting bracket.

[0014] In a preferred embodiment, the mounting bracket has a protrusion protruding towards the first sidewall on its side facing the first sidewall. A recessed clearance groove is provided on the outer surface of the protrusion, extending towards the center of the mounting bracket. The upper and lower ends of the clearance groove extend to the upper and lower ends of the protrusion, respectively. The connecting rod passes through the clearance groove. The first sidewall is fixed to the outer surface of the protrusion with bolts to confine the connecting rod within the clearance groove. Confining the connecting rod within the clearance groove prevents interference with other components during its vertical movement and also limits its movement in the front-rear direction, enabling the connecting rod to stably drive the housing of the first driving component vertically.

[0015] In a preferred embodiment, the first shaft portion is a rotating shaft disposed on the first and second side walls, and the second shaft portion is a circular groove disposed on both sides of the first drive member housing. The rotating shaft is pivotally engaged with the inner wall of the circular groove via bearings. The two sides of the first drive member housing are engaged with the two sides of the first mounting groove via bearings, allowing the housing of the first drive member to rotate flexibly relative to the mounting bracket, thereby reducing the friction between the housing and the mounting bracket.

[0016] In a preferred embodiment, a connecting bracket is provided inside the housing. The connecting bracket includes a detachable top plate fixed to the lower surface of the top wall of the housing, and two side plates extending downward from both sides of the top plate. One side plate is fixedly connected to the output end of the first drive component, and the other side plate is pivotally connected to the housing of the first drive component. During assembly, the first drive component is installed on the mounting bracket, the connecting bracket is placed on the first drive component, the two side plates are installed to the housing and output end of the first drive component respectively, and finally the housing is fitted onto the connecting bracket and the mounting bracket from top to bottom. The top of the housing is used to fix the housing to the connecting bracket. Thus, by providing the connecting bracket, the housing can be easily connected to the output end of the first drive component.

[0017] In a preferred embodiment, the head assembly further includes a base and a third drive member mounted on the base and located below the mounting frame. The output end of the third drive member is connected to the bottom of the mounting frame to drive the mounting frame to rotate relative to the base around a third axis, which is perpendicular to the first and second axes. Positioning the third drive member below the mounting frame avoids the overall structure formed by the third drive member and the mounting frame occupying a large lateral space, thus allowing for the use of a larger third drive member and improving the flexibility and accuracy of the head assembly's rotation.

[0018] In a preferred embodiment, the base has a receiving cavity with a top opening, and the third drive component is placed in the receiving cavity. A connector is provided between the base and the mounting bracket, and the connector includes an upper connecting flange fixed to the bottom of the mounting bracket and a lower connecting flange connected to the output end of the third drive component. The mounting bracket and the output end of the third drive component can be easily assembled together through the upper and lower connecting flanges on the connector.

[0019] Humanoid robot, including the head component mentioned above.

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is an installation diagram of the present invention;

[0023] Figure 3 for Figure 2 Assembly diagram of the first drive component, the second drive component, and the mounting bracket;

[0024] Figure 4 for Figure 2 A schematic diagram of the structure of the first driving component;

[0025] Figure 5 for Figure 2 A schematic diagram of the mounting bracket.

[0026] In the diagram: 10. Outer shell; 11. Connecting bracket; 111. Top plate; 112. Side plate; 20. Mounting bracket; 21. First mounting slot; 22. Second mounting slot; 23. First side wall; 24. Second side wall; 241. Rotating shaft; 25. Protrusion; 26. Clearance groove; 30. First driving component; 31. Shell; 32. Output end; 33. Circular groove; 34. Swing arm; 35. First shaft head; 40. Second driving component; 41. Shell; 42. Output end; 43. Turntable; 44. Second shaft head; 50. Connecting rod; 51. First end; 52. Second end; 60. Third driving component; 70. Base; 80. Connecting component; 81. Upper connecting flange; 82. Lower connecting flange. Detailed Implementation

[0027] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments. Unless otherwise specified, the materials and equipment used in this embodiment are all commercially available. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0028] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 on this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0029] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected," "linked," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a connection through an intermediary, or a connection within two elements or an interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0030] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0031] Please refer to Figure 1-5As shown, this is a head assembly of the present invention, particularly a head assembly for a humanoid robot, comprising a shell 10, a first drive member 30, a second drive member 40, a mounting frame 20, and a connecting rod 50. The shell 10 has a hollow structure, and its outer contour mimics the shape of a human head. The mounting frame 20 is located inside the shell 10. A first mounting groove 21 extending in a left-right direction and a second mounting groove 22 extending in a front-back direction are provided on the mounting frame 20. The second mounting groove 22 is positioned directly below the first mounting groove 21. The first drive member 30 is embedded in the first mounting groove 21, and the first drive member 40... The housing 31 of the first drive member 30 is pivotally engaged with the mounting bracket 20, allowing the housing 31 of the first drive member 30 to rotate relative to the mounting bracket 20 about the first axis O1. The output end 32 of the first drive member 30 is fixedly connected to the housing 10. The first drive member 30 can drive the housing 10 to rotate relative to the mounting bracket 20 about the second axis O2. The second axis O2 is perpendicular to the first axis O1. The first axis O1 extends in the left-right direction, and the second axis O2 extends in the front-back direction. The housing 10 rotates about the first axis O1 to make the housing 10 swing back and forth. The housing 10 rotates about the second axis O2 to make the housing 10 swing left and right. The second driving member 40 is embedded in the second mounting groove 22, and the housing 41 of the second driving member 40 is fixedly engaged with the mounting bracket 20. The connecting rod 50 is connected between the housing 31 of the first driving member 30 and the output end 42 of the second driving member 40. Specifically, the connecting rod 50 includes a first end 51 and a second end 52 opposite to the first end 51. The first end 51 is pivotally connected to the housing 31 of the first driving member 30 and is set to be offset from the second axis O2. The second end 52 is pivotally connected to the output end 42 of the second driving member 40 and is set to be offset from the rotation axis of the output end 42 of the second driving member 40. Thus, when the output end 42 of the second driving member 40 rotates, it can drive the connecting rod 50 to move up and down, thereby causing the housing 31 of the first driving member 30 to swing around the second axis O2.

[0032] In this invention, the housing 31 of the first driving member 30 is pivotally connected to the mounting bracket 20, and the output end 42 of the second driving member 40 is connected to the housing 31 of the first driving member 30 through a connecting rod 50, so that the second driving member 40 drives the first driving member 30 to swing, thereby realizing the back-and-forth swing and left-and-right swing of the outer shell 10. The mounting bracket 20 is provided with a first mounting groove 21 and a second mounting groove 22 arranged vertically. The first driving member 30 and the second driving member 40 are respectively placed in the first mounting groove 21 and the second mounting groove 22, so that the first driving member 30 and the second driving member 40 are arranged vertically, thereby reducing the size occupied by the overall structure formed by the first driving member 30, the second driving member 40 and the mounting bracket 20 in the lateral direction of the head assembly, so that the first driving member 30 and the second driving member 40 have relatively large sizes, ensuring that the movable joints of the head assembly have high flexibility and precision.

[0033] In a preferred embodiment, a swing arm 34 is fixed to the housing 31 of the first driving member 30, and a turntable 43 is fixedly connected to the output end 42 of the second driving member 40. The first end 51 of the connecting rod 50 is pivotally connected to the swing arm 34, and the second end 52 of the connecting rod 50 is pivotally connected to the turntable 43. By providing the swing arm 34 and the turntable 43, the connecting rod 50 can be easily assembled with the housing 31 of the first driving member 30 and the output end 42 of the second driving member 40. The aforementioned swing arm 34 can be mounted on the housing 31 with the first driving member 30, or it can be integrally formed with the housing 31 of the first driving member 30.

[0034] The head assembly of this utility model includes two parallel connecting rods 50. A first shaft head 35 is provided at each end of the swing arm 34, and a second shaft head 44 is provided on each side of the turntable 43. The middle part of the swing arm 34 is pivotally engaged with the mounting bracket 20, meaning that the second axis O2 passes through the entire length of the swing arm 34. The two second shaft heads 44 are eccentrically positioned on both sides of the turntable 43. The first ends 51 of the two connecting rods 50 are pivotally connected to the two first shaft heads 35 via bearings, and the second ends 52 of the two connecting rods 50 are pivotally connected to the two second shaft heads 44 via bearings. The two connecting rods 50, the swing arm 34, and the turntable 43 together form a parallel four-bar linkage. When the second driving member 40 drives the turntable 43 to swing, it drives the swing arm 34 to swing around the second axis O2, thereby causing the housing 31 of the first driving member 30 to swing accordingly. Two connecting rods 50 are set between the swing arm 34 and the turntable 43, which allows the swing arm 34 to swing more smoothly around the second axis O2, improving the stability of the head assembly's left and right side swing.

[0035] The mounting bracket 20 has a first sidewall 23 and a second sidewall 24 formed on both sides of the first mounting groove 21. The first sidewall 23 and the second sidewall 24 are respectively provided with a first shaft portion extending into the first mounting groove 21. The housing 31 of the first drive member 30 is provided with a second shaft portion on both sides. The two second shaft portions are pivotally connected to the two first shaft portions respectively, so that the housing 31 of the first drive member 30 can rotate relative to the mounting bracket 20 around the second axis O2. The first shaft portion and the second shaft portion are fitted together to form a pivotal fit structure. The first sidewall 23 is fixedly fitted to the mounting bracket 20 in a detachable manner, and the second sidewall 24 is integrally formed on the mounting bracket 20. During assembly, the first drive member 30 can be engaged with the mounting bracket 20 in the front-to-back direction (i.e., the direction perpendicular to the first mounting slot 21), so that the second shaft portion on the rear side of the housing 31 of the first drive member 30 engages with the first shaft portion on the second sidewall 24. Then, the first shaft portion on the first sidewall 23 is aligned with the second shaft portion on the front side of the housing 31 of the first drive member 30. Finally, the first sidewall 23 is fixed to the mounting bracket 20. In this way, the first drive member 30 can be easily installed onto the mounting bracket 20, and the housing 31 of the first drive member 30 can be pivotally engaged with the mounting bracket 20. Alternatively, the second sidewall 24 can be detachably fixed to the mounting bracket 20, and the first sidewall 23 can be integrally formed on the mounting bracket 20. Or, both the first sidewall 23 and the second sidewall 24 can be detachably fixed to the mounting bracket 20. In short, it is only necessary to fix at least one of the first sidewall 23 and the second sidewall 24 to the mounting bracket 20 in an assemblable manner.

[0036] The first shaft portion is a rotating shaft 241 disposed on the first side wall 23 and the second side wall 24. The second shaft portion is a circular groove 33 disposed on both sides of the housing 31 of the first drive member 30. One of the circular grooves 33 may be disposed at the middle position of the swing arm 34. The rotating shaft 241 passes through the circular groove 33 and pivotally engages with the inner wall of the circular groove 33 through bearings. The two sides of the housing 31 of the first drive member 30 engage with the two sides of the first mounting groove 21 through bearings, allowing the housing 31 of the first drive member 30 to rotate flexibly relative to the mounting bracket 20, thereby reducing the friction between the housing 31 and the mounting bracket 20.

[0037] Furthermore, a protrusion 25 protruding towards the first sidewall 23 is provided on the side of the mounting bracket 20 facing the first sidewall 23. A relief groove 26 recessed towards the center of the mounting bracket 20 is provided on the outer surface of the protrusion 25. The upper and lower ends of the relief groove 26 extend to the upper and lower end faces of the protrusion 25, respectively. The connecting rod 50 passes through the relief groove 26. The first sidewall 23 is fixed to the outer surface of the protrusion 25 by bolts, thus sealing the relief groove 26 and confining the connecting rod 50 within it. The connecting rod 50 is confined within the relief groove 26, preventing interference with other components during its vertical movement and providing a limiting effect in the front-rear direction, enabling the connecting rod 50 to stably drive the housing 31 of the first driving member 30 vertically.

[0038] A connecting bracket 11 is provided inside the outer casing 10. The connecting bracket 11 is fixedly engaged with the outer casing 10. Specifically, the connecting bracket 11 includes a top plate 111 that is detachably fixed to the lower surface of the top wall of the outer casing 10, and two side plates 112 that extend downward from both sides of the top plate 111. The two side plates 112 and the top plate 111 form an inverted U-shape. The spacing between the two side plates 112 is consistent with the length of the housing 31 of the first driving member 30, so that the two side plates 112 can be placed at both ends of the housing 31 respectively. One side plate 112 is fixedly connected to the output end 32 of the first driving member 30, and the other side plate 112 is pivotally connected to the housing 31 of the first driving member 30. During assembly, the first drive unit 30 is installed on the mounting bracket 20, the connecting bracket 11 is placed on the first drive unit 30, the two side plates 112 are installed on the housing 31 and the output end 32 of the first drive unit 30 respectively, and finally the outer shell 10 is fitted onto the connecting bracket 11 and the mounting bracket 20 from top to bottom, and the top of the outer shell 10 is used to fix the outer shell 10 and the connecting bracket 11 together. In this way, by setting the connecting bracket 11, the outer shell 10 can be easily connected to the output end 32 of the first drive unit 30.

[0039] The head assembly of this utility model also includes a base 70 and a third drive member 60. The base 70 is located directly below the mounting frame 20. The third drive member 60 is mounted on the base 70 and located directly below the mounting frame 20. The output end of the third drive member 60 is upward-facing and connected to the bottom of the mounting frame 20 to drive the mounting frame 20 to rotate relative to the base 70 around a third axis O3. The third axis O3 is perpendicular to the first axis O1 and the second axis O2, that is, the third axis O3 extends in the vertical direction. In other words, the third drive member 60 drives the mounting frame 20 to rotate, which in turn drives the head housing 10 to rotate. By placing the third drive member 60 below the mounting frame 20, the overall structure formed by the third drive member 60 and the mounting frame 20 avoids occupying a large lateral space, thus allowing for the use of a larger third drive member 60, improving the flexibility and accuracy of the head assembly's rotation.

[0040] The base 70 has a receiving groove with an open top. The third drive component 60 is placed in the receiving groove. A connector 80 is provided between the base 70 and the mounting bracket 20. The connector 80 includes an upper connecting flange 81 at its top and a lower connecting flange 82 at its bottom. The upper connecting flange 81 is fixedly connected to the bottom of the mounting bracket 20, and the lower connecting flange 82 is connected to the output end of the third drive component 60. The upper connecting flange 81 and the lower connecting flange 82 on the connector 80 allow the mounting bracket 20 and the output end of the third drive component 60 to be easily assembled together.

[0041] In this invention, the first driving member 30, the second driving member 40, and the third driving member 60 can be a motor, an actuator, or other components capable of outputting rotational power.

[0042] The humanoid robot of this invention includes the head component described above. The other structures of the humanoid robot are the same as those in the prior art and will not be described in detail here.

[0043] Although only certain components and embodiments of this application have been illustrated and described, many modifications and alterations will be apparent to those skilled in the art without actually departing from the scope and spirit of the claims, such as variations in the size, dimensions, structure, shape and proportion of the various elements, installation arrangement, material use, color, orientation, etc.

[0044] The above embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of protection of the present utility model. Any non-substantial changes and substitutions made by those skilled in the art based on the present utility model shall fall within the scope of protection claimed by the present utility model.

Claims

1. A head assembly, characterized in that, Includes housing, first drive component, second drive component, mounting bracket, and connecting rod; The mounting bracket is located inside the housing and has a first mounting slot and a second mounting slot located below the first mounting slot. The first drive unit is located in the first mounting slot. The housing of the first drive unit is pivotally engaged with the mounting bracket so that the housing of the first drive unit can rotate relative to the mounting bracket about the first axis. The output end of the first drive unit is connected to the housing to drive the housing to rotate about the second axis, which is perpendicular to the first axis. The second drive unit is located in the second mounting slot, and the housing of the second drive unit is fixedly fitted with the mounting bracket; The connecting rod includes a first end and a second end opposite to the first end. The first end is pivotally connected to the housing of the first drive member and is offset from the second axis. The second end is pivotally connected to the output end of the second drive member and is offset from the rotation axis of the output end of the second drive member.

2. The head assembly as claimed in claim 1, characterized in that, A swing arm is fixed to the housing of the first drive unit, and a turntable is fixedly connected to the output end of the second drive unit. The first end of the connecting rod is pivotally connected to the swing arm, and the second end of the connecting rod is pivotally connected to the turntable.

3. The head assembly as described in claim 2, characterized in that, The head assembly includes two parallel connecting rods. A first shaft head is provided at each end of the swing arm, and a second shaft head is provided on each side of the turntable. The first ends of the two connecting rods are pivotally connected to the two first shaft heads via bearings, and the second ends of the two connecting rods are pivotally connected to the two second shaft heads via bearings.

4. The head assembly as claimed in claim 1, characterized in that, The mounting bracket has a first sidewall and a second sidewall formed on both sides of the first mounting groove. The first sidewall and the second sidewall are respectively provided with a first shaft portion extending into the first mounting groove. The housing of the first drive member is provided with a second shaft portion on both sides. The two second shaft portions are pivotally connected to the two first shaft portions respectively so that the housing of the first drive member is pivotally engaged with the mounting bracket. At least one of the first sidewall and the second sidewall is detachably fixed to the mounting bracket.

5. The head assembly as claimed in claim 4, characterized in that, The mounting bracket has a protrusion protruding towards the first side wall on its side facing the first side wall. A relief groove is provided on the outer surface of the protrusion, which is recessed towards the center of the mounting bracket. The upper and lower ends of the relief groove extend to the upper and lower ends of the protrusion, respectively. The connecting rod passes through the relief groove. The first side wall is fixed to the outer surface of the protrusion by bolts to limit the connecting rod within the relief groove.

6. The head assembly as claimed in claim 4, characterized in that, The first shaft is a rotating shaft disposed on the first side wall and the second side wall, and the second shaft is a circular groove disposed on both sides of the housing of the first drive component. The rotating shaft is pivotally engaged with the inner wall of the circular groove through a bearing.

7. The head assembly as claimed in claim 1, characterized in that, An internal connecting bracket is provided inside the housing. The connecting bracket includes a detachable top plate fixed to the lower surface of the top wall of the housing, and two side plates extending downward from both sides of the top plate. One side plate is fixedly connected to the output end of the first drive unit, and the other side plate is pivotally connected to the housing of the first drive unit.

8. The head assembly as claimed in claim 1, characterized in that, The head assembly also includes a base and a third drive unit mounted on the base and located below the mounting bracket. The output end of the third drive unit is connected to the bottom of the mounting bracket to drive the mounting bracket to rotate relative to the base about a third axis, which is perpendicular to the first axis and the second axis.

9. The head assembly as claimed in claim 8, characterized in that, The base has a top-opening receiving cavity, in which the third drive unit is placed. A connector is provided between the base and the mounting frame. The connector includes an upper connecting flange fixed to the bottom of the mounting frame and a lower connecting flange connected to the output end of the third drive unit.

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

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