Head-neck assembly and humanoid robot

Abstract

A head-neck assembly and a humanoid robot. The head-neck assembly comprises a neck structure and a head structure. The neck structure comprises a first driving member and a connector, wherein the connector is connected to a rotor of the first driving member, and the connector protrudes beyond a stator of the first driving member. The head structure comprises a head housing and a control module, wherein the head housing encloses an accommodating space, and the control module is accommodated in the accommodating space and connected and fixed to the head housing, the head housing being configured to support the control module. The outer surface of the head housing is recessed to form a first accommodating cavity, and the connector extends into the first accommodating cavity and is connected and fixed to a bottom wall of the first accommodating cavity. The outer peripheral surface of the connector and the inner peripheral wall of the first accommodating cavity fit each other and have a first spacing, the first spacing being less than or equal to a first preset value. In the head-neck assembly, assembly between the neck structure and the head structure is convenient.

Description

Head and neck components and humanoid robots Technical Field

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

[0002] Humanoid robots can mimic the shape and movement of the human body, and their research and development is receiving increasing attention.

[0003] The existing humanoid robot's head and neck structure is poorly designed and inconvenient to assemble. Summary of the Invention

[0004] The purpose of this disclosure is to provide a head and neck assembly and a humanoid robot that solves the problem of inconvenient assembly between the head and neck of a humanoid robot.

[0005] To achieve the objectives of this disclosure, the following technical solutions are provided:

[0006] In a first aspect, this disclosure provides a head and neck assembly for a humanoid robot, including a neck structure and a head structure. The neck structure includes a first drive member and a connector, the connector being connected to the rotor of the first drive member and protruding from the stator of the first drive member. The head structure includes a head shell and a control module. The head shell encloses a receiving space, the control module is received in the receiving space and connected and fixed to the head shell, and the head shell is configured to support the control module. The outer surface of the head shell is recessed to form a first receiving groove, the connector extends into the first receiving groove and is connected and fixed to the bottom wall of the receiving groove, the outer peripheral surface of the connector is adapted to the inner peripheral wall of the first receiving groove and has a first distance, the first distance being less than or equal to a first preset value.

[0007] In one embodiment of this disclosure, the connector includes a first cylindrical body and a second cylindrical body, which are coaxially arranged. The first cylindrical body is connected to one end of the second cylindrical body, and the first cylindrical body is connected to the rotor of the first driving member. The end of the second cylindrical body away from the first cylindrical body is connected and fixed to the bottom wall of the receiving groove. The surface of the second cylindrical body facing the first driving member is spaced apart from the stator of the first driving member. The outer diameter of the first cylindrical body is smaller than the outer diameter of the second cylindrical body.

[0008] In one embodiment, a limiting ring is further provided on the surface of the first cylinder facing away from the second cylinder. The limiting ring and the end face of the first cylinder facing the first driving member enclose a receiving space. The rotor of the first driving member extends into the receiving space, and the outer peripheral surface of the rotor of the first driving member is adapted to the inner peripheral wall of the limiting ring. There is a gap between the rotor and the stator at the end face of the first driving member facing the first cylinder, and at least a portion of the limiting ring is received in the gap.

[0009] In one embodiment, the neck structure further includes a mounting shell and a neck sleeve. The mounting shell is a cylindrical structure with openings at both ends. One opening of the mounting shell is fitted onto the outer periphery of the end of the first drive member away from the head structure. The other opening of the mounting shell is located on the outer periphery of the connector. The neck sleeve is fitted onto the outer periphery of the mounting shell. The end of the neck sleeve facing the head structure is connected to the opening of the mounting shell facing the head structure. The end of the neck sleeve away from the head structure is configured to connect to the torso component of the humanoid robot. The neck sleeve is a flexible structure.

[0010] In one embodiment, the mounting shell has a flared structure in the direction from away from the head structure to closer to the head structure, and the neck sleeve has a constricted structure.

[0011] In one embodiment, the neck structure further includes a pressure cap, the neck sleeve covers the end face of the mounting shell facing the head structure, the pressure cap is disposed on one side of the end face of the mounting shell facing the head structure and located on the surface of the neck sleeve facing away from the mounting shell, and the pressure cap, the neck sleeve and the mounting shell are connected and fixed.

[0012] In one embodiment, the outer surface of the head shell is recessed to form a second receiving groove, and the bottom wall of the second receiving groove is recessed to form a first receiving groove. The neck protector is received in the second receiving groove at one end facing the head structure, and the neck protector is spaced apart from the inner peripheral wall of the second receiving groove.

[0013] In one embodiment, the first driving member includes a support shell, a main body, and a plug-in portion. The support shell is sleeved on the main body, and the plug-in portion is electrically connected to the main body. One end opening of the mounting shell is sleeved on the outer periphery of the end of the support shell away from the head structure. The mounting shell has a first clearance hole, and the support shell has a corresponding second clearance hole. The first clearance hole and the second clearance hole communicate with each other. The plug-in portion extends from the first clearance hole and the second clearance hole. The bottom wall of the second receiving groove also has a wiring hole, which communicates with the first clearance hole and the receiving space.

[0014] In one embodiment, the neck structure further includes an adapter connected to the end of the first drive member away from the head structure; the neck structure further includes a second drive member, which is throttle-connected to the adapter.

[0015] In one embodiment, the neck structure further includes a support member and a transmission member. The support member includes a first connecting plate and two mounting plates that are opposite to and spaced apart from each other. Both mounting plates are connected to the first connecting plate and protrude from the surface of the first connecting plate facing the adapter. The first connecting plate is configured to be connected and fixed to the torso assembly of the humanoid robot. Each mounting plate is equipped with a second driving member. The transmission member is connected to the second driving member and the adapter.

[0016] In one embodiment, the adapter further includes an adapter portion and a first mounting portion. The adapter portion is connected to the end of the first support member away from the head structure. The adapter portion has a mounting groove at the end facing away from the first drive member. The first mounting portion is received in the mounting groove and connected to two side walls opposite to the mounting groove. The first mounting portion has a receiving groove. The rotor end of the transmission member away from the second drive member is received in the receiving groove and connected to the inner wall surface of the receiving groove.

[0017] In one embodiment, the adapter further includes a second mounting portion, which is rotatably connected to two side walls opposite to the mounting groove and spaced apart from the first mounting portion; the support further includes a second connecting plate and a connecting portion, which is connected to the first connecting plate and protrudes from the surface of the first connecting plate facing the adapter, and the connecting portion is provided at the end of the second connecting plate away from the first connecting plate, and the second mounting portion is also rotatably connected to the connecting portion.

[0018] In a second aspect, this disclosure also provides a humanoid robot, including a torso assembly and a head and neck assembly as described in any of the various embodiments of the first aspect, the head and neck assembly being connected to the torso assembly.

[0019] This disclosure Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this disclosure 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 disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 is a perspective view of a head and neck assembly according to one embodiment;

[0022] Figure 2 is an exploded view of a portion of the neck structure in one embodiment;

[0023] Figure 3 is an exploded view of the head structure of one embodiment;

[0024] Figure 4 is a perspective view of the first housing according to an embodiment;

[0025] Figure 5 is a perspective view of a connector according to one embodiment;

[0026] Figure 6 is a partial cross-sectional schematic diagram of a head and neck assembly according to an embodiment;

[0027] Figure 7 is a perspective view of a portion of the neck structure according to an embodiment;

[0028] Figure 8 is a perspective view of a mounting housing according to an embodiment;

[0029] Figure 9 is a perspective view of the cover according to one embodiment;

[0030] Figure 10 is an exploded view of a portion of the neck structure in one embodiment;

[0031] Figure 11 is a perspective view of a support member according to one embodiment.

[0032] Explanation of reference numerals in the attached drawings: 1000-Head and neck assembly; 100-Neck structure; 10-Connector; 11-First cylinder; 12-Second cylinder; 13-Limiting ring; 14-Accommodation space; 20-First driving component; 21-Plug-in part; 22-Main body; 30-Mounting shell; 31-Receiving cavity; 32-First end face; 33-Second end face; 34-Connecting wall; 35-First clearance hole; 40-Adapter; 41-Support shell; 411-Second clearance hole; 42-Adapter; 421-Mounting groove; 43-First mounting... Mounting part, 431-Receiving slot, 44-Second mounting part, 50-Neck sleeve, 51-Accommodating cavity, 52-Protrusion, 60-Gap cover, 61-Connecting groove, 70-Support member, 71-First connecting plate, 72-Mounting plate, 73-Accommodating space, 74-Limiting block, 75-Second connecting plate, 76-Connecting part, 77-Reinforcing rib, 80-Transmission member, 81-Crank, 811-Body, 812-Limiting part, 82-Connecting rod, 90-Second driving member; 200 - Head structure, 210 - Head shell, 211 - Reception space, 212 - First shell, 213 - Second shell, 214 - First accommodating slot, 215 - Second accommodating slot, 216 - Through hole, 217 - Wiring hole, 220 - Control module, 221 - Support frame, 222 - Control unit; E1 - First axis, E2 - Second axis, E3 - Third axis; X - Left-right direction of humanoid robot, Y - Front-back direction of humanoid robot, Z - Up-down direction of humanoid robot. Detailed Implementation

[0033] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0034] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0035] Unless otherwise defined, all technical and scientific terms used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the specification of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The term "and / or" as used in this disclosure includes any and all combinations of one or more of the associated listed items.

[0036] The following detailed description of some embodiments of this disclosure is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0037] Please refer to Figure 1. This embodiment of the present disclosure provides a humanoid robot, including a torso assembly (not shown in the figure) and a head and neck assembly 1000 in this embodiment of the present disclosure. The head and neck assembly 1000 is connected to the torso assembly.

[0038] The head and neck assembly 1000 includes a head structure 200 and a neck structure 100. The specific structures of the head structure 200, neck structure 100, and torso assembly are not limited and can all be designed in a humanoid shape. The head structure 200 is connected to the waist assembly and can rotate relative to it, achieving a function similar to the head and neck structure of a human body. For ease of explanation later, a coordinate system XYZ is established, where the X direction is the left-right direction of the assembled humanoid robot, the Y direction is the front-back direction of the humanoid robot, and the Z direction is the up-down direction of the humanoid robot.

[0039] Optionally, the neck structure 100 is connected to the torso component at one end in the vertical Z direction of the humanoid robot, and to the head structure 200 at the other end. The connection method can be snap-fit, screw-fit, magnetic connection, etc., and there are no specific restrictions.

[0040] Optionally, the neck structure 100 can drive the head structure 200 to rotate relative to the torso assembly, and the head structure 200 can also rotate relative to the neck structure 100. Considering that the humanoid robot should simulate the shape and movement posture of the human body as much as possible, the range of motion of the head structure 200 and neck structure 100 relative to the torso assembly should simulate the range of motion of the human head as much as possible, that is, the head structure 200 and neck structure 100 can rotate a certain angle relative to the torso assembly about the vertical Z-axis of the humanoid robot. Similarly, the range of motion of the head structure 200 relative to the neck structure 100 should also simulate the range of motion of the human head as much as possible, that is, the head structure 200 can rotate a certain angle relative to the neck structure 100 about the horizontal X-axis of the humanoid robot.

[0041] In this embodiment, by setting a unique head and neck assembly 1000, the connection between the neck structure 100, the head structure 200, and the torso assembly is stable and the structure is simple, which can reduce the assembly difficulty of the humanoid robot.

[0042] The neck structure 100 in the embodiments of this disclosure will now be described in detail.

[0043] Please refer to Figures 1, 2, 3, and 4. This disclosure provides a head and neck assembly 1000 for a humanoid robot, including a neck structure 100 and a head structure 200. The neck structure 100 includes a first drive member 20 and a connector 10. The connector 10 is connected to the rotor of the first drive member 20 and protrudes from the stator of the first drive member 20.

[0044] The shape of the connector 10 is not specifically limited. In the cross-section along the Z direction, the shape of the outer peripheral surface of the connector 10 can be a circle, triangle, square, regular polygon, etc. Any feasible solution can be referred to regarding the specific shape of the connector 10; this disclosure does not impose any limitations.

[0045] Optionally, the rotor and stator of the first driving member 20 can be flush with the end faces of the connector 10, or the end face of the rotor of the first driving member 20 can protrude from the end face of the stator of the first driving member 20, or the end face of the stator of the first driving member 20 can protrude from the end face of the rotor of the first driving member 20, and the connector 10 can protrude from the stator of the first driving member 20. All of the above methods are acceptable and there is no specific limitation.

[0046] Referring to Figure 3, the head structure 200 includes a head shell 210 and a control module 220. The head shell 210 encloses a receiving space 211. The control module 220 is received in the receiving space 211 and connected and fixed to the head shell 210. The head shell 210 is configured to support the control module 220.

[0047] Optionally, the head shell 210 can be a one-piece structure, meaning it is a one-piece structure manufactured using a single molding process. This molding process can specifically include stamping, casting, etc., and is not limited to any particular process. Alternatively, the head shell 210 can be a split structure. In one embodiment, the head shell 210 includes a first shell 212 and a second shell 213. The first shell 212 and the second shell 213 are connected and fixed together by riveting, snap-fitting, screwing, magnetic connection, or other methods. The first shell 212 is also connected and fixed to the neck structure 100.

[0048] The control module 220 includes a support frame 221 and multiple control units 222, which are arranged sequentially along the Y direction and are all connected to the support frame 221. The support frame 221 is fixedly connected to the head housing 210, and the connection method can be riveting, snap-fitting, screwing, magnetic connection, etc., without limitation. In one embodiment, the control module 220 is fixedly connected to the second housing 213 through the support frame 221.

[0049] The outer surface of the head shell 210 is recessed to form a first receiving groove 214. The connector 10 extends into the first receiving groove 214 and is connected and fixed to the bottom wall of the receiving groove. The outer peripheral surface of the connector 10 is adapted to the inner peripheral wall of the first receiving groove 214 and has a first gap. The first gap is less than or equal to a first preset value.

[0050] Optionally, a first receiving groove 214 is formed on the side of the first housing 212 facing the neck structure 100.

[0051] The inner peripheral wall shape of the first receiving groove 214 corresponds to the shape of the outer peripheral surface of the connector 10. Optionally, the range of the first preset value is 0mm-2mm, and the specific value of the first preset value can be 0mm, 0.2mm, 0.5mm, 0.7mm, 1mm, 1.2mm, 1.5mm, 1.7mm, 2mm, etc., without any specific limitation. The first distance between the outer peripheral surface of the connector 10 and the inner peripheral wall of the first receiving groove 214 is less than or equal to the first preset value, and the first distance is a natural number. In one embodiment, when the first preset value is equal to 0mm, the first distance is equal to 0mm.

[0052] In this embodiment of the present disclosure, the head and neck assembly 1000 is connected to the rotor of the first drive member 20 by a connector 10 of the neck structure 100, which extends into the first receiving groove 214 formed by the recess on the outer surface of the head shell 210 and is fixed to the bottom wall of the receiving groove. The connector 10 and the head shell 210 are precisely positioned for easy connection. The outer peripheral surface of the connector 10 is adapted to the inner peripheral wall of the first receiving groove 214. The inner peripheral wall of the first receiving groove 214 also limits the connector 10, preventing the head structure 200 from shaking relative to the neck structure 100 after installation and improving connection stability.

[0053] In one embodiment, as shown in Figures 5 and 6, the connector 10 includes a first cylindrical body 11 and a second cylindrical body 12. The first cylindrical body 11 and the second cylindrical body 12 are coaxially arranged, and the first cylindrical body 11 is connected to one end of the second cylindrical body 12. The first cylindrical body 11 is connected to the rotor of the first driving member 20, and the end of the second cylindrical body 12 away from the first cylindrical body 11 is connected and fixed to the bottom wall of the receiving groove.

[0054] The connector 10 can be a one-piece structure, meaning it is manufactured using a single molding process, such as stamping or casting, without limitation. Alternatively, the connector 10 can be a separate structure, with the first cylinder 11 and the second cylinder 12 connected and fixed by welding, riveting, snap-fitting, screwing, or other methods. The first cylinder 11 can be connected and fixed to the rotor of the first driving component 20 by welding, riveting, snap-fitting, screwing, or other methods. The second cylinder 12 can be connected and fixed to the bottom wall of the first receiving groove 214 by riveting, snap-fitting, screwing, magnetic connection, or other methods, without limitation.

[0055] Optionally, the thickness of the side walls of the second cylinder 12 is not uniform in the radial direction. The side wall thickness of the second cylinder 12 is larger at the connection with the bottom wall of the first receiving groove 214, and the side wall thickness is thinner in the rest. This arrangement can reduce the weight of the joint 10 while ensuring the connection strength.

[0056] The surface of the second cylinder 12 facing the first driving member 20 is spaced apart from the stator of the first driving member 20. When the rotor of the first driving member 20 rotates relative to the stator, the first cylinder 11, which is connected to the rotor of the first driving member 20, drives the joint 10 and the head structure 200 to rotate, thereby realizing the head-turning action of the humanoid robot. The spaced-apart surface of the second cylinder 12 facing the first driving member 20 avoids interference between the second cylinder 12 and the stator of the first driving member 20 during rotation.

[0057] Optionally, the outer diameter of the first cylinder 11 is smaller than the outer diameter of the second cylinder 12. With this configuration, the connection area between the second cylinder 12 and the bottom wall of the first receiving groove 214 is larger, resulting in a more stable connection.

[0058] In one embodiment, as shown in Figures 5 and 6, a limiting ring 13 is also provided on the surface of the first cylinder 11 facing away from the second cylinder 12. The limiting ring 13 and the end face of the first cylinder 11 facing the first driving member 20 enclose a receiving space 14. The rotor of the first driving member 20 extends into the receiving space 14, and the outer peripheral surface of the rotor of the first driving member 20 is adapted to the inner peripheral wall of the limiting ring 13.

[0059] The limiting ring 13, the first cylinder 11, and the second cylinder 12 can be an integral structure or a separate structure; there is no specific limitation. The inner peripheral wall of the limiting ring 13 serves as the side wall of the receiving space 14, and the end face of the first cylinder 11 facing the first driving member 20 serves as the bottom wall of the receiving space 14. The outer peripheral surface of the rotor of the first driving member 20 is adapted to the inner peripheral wall of the limiting ring 13 and has a second gap, which is less than a second preset value.

[0060] Optionally, the range of the second preset value is 0mm-2mm, and the specific value of the second preset value can be 0mm, 0.2mm, 0.5mm, 0.7mm, 1mm, 1.2mm, 1.5mm, 1.7mm, 2mm, etc., without any specific limitation. In one embodiment, when both the second spacing and the second preset value are 0mm, the outer peripheral surface of the rotor of the first driving member 20 is in close contact with the inner peripheral wall of the limiting ring 13.

[0061] There is a gap between the rotor and stator at the end face of the first drive member 20 facing the first cylinder 11, and at least a portion of the limiting ring 13 is received in the gap. Optionally, the outer peripheral surface of the limiting ring 13 has a gap with the inner peripheral wall of the stator at the end face of the first drive member 20 facing the first cylinder 11 to avoid interference.

[0062] With this configuration, the limiting ring 13 can limit the rotor of the first driving member 20. At least a portion of the limiting ring 13 is housed in the gap between the rotor and stator at the end face of the first driving member 20 facing the first cylinder 11, so as to limit the limiting ring 13 and thus limit the joint 10. This can make the connection between the joint 10 and the first driving member 20 more stable and less prone to displacement.

[0063] In one embodiment, as shown in Figures 2, 6, and 8, the neck structure 100 further includes a mounting shell 30 and a neck sleeve 50. The mounting shell 30 is a cylindrical structure with openings at both ends. One end of the mounting shell 30 is fitted around the outer periphery of the end of the first drive member 20 away from the head structure 200, and the other end of the mounting shell 30 is located around the outer periphery of the connector 10. The neck sleeve 50 is fitted around the outer periphery of the mounting shell 30. The end of the neck sleeve 50 facing the head structure 200 is connected to the opening of the mounting shell 30 facing the head structure 200. The end of the neck sleeve 50 away from the head structure 200 is configured to connect with the torso component of the humanoid robot. The neck sleeve 50 is a flexible structure.

[0064] The neck protector 50 has a receiving cavity 51, in which a mounting shell 30 is housed. The end of the mounting shell 30 facing the head structure 200 is connected to the neck protector 50, while the end of the neck protector 50 away from the head structure 200 is configured to connect to the torso assembly of the humanoid robot. The appearance of the neck protector 50 can mimic the shape of a human neck, enhancing its anthropomorphic nature. Any feasible design can be used for the specific shape of the neck protector 50, and this disclosure does not impose any limitations.

[0065] The neck sleeve 50 is a flexible component, meaning it is deformable, facilitating the rotation of the neck structure 100 relative to the humanoid robot's torso assembly. Optionally, the neck sleeve 50 can be made of silicone, plastic-coated materials, etc., with no specific limitations. The connection method between the neck sleeve 50 and the mounting shell 30 can be snap-fit, screw-fit, riveting, etc. Similarly, the connection method between the neck sleeve 50 and the humanoid robot's torso assembly can be snap-fit, screw-fit, riveting, etc., with no specific limitations.

[0066] Optionally, the inner peripheral wall of the neck protector 50 is provided with a plurality of clearance grooves at intervals along the circumferential and / or radial direction (from the end of the neck protector 50 away from the head structure 200 to the end of the neck protector 50 toward the head structure 200) to provide deformation space for the neck protector 50 when performing nodding (swinging in the Y direction) and head-swaying (swinging in the X direction) movements.

[0067] The mounting housing 30 has a receiving cavity 31, in which at least a portion of the first driving member 20 is received. The connection between the mounting housing 30 and the outer periphery of the end of the first driving member 20 away from the head structure 200 can be welding, snap-fitting, screwing, riveting, etc., without specific limitations.

[0068] In one embodiment, as shown in FIG2, the first driving member 20 includes a support shell 41, which is housed in a receiving cavity 31 and connected to the end of the mounting shell 30 away from the head shell 210.

[0069] The mounting shell 30 is housed in the receiving cavity 51 of the neck sleeve 50, the support shell 41 is housed in the receiving cavity 31 of the mounting shell 30, and the main body 22 of the first drive member 20 is housed in the support shell 41. This arrangement can make full use of the internal space of the neck sleeve 50, and the supports do not interfere with each other, thus improving space utilization.

[0070] By designing the neck structure 100 to include a mounting shell 30 and a neck sleeve 50, with one end of the mounting shell 30 fitted around the outer periphery of the end of the first drive member 20 furthest from the head structure 200, and the neck sleeve 50 fitted around the outer periphery of the mounting shell 30, the internal space of the neck sleeve 50 can be fully utilized, and the various supporting components do not interfere with each other, thus improving space utilization. The mounting shell 30 connects the first drive member 20 and the neck sleeve 50. The mounting shell 30 and the neck sleeve 50 as a whole do not follow the rotor movement of the first drive member 20 during the head-turning motion of the humanoid robot, maintaining an aesthetically pleasing appearance.

[0071] In one embodiment, as shown in Figures 6 and 8, the mounting shell 30 has a flared structure in the direction away from the head structure 200 and towards the head structure 200, while the neck sleeve 50 has a constricted structure.

[0072] The mounting shell 30 includes a first end face 32 and a second end face 33 facing away from each other. The first end face 32 is connected to the mounting shell 30, and the second end face 33 is connected to the neck sleeve 50. In the orthographic projection from the first end face 32 to the second end face 33, the first end face 32 is located inside the second end face 33.

[0073] Optionally, in the orthographic projection from the first end face 32 to the second end face 33 (i.e., in the orthographic projection along the Z direction), the shapes of the first end face 32 and the second end face 33 are similar. In one specific embodiment, both the first end face 32 and the second end face 33 are annular, and in the orthographic projection along the Z direction, the first end face 32 is located inside the second end face 33.

[0074] Similarly, in the orthographic projection along the Z direction, the end face where the neck sleeve 50 connects to the mounting shell 30 is located inside the end face where the neck sleeve 50 connects to the torso assembly.

[0075] The first end face 32 of the mounting shell 30 is connected to the mounting shell 30, and the second end face 33 is connected to the neck protector 50. The mounting shell 30 provides support for the neck protector 50 through the second end face 33. The second end face 33 is relatively large, resulting in high stability of the connection between the mounting shell 30 and the neck protector 50. Furthermore, when the head structure 200 swings in the X and Y directions to perform nodding and head-shaking movements, the outer circumferential surface of the mounting shell 30 matches the shape of the neck protector 50 after deformation during rotation. This prevents the neck protector 50 from deforming due to contact between the mounting shell 30 and the neck protector 50, thus demonstrating a high degree of anthropomorphism.

[0076] In one embodiment, as shown in FIG8, the mounting shell 30 further includes a connecting wall 34, which connects the first end face 32 and the second end face 33. The connecting wall 34 is an arc surface and is recessed from the outer surface to the inner surface.

[0077] Optionally, the mounting shell 30 is a one-piece molded structure, and the one-piece molding process can be stamping, casting, etc., without any specific limitation. Optionally, the mounting shell 30 is a centrally symmetrical structure, with the axis of symmetry extending along the Z direction, and in the orthographic projections in the X and Y directions, the connecting wall 34 is approximately an isosceles trapezoid, and the legs of the trapezoid can be straight lines or curves, without any specific limitation.

[0078] In one specific embodiment, the connecting wall 34 is an arc surface, and the connecting wall 34 is concave from the outer surface to the inner surface, which can more effectively disperse stress from all directions, reduce stress concentration, and thus improve the overall strength of the mounting shell 30.

[0079] Similarly, in the orthographic projection along the Z direction, the end face where the neck sleeve 50 connects to the mounting shell 30 is located inside the end face where the neck sleeve 50 connects to the torso assembly, and the sidewall of the neck sleeve 50 is approximately curved.

[0080] With this design, the shape of the neck protector 50 mimics the human neck, resulting in a high degree of anthropomorphism. The end of the mounting shell 30 connected to the neck protector 50 provides support for the neck protector 50. This end face is relatively large, ensuring high stability in the connection between the mounting shell 30 and the neck protector 50.

[0081] In one embodiment, as shown in Figures 2, 6, 8 and 9, the neck structure 100 further includes a pressure cap 60, and a neck sleeve 50 covers the end face of the mounting shell 30 facing the head structure 200. The pressure cap 60 is disposed on one side of the end face of the mounting shell 30 facing the head structure 200 and is located on the surface of the neck sleeve 50 facing away from the mounting shell 30. The pressure cap 60, the neck sleeve 50 and the mounting shell 30 are connected and fixed.

[0082] A connecting groove 61 is provided on the surface of the self-pressurizing cover 60 facing the mounting shell 30. The neck sleeve 50 includes a protrusion 52, which extends into the connecting groove 61 and is connected to the bottom wall of the connecting groove 61. The surface of the protrusion 52 facing away from the bottom wall of the connecting groove 61 is connected to the first end face 32.

[0083] Optionally, the shape and size of the pressure cap 60 correspond to the shape and size of the second end face 33. In the Z direction, from the end of the neck structure 100 away from the head structure 200 to the end of the neck structure 100 near the head structure 200, the first end face 32 of the mounting shell 30, the protrusion 52 of the neck sleeve 50, and the bottom wall of the connecting groove 61 of the mounting shell 30 are connected in sequence. The connection method can be snap-fit, screw-fit, riveting, etc., and there is no specific limitation.

[0084] By sequentially setting the pressure cap 60, the protrusion 52 of the neck sleeve 50 and the mounting shell 30 and connecting them, the connection between the mounting shell 30, the neck sleeve 50 and the pressure cap 60 is stable, the connection method is simple, and the neck sleeve 50 is not easy to fall off.

[0085] In one embodiment, as shown in Figures 4 and 6, the outer surface of the head shell 210 is recessed to form a second receiving groove 215, and a first receiving groove 214 is formed by recessing from the bottom wall of the second receiving groove 215. The end of the neck sleeve 50 facing the head structure 200 is received in the second receiving groove 215, and the neck sleeve 50 is spaced from the inner peripheral wall of the second receiving groove 215.

[0086] Optionally, the second receiving groove 215 is connected to the first receiving groove 214. In the orthographic projection in the Z direction, the bottom wall shape of the second receiving groove 215 is similar to the bottom wall shape of the first receiving groove 214, and the bottom wall of the first receiving groove 214 is located inside the bottom wall of the second receiving groove 215.

[0087] Optionally, the bottom wall of the first receiving groove 214 is provided with a through hole 216, which connects the receiving space 211 of the head shell 210 and the first receiving groove 214.

[0088] Optionally, the cap 60 is spaced from the bottom wall of the second receiving groove 215.

[0089] Optionally, the gap between the pressure cap 60 and the bottom wall of the second receiving groove 215 can be 2mm-10mm, specifically 2mm, 3mm, 5mm, 7mm, 8mm, 9mm, 10mm, etc., without any specific limitation. The outer peripheral surface of the neck protector 50 near the pressure cap 60 is spaced from the inner peripheral wall of the second receiving groove 215, and this gap can be 2mm-10mm, specifically 2mm, 3mm, 5mm, 7mm, 8mm, 9mm, 10mm, etc., without any specific limitation.

[0090] By creating a recess on the outer surface of the head cover 210 to form a second receiving groove 215, the end of the neck sleeve 50 facing the head structure 200 is received in the second receiving groove 215. The head cover 210 can provide some shielding at the connection between the neck sleeve 50 and the mounting shell 30, improving aesthetics. Furthermore, there is a gap between the neck sleeve 50 and the head cover 210 to prevent interference between the head structure 200 and the pressure cap 60 and the neck sleeve 50 during rotation.

[0091] In one embodiment, as shown in Figures 2, 4 and 7, the first driving member 20 includes a support shell 41, a main body 22 and a plug-in part 21. The support shell 41 is sleeved on the main body 22, the plug-in part 21 is electrically connected to the main body, and one end opening of the mounting shell 30 is sleeved on the outer periphery of the end of the support shell 41 away from the head structure 200.

[0092] Optionally, the stator end face of the first driving component 20 facing the first cylinder 11 is connected and fixed to the support shell 41. The connection method can be snap-fit, screw-fit, riveting, magnetic connection, etc., and there is no specific limitation.

[0093] The connection between the mounting shell 30 and the support shell 41 can be achieved through welding, snap-fitting, screwing, riveting, etc., without specific limitations. The support shell 41 is generally a cylindrical body, and in its cross-section along the Z direction, it can be circular, square, triangular, regular polygonal, etc., without limitation. In a specific embodiment, as shown in Figure 2, the support shell 41 has a circular cylindrical cross-section, and a mounting platform is provided on the outer circumferential surface of the cylindrical body. The mounting shell 30 is connected and fixed to the mounting platform.

[0094] The mounting housing 30 has a first clearance hole 35, and the support housing 41 has a corresponding second clearance hole 411. The first clearance hole 35 and the second clearance hole 411 are connected. The first driving member 20 includes a plug-in part 21, which extends from the first clearance hole 35 and the second clearance hole 411. The bottom wall of the second receiving groove 215 also has a corresponding wiring hole 217, which connects the first clearance hole 35 and the receiving space 211.

[0095] The shape and size of the first clearance hole 35 and the second clearance hole 411 are not limited. Optionally, the shape of the first clearance hole 35 and the second clearance hole 411 can be circular, square, semi-circular, trapezoidal, triangular, etc. The shape of the first clearance hole 35 and the shape of the second clearance hole 411 can be the same or different, and there is no specific limitation. In a specific embodiment, as shown in the figure, the shape and size of the first clearance hole 35 and the second clearance hole 411 are the same.

[0096] Optionally, the first driving component 20 includes a main body 22 and a connector 21. The first driving component 20 can be an integral structure or a separate structure. The main body 22 and the connector 21 are connected and fixed by means of snap-fit, screw connection, magnetic connection, etc., without limitation. The main body 22 is housed in the support shell 41, and the main body 22 includes a stator and a rotor. The stator of the main body 22 is connected and fixed to the support shell 41, and the rotor of the main body 22 is connected and fixed to the connector 10. The connector 21 is configured to realize the electrical connection between the main body 22 and the outside, so that the main body 22 can be operated by external control.

[0097] Optionally, in the Z direction, the position of the wiring hole 217 corresponds to the insertion part 21, facilitating wiring and electrical connection. The shape of the wiring hole 217 can be square, circular, triangular, rectangular, regular polygonal, etc., without limitation. Optionally, the wiring can be electrically connected to the insertion part 21 from the receiving space 211 of the head structure 200, the receiving cavity 51 of the neck sleeve 50, or from the receiving space 211 of the head structure 200, the receiving cavity 31 of the mounting shell 30, without limitation.

[0098] By setting the insertion part 21 of the first drive member 20 to extend from the first clearance hole 35 of the mounting shell 30 and the second clearance hole 411 of the support shell 41, and setting it to correspond with the wiring hole 217, it is convenient to realize the electrical connection between the first drive member 20 and the external control unit, and the wiring is convenient.

[0099] In one embodiment, as shown in Figures 7 and 10, the neck structure 100 further includes an adapter 40, which is connected to the end of the first drive member 20 away from the head structure 200 and exposed in the mounting housing 30; the neck structure 100 also includes a second drive member 90, the rotor of which is connected to the adapter 40 in a transmission connection.

[0100] The adapter 40 can be a one-piece structure, that is, the adapter 40 is a one-piece structure made by a one-piece molding process. The one-piece molding process can be stamping, casting, etc., without limitation.

[0101] Optionally, there can be one or two second driving members 90, without any specific limitation. When there is one second driving member 90, it can drive the head structure 200 to rotate about the axis along the X direction (i.e., head nodding) or about the axis along the Y direction (i.e., head swinging). When there are two second driving members 90, one of the two second driving members 90 can drive the head structure 200 to rotate about the axis along the X direction (i.e., head nodding), and the other second driving member 90 can drive the head structure 200 to rotate about the axis along the Y direction (i.e., head swinging). Alternatively, the two driving members 90 can work together to drive the head structure 200 to rotate about the axis along the X or Y direction.

[0102] In one specific embodiment, as shown in FIG7, the first driving member 20 is configured to drive the head structure 200 to rotate around the first axis E1; the two second driving members 90 rotate in the same direction and drive the adapter 40 to rotate, so as to drive the head structure 200 to rotate around the second axis E2 to perform a nodding action; the two second driving members 90 rotate in opposite directions and drive the adapter 40 to rotate, so as to drive the head structure 200 to rotate around the third axis E3 to perform a head-shaking action, wherein the first axis extends along the Z direction, the second axis extends along the X direction, and the third axis extends along the Y direction.

[0103] Optionally, the first axis E1, the second axis E2, and the third axis E3 intersect at a single point. With this configuration, the humanoid robot's center of gravity is more stable, and the head structure 200 is less prone to tilting during rotation.

[0104] In one embodiment, as shown in FIG10, the two second driving members 90 are both located on the side of the adapter 42 facing away from the support shell 41 in the Z direction and are spaced apart from the adapter 42. The two second driving members 90 are opposite to each other and spaced apart in the X direction.

[0105] By setting up a connector 40 with one end connected to the first driving member 20 and the other end connected to the second driving member 90, the rotor of the second driving member 90 is connected to the connector 40 for transmission. Under the drive of the first driving member 20 and the second driving member 90, the head structure 200 can perform at least two degrees of freedom of movement. The head structure 200 has a large range of motion and a high degree of anthropomorphism.

[0106] In one embodiment, as shown in Figures 10 and 11, the neck structure 100 further includes a support member 70 and a transmission member 80. The support member 70 includes a first connecting plate 71 and two mounting plates 72 that are opposite to and spaced apart from each other. Both mounting plates 72 are connected to the first connecting plate 71 and protrude from the surface of the first connecting plate 71 facing the adapter 40. The first connecting plate 71 is configured to be connected and fixed to the torso assembly of the humanoid robot. Each mounting plate 72 is equipped with a second driving member 90. The transmission member 80 is connected to the second driving member 90 and the adapter 40.

[0107] The support component 70 can be a one-piece structure, meaning it is manufactured using a single molding process, such as stamping or casting, without limitation. Alternatively, the support component 70 can be a split structure, with the first connecting plate 71 and the two mounting plates 72 connected and fixed by welding, riveting, snap-fitting, screwing, or other methods.

[0108] Optionally, the first connecting plate 71 and the two mounting plates 72 are generally flat. In one specific embodiment, the first connecting plate 71 and the mounting plates 72 are separate structures, and the two mounting plates 72 are connected and fixed to the first connecting plate 71 by means of snap-fit, screw-fit, riveting, etc.

[0109] Optionally, the transmission component 80 includes a crank 81 and a connecting rod 82. The crank 81 is fixedly connected to the rotor of the second drive component 90. One end of the connecting rod 82 is connected to the crank 81, and the end of the connecting rod 82 away from the crank 81 is connected to the adapter 42. The connection method can be snap-fit, screw-fit, riveting, etc., and there is no specific limitation. The specific shape of the crank 81 and the connecting rod 82 can refer to any feasible solution, and this disclosure embodiment is not limited.

[0110] The second drive member 90 transmits power to the adapter 40 via the crank 81 and connecting rod 82, thereby driving the adapter 40 to rotate the head structure 200 around the second or third axis. This transmission method is not only simple and compact in structure, but also effectively converts the power of the two second drive members 90 into the rotation of the adapter 40 and the head structure 200.

[0111] Optionally, as shown in Figures 10 and 11, a receiving space 73 is formed between the first connecting plate 71 and the two mounting plates 72. At least a portion of the crank 81 and connecting rod 82 are received in the receiving space 73. The second driving member 90 is located on the side of the mounting plate 72 facing away from the receiving space 73, and the stator of the second driving member 90 is connected and fixed to the mounting plate 72. With this arrangement, the crank 81 and connecting rod 82 will not occupy too much space in the neck structure 100, and the overall arrangement of the neck structure 100 is compact, which can reduce the size of the neck structure 100 and improve space utilization.

[0112] Optionally, a limiting block 74 is also provided on the surface of the mounting plate 72 facing the accommodating space 73. The limiting block 74 is configured to limit the rotation angle of the crank 81. There can be one or more limiting blocks 74, and there is no specific limitation. In a specific embodiment, as shown in the figure, there are two limiting blocks 74, and the two limiting blocks 74 are symmetrically arranged with respect to the rotation axis of the second driving member 90.

[0113] Correspondingly, the crank 81 includes a body 811 and a limiting part 812. The body 811 is generally disc-shaped, and the limiting part 812 is connected to the body 811 and protrudes from the outer peripheral surface of the body 811. When the crank 81 rotates to a certain angle with the rotor of the second drive member 90, the limiting part 812 abuts against the limiting block 74 to limit the rotation angle of the crank 81. This is then transmitted to the adapter 40 and the head structure 200 through the connecting rod 82 to limit the rotation angle of the adapter 40 and the head structure 200, resulting in a good anthropomorphic effect.

[0114] By setting up a support member 70, with the first connecting plate 71 of the support member 70 connected to the torso assembly, and each of the two mounting plates 72 mounting a second driving member 90, the support member 70 can provide support for the neck structure 100. The head structure 200 can perform nodding or head-shaking movements under the drive of the two second driving members 90. At least a portion of the transmission member 80 is housed in the accommodating space 73 formed between the first connecting plate 71 and the mounting plate 72. The transmission member 80 will not occupy too much space in the neck structure 100. The overall arrangement of the neck structure 100 is compact, which can reduce the size of the neck structure 100 and improve space utilization.

[0115] In one embodiment, as shown in FIG10, the adapter 40 further includes an adapter portion 42 and a first mounting portion 43. The adapter portion 42 is connected to the end of the first drive member 20 away from the head structure 200. The adapter portion 42 has a mounting groove 421 from the end facing away from the first drive member 20. The first mounting portion 43 is received in the mounting groove 421 and connected to the two side walls opposite to the mounting groove 421.

[0116] The shape of the first mounting part 43 can be cylindrical, prismatic, block-shaped, etc., without limitation. In a specific embodiment, as shown in the figure, the first mounting part 43 is generally cylindrical, and each of the two opposite ends of the first mounting part 43 in the X direction is connected and fixed to one side wall of the mounting groove 421 in the X direction. The connection method can be snap-fit, screw-fit, riveting, magnetic connection, etc., without limitation.

[0117] The first mounting part 43 has a receiving groove 431. One end of the rotor of the transmission member 80, which is away from the second driving member 90, extends into the receiving groove 431 and is connected to the inner wall of the receiving groove 431.

[0118] Optionally, the end of the connecting rod 82 of the transmission component 80 away from the crank 81 extends into the receiving groove 431. The connection method between the connecting rod 82 and the inner wall of the receiving groove 431 can be snap-fit, screw-fit, riveting, magnetic connection, etc., and there is no specific limitation. In a specific embodiment, the end of the connecting rod 82 away from the crank 81 is a cylindrical structure, and a connector passes through the cylindrical structure. The two opposite ends of the connector in the Y direction are each connected and fixed to one inner wall surface of the receiving groove 431 in the Y direction. With this configuration, the connection between the transmission component 80 and the adapter 42 is stable and the installation is convenient.

[0119] Optionally, the end of the connecting rod 82 away from the crank 81 has a gap with the inner wall of the receiving groove 431. This way, when the connecting rod 82 moves under the drive of the second drive member 90 to drive the adapter 40 to rotate, the connecting rod 82 has a certain amount of room to move, and is not easy to interfere with the adapter 42 or cause wear, resulting in a long service life.

[0120] The adapter 40 also includes a first mounting part 43, which is connected to the adapter 42. The transmission part 80 is connected to the first mounting part 43. The second driving part 90 transmits power to the adapter 40 through the transmission part 80, thereby driving the adapter 40 to rotate the head structure 200 around the second axis or the third axis. This transmission method is not only simple and compact in structure, but also can effectively convert the power of the two second driving parts 90 into the rotation of the adapter 40 and the head structure 200.

[0121] In one embodiment, as shown in FIG10, the adapter 40 further includes a second mounting portion 44, which is rotatably connected to two side walls opposite to the mounting groove 421 and is spaced apart from the first mounting portion 43.

[0122] The second mounting part 44 is rotatably connected to one side wall of the mounting groove 421 in the X direction at each of its opposite ends in the X direction. The connection method is not limited. Optionally, the second mounting part 44 is rotatably connected to the side wall of the mounting groove 421 via ball bearings.

[0123] The second mounting portion 44 is spaced apart from the first mounting portion 43 in the Y direction. Optionally, the second mounting portion 44 is substantially parallel to the first mounting portion 43.

[0124] As shown in Figures 10 and 11, the support member 70 also includes a second connecting plate 75 and a connecting part 76. The second connecting plate 75 is connected to the first connecting plate 71 and protrudes from the surface of the first connecting plate 71 facing the adapter 40. The connecting part 76 is provided at the end of the second connecting plate 75 away from the first connecting plate 71. The second mounting part 44 is also rotatably connected to the connecting part 76.

[0125] Optionally, an accommodating space 73 is formed between the first connecting plate 71, the second connecting plate 75, and the two mounting plates 72.

[0126] Optionally, the first connecting plate 71, the second connecting plate 75, and the two mounting plates 72 are all generally flat. The first connecting plate 71, the second connecting plate 75, and the two mounting plates 72 can be an integral structure manufactured using a one-piece molding process. Alternatively, two of the first connecting plate 71, the second connecting plate 75, and the two mounting plates 72 can be an integral structure, and the other two can be formed into a whole by welding, screwing, snap-fitting, etc., or the four can be formed into a whole by welding, screwing, snap-fitting, etc., without limitation.

[0127] In one specific embodiment, the first connecting plate 71 and the second connecting plate 75 are an integral structure, and the two mounting plates 72 are connected and fixed to the first connecting plate 71 by means of snap-fit, screw-fit, riveting, etc.

[0128] Optionally, the first connecting plate 71 protrudes from the surface of the second connecting plate 75 facing away from the receiving space 73, that is, the connection point between the second connecting plate 75 and the first connecting plate 71 is spaced from the edge of the surface of the first connecting plate 71 facing the adapter 40. This arrangement can increase the connection area of ​​the first connecting plate 71, making the connection between the first connecting plate 71 and the torso assembly more stable.

[0129] The shape of the connecting part 76 can be block-shaped, cylindrical, columnar, etc., without limitation. The second mounting part 44 extends into the connecting part 76 in the Y direction and is rotatably connected to the connecting part 76; the connection method is not limited. Optionally, the second mounting part 44 and the connecting part 76 are rotatably connected by a ball bearing.

[0130] Optionally, the second connecting plate 75 and the connecting part 76 are an integral structure, and a reinforcing rib 77 is provided between the second connecting plate 75 and the connecting part 76 to increase the structural strength.

[0131] By providing a second mounting part 44, and by rotatably connecting the second mounting part 44 to the adapter part 42 and the connecting part 76 of the support member 70, the head structure 200 can perform nodding and head-shaking movements. The transmission structure is simple, compact, and occupies little space.

[0132] In the description of the embodiments of this disclosure, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other indicators are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and are not intended to 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 disclosure.

[0133] The above-disclosed embodiments are merely preferred embodiments of this disclosure and should not be construed as limiting the scope of this disclosure. Those skilled in the art will understand that all or part of the processes for implementing the above embodiments, and equivalent variations made in accordance with the claims of this disclosure, still fall within the scope of this disclosure.

Claims

1. A head and neck assembly, wherein, For use in humanoid robots, including: The neck structure includes a first drive member and a connector, the connector being connected to the rotor of the first drive member and the connector protruding from the stator of the first drive member; A head structure includes a head shell and a control module. The head shell encloses a receiving space, and the control module is received in the receiving space and connected and fixed to the head shell. The head shell is configured to support the control module. The outer surface of the head shell is recessed to form a first receiving groove. A connector extends into the first receiving groove and is connected and fixed to the bottom wall of the receiving groove. The outer peripheral surface of the connector is adapted to the inner peripheral wall of the first receiving groove and has a first distance, the first distance being less than or equal to a first preset value.

2. The head and neck assembly according to claim 1, wherein, The connector includes a first cylinder and a second cylinder, which are coaxially arranged. The first cylinder is connected to one end of the second cylinder. The first cylinder is connected to the rotor of the first driving member. The end of the second cylinder away from the first cylinder is connected and fixed to the bottom wall of the first receiving groove. The surface of the second cylinder facing the first driving member is spaced apart from the stator of the first driving member. The outer diameter of the first cylinder is smaller than the outer diameter of the second cylinder.

3. The head and neck assembly according to claim 2, wherein, A limiting ring is also provided on the surface of the first cylinder facing away from the second cylinder. The limiting ring and the end face of the first cylinder facing the first driving member enclose a receiving space. The rotor of the first driving member extends into the receiving space, and the outer peripheral surface of the rotor of the first driving member is adapted to the inner peripheral wall of the limiting ring. There is a gap between the rotor and the stator at the end face of the first driving member facing the first cylinder, and at least a portion of the limiting ring is received in the gap.

4. The head and neck assembly according to claim 1, wherein, The neck structure also includes a mounting shell and a neck sleeve. The mounting shell is a cylindrical structure with openings at both ends. One end of the mounting shell is fitted around the outer periphery of the end of the first drive member away from the head structure. The other end of the mounting shell is located around the outer periphery of the connector. The neck sleeve is fitted around the outer periphery of the mounting shell. The end of the neck sleeve facing the head structure is connected to the opening of the mounting shell facing the head structure. The end of the neck sleeve away from the head structure is configured to connect to the torso component of the humanoid robot. The neck sleeve is a flexible structure.

5. The head and neck assembly according to claim 4, wherein, The mounting shell has an flared structure in the direction from away from the head structure to towards the head structure, while the neck sleeve has a constricted structure.

6. The head and neck assembly according to claim 4, wherein, The neck structure also includes a pressure cap, the neck sleeve covers the end face of the mounting shell facing the head structure, the pressure cap is disposed on one side of the end face of the mounting shell facing the head structure and is located on the surface of the neck sleeve facing away from the mounting shell, and the pressure cap, the neck sleeve and the mounting shell are connected and fixed.

7. The head and neck assembly according to claim 4, wherein, The outer surface of the head shell is recessed to form a second receiving groove, and the bottom wall of the second receiving groove is recessed to form a first receiving groove. The end of the neck sleeve facing the head structure is received in the second receiving groove, and the neck sleeve is spaced from the inner wall of the second receiving groove.

8. The head and neck assembly according to claim 7, wherein, The first driving component includes a support shell, a main body, and a plug-in portion. The support shell is sleeved on the main body, and the plug-in portion is electrically connected to the main body. One end opening of the mounting shell is sleeved on the outer periphery of the end of the support shell away from the head structure. The mounting shell has a first clearance hole, and the support shell has a corresponding second clearance hole. The first clearance hole and the second clearance hole communicate with each other. The plug-in portion extends from the first clearance hole and the second clearance hole. The bottom wall of the second receiving groove has a wiring hole, and the wiring hole communicates with the first clearance hole and the receiving space.

9. The head and neck assembly according to claim 4, wherein, The neck structure further includes an adapter, which is connected to the end of the first drive member away from the head structure; the neck structure also includes a second drive member, which is kinetically connected to the adapter.

10. The head and neck assembly according to claim 9, wherein, The neck structure also includes a support member and a transmission member. The support member includes a first connecting plate and two mounting plates that are opposite to and spaced apart from each other. Both mounting plates are connected to the first connecting plate and protrude from the surface of the first connecting plate facing the adapter. The first connecting plate is configured to be connected and fixed to the torso assembly of the humanoid robot. Each mounting plate is equipped with a second driving member. The transmission member is connected to the second driving member and the adapter.

11. The head and neck assembly according to claim 10, wherein, The adapter further includes an adapter portion and a first mounting portion. The adapter portion is connected to the end of the first drive member away from the head structure. The adapter portion has a mounting groove from the end facing away from the first drive member. The first mounting portion is received in the mounting groove and connected to two side walls opposite to the mounting groove. The first mounting portion has a receiving groove. The rotor end of the transmission member away from the second drive member is received in the receiving groove and connected to the inner wall surface of the receiving groove.

12. The head and neck assembly according to claim 11, wherein, The adapter further includes a second mounting portion, which is rotatably connected to two side walls opposite to the mounting groove and spaced apart from the first mounting portion; the support further includes a second connecting plate and a connecting portion, which is connected to the first connecting plate and protrudes from the surface of the first connecting plate facing the adapter, and the connecting portion is provided at the end of the second connecting plate away from the first connecting plate, and the second mounting portion is also rotatably connected to the connecting portion.

13. A humanoid robot, wherein, It includes a torso assembly and a head and neck assembly as described in any one of claims 1 to 12, wherein the head and neck assembly is connected to the torso assembly.

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