56 results about "Neck structure" patented technology

The utility model provides a robot head and neck structure and a robot, the head and neck structure comprises a horizontal rotating assembly, a pitching assembly and a side swing assembly which are connected in sequence, the horizontal rotating assembly comprises a horizontal rotating driver, the horizontal rotating driver rotates around an output shaft of the horizontal rotating driver, and the axis of the output shaft of the horizontal rotating driver is a first rotating axis; the pitching assembly comprises a pitching driver, the pitching driver rotates around an output shaft of the pitching driver, and the axis of the output shaft of the pitching driver is a second rotating axis; the side swing assembly comprises a side swing driver and a crank connecting rod structure, the side swing driver is rotationally connected with the pitching assembly through the crank connecting rod structure, the side swing driver rotates around the pitching driver through the crank connecting rod structure, and the axis, rotating around the pitching driver, of the side swing driver is a third rotating axis; the three rotating axes are perpendicular in pairs and intersect at one point on the pitching assembly, flexible rotation of the head and neck structure around a center point in three degrees of freedom is achieved, and the whole structure is compact and is in a thin and long column shape.

The invention discloses a trunk device and a humanoid robot, and the trunk device is used for the humanoid robot and comprises a battery module and a shoulder and neck structure; the battery module comprises a battery cabinet and a battery assembly, the battery cabinet is provided with a first opening in the first direction, the battery assembly is contained in the battery cabinet from the first opening and detachably connected with the battery cabinet, the end, in the second direction, of the battery cabinet is used for being connected with the waist assembly, and the first direction is the front-back direction of the humanoid robot. The second direction is the vertical direction of the humanoid robot; the shoulder and neck structure comprises a mounting support, a shoulder assembly and a neck assembly, the mounting support is connected with the end, back to the waist assembly, of the battery cabinet in the second direction, the neck assembly is arranged at the end, away from the battery module, of the mounting support, the shoulder assembly is connected with the end, in the third direction, of the mounting support, and the third direction is the left-right direction of the humanoid robot. The trunk device is compact in structural arrangement and high in space utilization rate.

The invention discloses a multi-modal fusion perception model, method and device for improving shielding adaptability and small target detection performance, an original neck structure FPN in a BEV Fusion framework is upgraded to a BiFPN structure, and features of small target levels can be better processed by introducing improved weighted feature fusion and bidirectional connection; a double-branch time sequence module is added, and more useful time sequence information can be selectively and better provided under different conditions, so that the whole framework can better understand context meanings, more comprehensive information can be provided, and higher accuracy and robustness are provided; according to the method, an explicit semantic interaction module is provided, and a lighter format attention module is used, so that the mutual understanding (such as the relation between context information and semantic similar targets) between high-order semantic hierarchies is improved; the diffusion model is added, key features can be explicitly recovered from noise, the sensing precision and robustness are enhanced, and particularly the detection capability of shielded, small targets and fuzzy regions is improved.

The invention discloses a high-performance construction site safety helmet detection method based on YOLO11 improvement, and belongs to the technical field of artificial intelligence and computer vision, and the method comprises the steps: carrying out the structure-level lightweight reconstruction of a Neck part in YOLO11, comprehensively optimizing the calculation efficiency and structure adaptability of Neck, replacing a conventional Conv module with a DepthwiseConv module formed by combining deep convolution and point convolution, upgrading a Bottleneck structure into a Bottleneck module, and carrying out the construction site safety helmet detection. The C3k and the C3k2 are respectively upgraded into a C3k module and a C3k2 module, so that the overall light weight and the function enhancement of the Neck structure are realized. Through module-level optimization, on the premise that the detection precision is not reduced basically, the calculation complexity and resource consumption of the Neck part are remarkably reduced, and the reasoning speed, deployment flexibility and energy consumption control capability of the model are improved.

The invention aims at providing a neck structure of a robot and the robot, the neck structure comprises a first pitching assembly, a second pitching assembly, a deflection assembly and a rotating assembly, and the first pitching assembly, the second pitching assembly, the deflection assembly and the rotating assembly are sequentially connected according to a preset sequence in the height direction of the robot; in the initial state that the first pitching assembly, the second pitching assembly, the deflection assembly and the rotating assembly do not rotate, the rotating axis corresponding to the first pitching assembly is parallel to the rotating axis corresponding to the second pitching assembly. The rotating axis corresponding to the first pitching assembly or the rotating axis corresponding to the second pitching assembly is perpendicular to the rotating axis corresponding to the deflection assembly and the rotating axis corresponding to the rotating assembly in a pairwise mode. Therefore, the neck of the robot can realize four-degree-of-freedom movement, more human neck actions can be simulated, and the neck movement of the robot is more personified.

The utility model relates to the technical field of machining and production of automobile shock absorbers, in particular to a necking system for a middle cylinder of a shock absorber. Comprising a supporting frame, a pressing structure and a necking structure. The pressing structure comprises a bottom supporting block and a top pressing block, and clamping grooves are formed in the sides, close to each other, of the bottom supporting block and the top pressing block; the necking structure comprises a control frame, the control frame is connected with a necking driving device, a mounting plate is slidably connected to the control frame, a plurality of necking dies are mounted on the mounting plate, necking guide grooves are formed in the ends, close to the clamping grooves, of the necking dies, and chamfers are arranged at the ends, close to the clamping grooves, of the necking guide grooves. And a supporting mold is fixedly mounted in the necking guide groove. The problems that when the piston barrel of the shock absorber is welded, leakage is prone to occurring due to improper operation during welding, and meanwhile the welding cost is high are effectively solved. According to the utility model, the necking operation can be quickly carried out on workpieces, and meanwhile, the dies required by necking processing can be quickly replaced according to the workpieces with different sizes.

The application provides a dust-free cabin of a transformer substation, which comprises: an inflatable frame structure having an inflatable channel; a protective layer covered on the inflatable frame structure, a first side wall of the protective layer being provided with an entrance and exit; a door curtain structure arranged at the entrance and exit; a transparent part arranged on a second side wall of the protective layer; a plurality of air vents arranged at intervals on the side wall of the protective layer; an inflatable part in communication with the inflatable channel of the inflatable frame structure; and a plurality of necking structures arranged in one-to-one correspondence with the plurality of air vents, the opening size of the necking structure being adjustably arranged, the necking structure comprising a ring-shaped flexible piece and a pull rope, the outer ring of the ring-shaped flexible piece being connected with the edge of the air vent, the pull rope being connected with the inner ring of the ring-shaped flexible piece, and the pull rope being capable of driving the inner ring of the ring-shaped flexible piece to reduce in diameter. The technical scheme of the application effectively solves the problem of fixed size of the ventilation hole of the dust-free cabin in the related art.

The application aims to provide a neck structure of a robot and the robot, which comprises a first pitch assembly, a second pitch assembly, a yaw assembly and a rotation assembly, wherein the first pitch assembly, the second pitch assembly, the yaw assembly and the rotation assembly are sequentially connected in a preset order along a robot height direction; in an initial state where the first pitch assembly, the second pitch assembly, the yaw assembly and the rotation assembly are not rotated, a rotation axis corresponding to the first pitch assembly is parallel to a rotation axis corresponding to the second pitch assembly, and the rotation axis corresponding to the first pitch assembly or the rotation axis corresponding to the second pitch assembly is perpendicular to a rotation axis corresponding to the yaw assembly and a rotation axis corresponding to the rotation assembly. Thus, the neck of the robot can realize four degrees of freedom movement, can simulate more human neck actions, and makes the robot neck movement more humanized.

The brake pressure relief loop pipeline structure comprises the pipeline body and the necking structures arranged at the two ends of the pipeline body, the necking structures are movably connected with the pipeline body, and the necking structures can adjust the flow speed of hydraulic oil in a brake pressure relief loop, so that the response time of a brake system is adjusted, overlarge impact in the brake process is avoided, and the service life of the brake pressure relief loop is prolonged. According to the brake pressure relief loop pipeline structure, the response time of the brake pressure relief loop can be adjusted, impact in the braking process can be reduced, and the riding experience and comfort of the passengers can be improved.

The invention discloses a design method of a force transmission path optimizer for a necking structure of an underwater vehicle, and belongs to the field of force transmission path optimizers and design. The method comprises the following steps: a structure evaluation and demand judgment step; an initial buckling analysis step; constructing a parameterized stability analysis model; verifying the initial design of the optimizer; and lightweight automatic optimization is carried out, and finally, the size parameters of the force transmission path optimizer which meet the buckling resistance requirement and are optimal in quality are obtained. According to the method, a special force transmission path optimizer (matched with a cabin section with a necking structure in size) is designed, a force flow path is reconstructed on the structure level, automation and intelligence are achieved on the method level, the stability and safety of the underwater vehicle are effectively improved, meanwhile, the mass of the force transmission path optimizer is reduced as much as possible, and the reliability of the underwater vehicle is improved. And the unification of economy and safety is realized.

The utility model relates to the technical field of clothes, and discloses an anti-splitting V-neck structure which comprises an outer fabric (1), the outer fabric (1) is provided with a V-neck opening, outer folding areas (2) are reserved along the two sides of the V-neck opening, the outer folding areas (2) are folded inwards and then sewn with threads, wrapping strips (3) are arranged on the sewn outer folding areas (2), and the anti-splitting V-neck structure is formed. The V-collar structure is simple in structure, the flatness of the inner layer and the outer layer is high, the preparation technology is simple, and the problem that thin fabric, fabric prone to snagging, fabric prone to tearing and the like are prone to splitting and deformation at the V-collar position is solved.

The invention provides a dust-free bin for a transformer substation, and the bin comprises an inflation frame structure which is provided with an inflation channel; the protective layer covers the inflatable frame structure, and an access port is formed in the first side wall of the protective layer; the door curtain structure is arranged at the entrance and exit; the transparent part is arranged on the second side wall of the protective layer; the air holes are formed in the side wall of the protective layer at intervals; the air inflation part is communicated with the air inflation channel of the air inflation frame structure; the multiple necking structures are arranged in one-to-one correspondence with the multiple air holes, the opening size of each necking structure is adjustable, each necking structure comprises an annular flexible part and a pull rope, the outer ring of each annular flexible part is connected with the edge of the corresponding air hole, the pull rope is connected with the inner ring of the annular flexible part, and the pull rope can drive the diameter of the inner ring of the annular flexible part to be reduced. According to the technical scheme, the problem that the size of the ventilation hole of the dust-free bin is fixed in the prior art is effectively solved.

The application discloses a robot, a neck structure of the robot and a motion control method of the robot. The neck structure of the robot is connected between a head and a body of the robot, and comprises a base for connecting the body of the robot, a top base for connecting the head of the robot, a connecting rod unit rotatably connected between the base and the top base, a driving unit for outputting driving force, and a transmission mechanism arranged between the base and the top base. The transmission mechanism transmits the driving force of the driving unit to the base and / or the top base to drive the head to rotate, pitch and extend outward. The driving unit and the transmission mechanism are one-to-one arranged in three sets. Each transmission mechanism comprises a first transmission unit and a second transmission unit. The first transmission unit transmits the driving force of the driving unit to the second transmission unit to make the second transmission unit extend and retract. The driving unit is located outside the second transmission unit. The neck structure of the robot can drive the head of the robot to rotate, pitch and extend outward, so that the bionics degree of the robot is improved.

1. The name of the design product: robot head and neck. 2. The use of the design product: for the head and neck structure of a robot. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view. 5. Other circumstances that need to be explained: the eye and neck hollow parts use transparent materials, which are not required to be completely transparent, but can facilitate the transmission and reception of light signals by the internal sensor radar and light matrix.

The protection structure comprises a lower umbrella nest and an elastic protection sleeve, the lower umbrella nest comprises a nest body and an extension section, the extension section is provided with a fixing structure for preventing the elastic protection sleeve from sliding down, the fixing structure is an annular necking groove or an expanding neck structure, the elastic protection sleeve is arranged outside the nest body in a sleeving mode, and the elastic protection sleeve is arranged in the nest body in a sleeving mode. The lower end of the elastic protective sleeve is provided with a necking section matched with the fixing structure, and the necking section is formed by the elastic protective sleeve extending inwards or downwards corresponding to the fixing structure. The lower umbrella nest is sleeved with the elastic protective sleeve, the lower end of the protective sleeve and the extending section of the lower umbrella nest are provided with the anti-sliding-down fixing structures in a matched mode, when the umbrella is unfolded, umbrella ribs are not interfered to be unfolded outwards, the protective sleeve does not slide down, and when the umbrella is folded, the combination portions of the umbrella ribs and the nest body are completely wrapped in the protective sleeve. The umbrella rib is separated from umbrella cloth and other umbrella ribs, the protection effect is obvious, and the umbrella rib is particularly suitable for multi-folding and miniaturized umbrellas.

The invention provides a fiber winding integrally-formed shell with a skirt. The fiber winding integrally-formed shell comprises an inner container, a shell and a skirt structure. Wherein the inner container is fixedly arranged in the shell, the skirt structures are arranged at the two ends of the shell, and the skirt structures and the shell are integrally formed; the shell is provided with a cylindrical middle section structure and first closing-up structures located on the two sides of the middle section structure, and first openings are formed in the two ends of the shell. The outer wall of the inner container is attached to the inner wall of the shell, second openings are formed in the two ends of the inner container, and the first opening and the second openings are coaxially arranged; the skirt structure is of an annular thin-wall structure, one end of the skirt structure is connected with the edge of the middle section structure of the shell, and the circumferential size of the skirt structure is smaller than or equal to that of the middle section structure. The skirt structure and the shell are integrally formed, so that the problem of stress concentration caused by traditional glue joint is avoided, and the structural reliability is improved; the shell and the skirt structure are integrally formed through the fiber winding technology, the machining steps and the mold cost are reduced, and the production efficiency is improved.

The utility model relates to the technical field of toys, and provides a neck structure suitable for a building block person and a toy thereof, which comprise a building block body positioned in the middle, a first splicing structure arranged at the upper part of the building block body and a second splicing structure arranged at the lower part of the building block body, in the axis direction, the building block body is of a rod-shaped structure with a concave middle part and two convex ends; in the circumferential direction of the axis direction, the outer circumferential face of the building block body is of a concave-convex alternate appearance structure, the cross section of the building block body forms an area from a concave point on the edge to the next concave point in the clockwise direction, and a convex point is arranged between every two concave points in each area. Compared with the prior art, obvious wall thickness distinguishing is formed on the concave-convex texture design, the shrinkage direction is guided when the shrinkage phenomenon occurs, the shrinkage direction is complementary with the original modeling, the symmetrical modeling requirement is met, shrinkage can be controlled within the quality requirement range, and the product yield is improved.

The invention discloses an acoustic superstructure cell with an adjustable absorption frequency band and a sound absorption structure, and relates to the technical field of sound absorption. Based on the influence of neck structure parameters of a resonant cavity on the noise absorption performance of equipment, the hole diameter and the hole length of a neck hole are adjusted and controlled through an adjustment selecting structure, so that the neck characteristics of the resonant cavity are changed, and the noise absorption performance of the equipment is improved. And meanwhile, parameter adjustment of different resonant cavities in the sound absorption structure is mutually independent and does not influence each other, regulation and control are convenient, and operation is easy. The acoustic superstructure cell comprises a hollow cavity structure and an adjusting structure, N + 1 neck holes communicating the inside and the outside of a cavity of the hollow cavity structure are formed in the hollow cavity structure, the hole diameter and the hole length of each neck hole are different, N is a positive integer, and the adjusting structure is rotationally arranged on the hollow cavity structure and seals the N neck holes of the hollow cavity structure, the rest neck hole in the communicating state and the hollow cavity structure form a resonant cavity, and the neck hole forming the resonant cavity is selected by rotating the selecting and adjusting structure.

The invention belongs to the technical field of doll elements, and particularly relates to a movable doll element which comprises a chest and neck structure, elbow structures, an abdomen wearing prevention structure, hip and leg structures, shank structures and foot structures, the chest and neck structure comprises a chest body and neck joints, the elbow structures comprise elbow joints, the elbow joints are sleeved with big arm outer sleeves on big arm inner supporting piles, and the hip and leg structures are connected with the big arm outer sleeves. The forearm inner supporting pile is sleeved with a forearm outer sleeve, the lower end of the forearm inner supporting pile is connected with a hand structure, the abdomen anti-wearing structure comprises an abdomen inner joint, an abdomen outer sleeve and an anti-wearing outer sleeve, the hip-leg structure comprises a hip-leg joint, and the top of the hip-leg joint is sleeved with a hip outer sleeve and a thigh outer sleeve. The shank structure is hinged to the bottom of the thigh jacket, the movable doll element body integrates modeling and mobility, good durability is achieved through material matching, and the movable doll element body can also be matched in special scenes such as armor dolls; and the industrial pain point that'attractiveness' and'mobility 'are difficult to balance is solved.

The embodiment of the utility model provides a robot head and neck structure, a robot trunk and a humanoid robot, the head and neck structure comprises a head structure and a neck structure, the neck structure comprises a first driving piece, a second driving piece and a connecting piece, the output end of the first driving piece is connected to the connecting piece, and the second driving piece is fixed to the connecting piece; the output end of the second driving part is connected to the head structure, the output end of the first driving part is used for outputting rotation around the first axis, and the output end of the second driving part is used for outputting rotation around the second axis. A first limiting structure is arranged between the connecting piece and the first driving piece and used for limiting the rotating range of the connecting piece around the first axis, and a second limiting structure is arranged between the head structure and the connecting piece and used for limiting the rotating range of the head structure around the second axis. The head structure has a plurality of movable degrees of freedom, and rotation of the head structure is limited under the condition of power loss, so that the position of the head structure is fixed within a certain range.

The invention belongs to the technical field of neck curvature correction, and discloses a clinostatism neck curvature abnormity correction device which comprises a mounting bottom plate, a cervical vertebra placement fitting bearing block is arranged at the upper end of the mounting bottom plate, and a clinostatism neck correction rebound assembly is arranged at one end of the cervical vertebra placement fitting bearing block. A clinostatism neck curvature fitting adjusting assembly is arranged at the upper end of the clinostatism neck correcting and rebounding assembly, and a worm and worm gear meshing structure is arranged in the clinostatism neck curvature fitting adjusting assembly, so that when a user rotates an outer side knob, a transmission shaft and a rotary connecting block connected with the transmission shaft can be driven to rotate synchronously; the angle and the position of the rubber contact ring on the long bearing rod and the angle and the position of the rubber contact ball on the short bearing rod are finely adjusted, the adjusting mode can flexibly adapt to the cervical vertebra physiological curvature difference of different users, the problems that a traditional fixed shape device is poor in attaching degree and cannot conduct targeted correction are effectively solved, and the correction device can more accurately attach to the personal neck structure.

A torso device and a humanoid robot, the torso device is used for the humanoid robot and includes a battery module and a shoulder and neck structure; the battery module includes a battery cabinet and a battery assembly, the battery cabinet has a first opening in a first direction, the battery assembly is received in the battery cabinet from the first opening and is detachably connected to the battery cabinet, and the end of the battery cabinet in a second direction is used to be connected to a waist assembly, the first direction is the front-back direction of the humanoid robot, and the second direction is the up-down direction of the humanoid robot; the shoulder and neck structure includes a mounting bracket, a shoulder assembly and a neck assembly, the mounting bracket is connected to the end of the battery cabinet in the second direction facing away from the waist assembly, the neck assembly is arranged at the end of the mounting bracket away from the battery module, and the shoulder assembly is connected to the end of the mounting bracket in a third direction, the third direction is the left-right direction of the humanoid robot. The structure of the torso device of the present invention is compact and has a high space utilization rate.

The invention provides a neck structure and a humanoid robot, the neck structure is used for driving a robot head to move relative to a robot main body, and the neck structure comprises a first driving unit, a second driving unit and a third driving unit. The first driving unit is used for being arranged in the robot head, and the first driving unit is used for driving the robot head to rotate in the axial direction parallel to the first direction during rotation. The second driving unit is used for driving the first driving unit to rotate in the axial direction parallel to the second direction during rotation so as to drive the robot head to rotate in the axial direction parallel to the second direction. The third driving unit is used for being partially arranged in the robot body, and the third driving unit is used for driving the second driving unit and the first driving unit to rotate in the axial direction parallel to the third direction during rotation so as to drive the robot head to rotate in the axial direction parallel to the third direction. The three-degree-of-freedom motion of the head of the robot can be achieved in a limited space.

The utility model belongs to the technical field of heat exchangers, and particularly relates to an efficient heat exchanger which comprises a barrel, a necking structure, an upper sealing cover, a lower sealing cover, heat exchange pipes, heat exchange pieces, an upper end plate, a conveying pipe and a lower end plate. According to the utility model, the plurality of rows of heat exchange tubes are arranged, the upper end plate and the lower end plate are covered outside the upper sealing cover and the lower sealing cover, and the first groove and the second groove are respectively arranged on the upper sealing cover and the lower sealing cover, so that the plurality of rows of heat exchange tubes can be communicated in sequence, the structure is simple and compact, the design of excess tube pass can be realized, the medium flow is greatly lengthened, and the heat exchange efficiency is improved. And in cooperation with the heat exchange pieces vertically arranged on the multiple rows of heat exchange pipes in a sleeving mode at intervals, the heat exchange area is greatly increased, heat exchange is sufficient, and therefore the flue gas waste heat recovery rate is increased.

The utility model discloses a bolt assembly for square tube integrated system, and the bolt assembly is composed of a bolt, a spring, a washer and a trapezoidal nut, the bolt passes through the washer, the spring and the trapezoidal nut in sequence, the trapezoidal nut has a threaded hole matched with the bolt and a square neck structure of non -circular, the bottom of trapezoidal nut is equipped with at least two antiskid teeth, the spring is sleeved on the bolt and is located between the washer and the trapezoidal nut, the utility model discloses the sustained pre -tightening force of spring can prevent the bolt from loosening due to vibration. Adopt the washer with teeth, and the triangular tooth can embed the square tube surface under the action of locking force, so that the square tube surface produces indentation or recess, produces huge friction and resistance, realizes double anti -loose.

The invention relates to the technical field of robots, and discloses a neck structure and a humanoid robot, and the neck structure comprises a neck main support which comprises a cross shaft first hinge part; the movable platform frame comprises a cross shaft second hinge part; the cross shaft is connected between the neck main support and the movable platform frame, and the cross shaft comprises a cross shaft first shaft part suitable for rotating around a B shaft and a cross shaft second shaft part suitable for rotating around a C shaft; the first universal joint pin hinge part is hinged to the first universal joint pin shaft part, and the second universal joint pin hinge part is hinged to the second universal joint pin shaft part; the driving assembly is connected between the neck main support and the movable platform frame, and the driving assembly is suitable for driving the movable platform frame to rotate around the B axis and / or the C axis relative to the neck main support. According to the neck structure provided by the invention, head pitching with a small amplitude can be realized, and a neck shrinking state can be simulated; the head shaking of the robot in the walking process is reduced, and the head sight of the robot can be kept stable.

The utility model discloses a capturing hook for small ruminants. The capturing hook comprises a hook head and a hook rod. The hook head comprises a bent hook section, a close section and an external expansion section; the hook section and the hook rod form a hook ring for sleeving the hind leg hoof part of the small ruminant; the close section is inclined towards the direction close to the hook rod and forms a necking structure with the hook rod, so that the hind leg hoof part of the small ruminant is prevented from being separated from the hook ring; the outer expansion section inclines in the direction away from the hook rod and forms a flaring structure with the hook rod, so that the legs of the small ruminant can be conveniently gathered into the hook ring, the rear hoof of the small ruminant is sleeved with the hook ring formed by the bent hook section and the hook rod, the grabbing efficiency of the small ruminant is improved, and the stress response of the small ruminant is reduced.

The application relates to the technical field of robots, and discloses a neck structure and a humanoid robot, wherein the neck structure comprises a neck main support, a moving platform support, a cross shaft and a driving assembly; the neck main support comprises a cross shaft first hinged part; the moving platform support comprises a cross shaft second hinged part; the cross shaft is connected between the neck main support and the moving platform support, and comprises a cross shaft first shaft part suitable for rotating around a B shaft and a cross shaft second shaft part suitable for rotating around a C shaft; the cross shaft first hinged part is hingedly connected with the cross shaft first shaft part, and the cross shaft second hinged part is hingedly connected with the cross shaft second shaft part; the driving assembly is connected between the neck main support and the moving platform support, and is suitable for driving the moving platform support to rotate around the B shaft and / or the C shaft relative to the neck main support. The neck structure provided by the application can realize a small-amplitude head pitching, can simulate a neck shrinking state, can reduce head shaking of the robot during walking, and is favorable for keeping the head vision of the robot stable.

The invention discloses a robot head and neck structure and a robot, and belongs to the technical field of robots, the robot head and neck structure is connected with a robot head part and a robot body part, and the robot head and neck structure comprises a side swing mechanism, a horizontal rotating mechanism and a pitching mechanism which are sequentially connected from top to bottom; the side-sway mechanism is connected with the robot head and drives the robot head to do side-sway motion; the horizontal rotating mechanism is used for driving the side swinging mechanism and the robot head to horizontally rotate; the pitching mechanism is connected with the robot body part and used for driving the horizontal rotating mechanism, the side swing mechanism and the robot head to do pitching motion. According to the robot head and neck structure and the robot, the problems that in the prior art, a multi-connecting-rod parallel mechanism robot head and neck structure is complex in structure, large in occupied space, irregular in shape and not beneficial to humanoid modeling design can be effectively solved; an existing robot head and neck structure combining a differential bevel gear with a rotary joint has the problem that pitching, side-sway, horizontal rotation and the like cannot be conducted at the same time.

The invention relates to a robot neck mechanism and a spherical hinge layout optimization method thereof. The mechanism comprises a neck supporting platform, a head supporting platform, a limiting rod assembly located between the two platforms and four servo electric cylinder assemblies arranged in the circumferential direction, the upper end and the lower end of the limiting rod assembly are connected to the two platforms through a first universal joint and a second universal joint correspondingly, and the limiting rod assembly is used for limiting the distance between the platforms and allowing the four-freedom-degree posture change. The invention further provides a spherical hinge layout optimization method, the lengths of the servo electric cylinder under different attitudes are calculated through an attitude transformation matrix, the attitude angle boundary of each degree of freedom is determined in combination with stroke constraint, and three-dimensional offset search is carried out in a candidate area in combination with the assembly height difference and space limitation. And screening effective spherical hinge layouts meeting constraint conditions. The robot neck structure is suitable for the conditions of limited space and short electric cylinder stroke, and the posture range and stability of the robot neck structure can be remarkably improved.