31 results about "Neck structure" patented technology

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 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 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 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 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.

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.

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 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 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.

The invention discloses a high-gain horn antenna based on neck contraction, which comprises a waveguide feed part, a horn neck and a horn aperture surface, and is characterized in that the horn neck consists of three sections of continuous linear tapered structures, namely a first expansion section, a contraction section and a second expansion section in sequence along the propagation direction of electromagnetic waves; the cross sectional area of the first expansion section is monotonically increased from the starting end to the tail end; the cross sectional area of the contraction section is monotonically decreased from the starting end to the tail end, and the cross sectional area of the narrowest part of the contraction section is smaller than the cross sectional area of the feed waveguide; and the cross section area of the second expansion section is monotonically increased from the starting end to the tail end to the horn aperture surface. The neck structure of the horn is regarded as a three-section impedance transformer, impedance matching from waveguide to free space can be further optimized, electromagnetic field distribution is optimized, energy reflection is reduced, and therefore more energy is transmitted to an aperture face.

A neck structure of a simulation robot comprises a head skeleton structure, a neck support structure and a tooth transmission cross-shaped piece, arc-shaped tooth structures are arranged at the upper end and the lower end of the tooth transmission cross-shaped piece respectively, and a first rotating pin set structure and a second rotating pin set structure are arranged on the side portion of the tooth transmission cross-shaped piece respectively. The first rotating pin set structure and the second rotating pin set structure are each composed of two oppositely-arranged rotating pins, the tooth transmission cross piece is rotationally installed on the neck support structure through the second rotating pin set structure, and the head skeleton structure is rotationally installed on the tooth transmission cross piece through the first rotating pin set structure. A first driving device and a second driving device are arranged in the head skeleton structure and the neck support structure respectively, and gear structures meshed with the arc-shaped tooth structures are arranged at the output ends of the first driving device and the second driving device. The utility model has the advantages of high flexibility, large movement range, compact structure, simple and convenient movement control, modularization, low cost, and convenient and rapid installation, maintenance and integration.

The present invention relates to a tool holder adapter (10; 110) for attaching a tool (80; 180; 280) to a machine tool by means of a pin (50; 150; 250; 350). The tool holder adapter (10; 110) has a neck structure (20) for inserting the pin (50; 150; 250; 350), in which an inner recess (30) extends from a tool side (WS10) along a longitudinal axis (LA30). For a robust and reliable fastening of a tool (80; 180; 280) and to facilitate high manufacturing precision, the inner recess (30) has a receiving cross-section perpendicular to the longitudinal axis (LA30), the basic shape of which corresponds to a polygon with at least five points (32), a hypocycloid with at least five points (32), a pericycloid or an epicycloid.The invention further relates to a suitable pin (50; 150; 250: 350) for attaching a tool (80; 180: 280) to a tool holder adapter (10; 110), a suitable tool (80; 180; 280) and a tool fastening system comprising the tool holder adapter (10; 110) and the pin (50; 150; 250: 350).

The application provides a head-neck structure capable of freely pitching and rotating and a robot, and relates to the field of robots. The head-neck structure capable of freely pitching and rotating is applied to the robot, and comprises a sensing laser support provided with a support rod, a depth camera, a sensing laser module and a position adjusting member for adjusting the position of the depth camera. The position adjusting member comprises a first joint module with a hollow structure inside and a depth camera mounting piece provided with a slot or a notch. The support rod passes through the hollow structure inside the first joint module, the slot or the notch in sequence and extends above the depth camera mounting piece. The sensing laser module is positioned at the top end of the support rod, and the sensing laser module is located above the depth camera mounting piece.

The present invention relates to a tool holder adapter (10; 110) for fastening a tool (80; 180; 280) to a machine tool by means of a pin (50; 150; 250; 350; 450). The tool holder adapter (10; 110) has a neck structure (20) for inserting the pin (50; 150; 250; 350; 450), in which neck structure an inner recess (30) extends from a tool side (WS10) along a longitudinal axis (LA30). For robust and reliable fastening of a tool (80; 180; 280) and to facilitate high manufacturing precision, the inner recess (30) has, perpendicular to the longitudinal axis (LA30), a receiving cross-section whose basic shape corresponds to a polygon having at least five vertices (32), a hypocycloid having at least five vertices (32), a pericycloid or an epicycloid. The invention further relates to a matching pin (50; 150; 250; 350; 450) for fastening a tool (80; 180: 280) to a tool holder adapter (10; 110), a matching tool (80; 180; 280) and a tool fastening system having the tool holder adapter (10; 110) and the pin (50; 150; 250; 350; 450).

The invention discloses a grabbing mechanism for crown spring taking and necking. The grabbing mechanism comprises an overturning structure and a necking structure. The overturning structure comprises an overturning vertical base, an overturning air cylinder is installed on the overturning vertical base, and a steering module is installed at the driving end of the overturning air cylinder. The necking structure comprises a material taking support, a transverse moving material taking part and a vertical moving material taking part are arranged on the material taking support, a pneumatic clamping jaw is arranged on the vertical moving material taking part, one end of the pneumatic clamping jaw is connected with a first mounting rod, a first spring and a first groove are formed in the first mounting rod, and the other end of the pneumatic clamping jaw is connected with a second mounting rod. A second spring, a second groove and a swing rod are installed on the second installation rod, one end of the swing rod is connected with the second elastic block, and the other end of the swing rod is connected with an inner push rod. According to the grabbing mechanism for the crown spring taking necking opening, the crown springs are vertically placed through the overturning structure, then the forming grooves of the crown springs are controlled to be staggered through the two sides of the pneumatic clamping jaw, the size is reduced in a curled mode, and the crown springs can be conveniently placed into a sleeve in the follow-up process.

The utility model relates to the technical field of electronic musical instruments, in particular to a neck structure of an intelligent guitar, which comprises a neck shell, a neck control panel, a light guide element and a neck panel, the neck shell comprises a neck rear shell and a neck front cover, and the neck rear shell is connected with the neck front cover; the guitar neck control panel is arranged on the guitar neck front cover and connected with the guitar neck rear shell, the guitar neck control panel is provided with a key module and a light module, one end of the light guide element is close to the light module, the other end of the light guide element is arranged on the guitar neck panel so that light of the light module can be guided to the guitar neck panel, the guitar neck panel is provided with a pressing part, and the pressing part is arranged on the guitar neck panel. And the pressing part is opposite to the key module so as to be pressed and triggered by the key module. According to the utility model, the pressing structure and the light structure are combined, so that the experience feeling is better when the guitar is used. Through the intelligent light and induction technology, unprecedented playing experience is brought to a player.

The present disclosure relates to the technical field of robots, in particular to a neck structure of a robot and a humanoid robot. Specifically comprising: a neck assembly with a preset inclination angle; a first joint actuator assembly for driving a head assembly to rotate around a first axis; the first axis is a horizontal axis; the output end of the first joint actuator assembly is connected with the head assembly of the humanoid robot, and the shell thereof is connected with the first end of the neck assembly; a second joint actuator assembly for driving the neck assembly to rotate around a second axis; the second axis is a vertical axis; the output end of the second joint actuator assembly is connected with the second end of the neck assembly, and the shell thereof is connected with the chest assembly of the humanoid robot. The present disclosure can realize two degrees of freedom of left and right rotation and up and down nodding of the head of the robot through the two joint actuator assemblies, improve the flexibility of the neck structure, and make the nodding and swinging actions more natural. The neck structure is simple and has a low production cost.

The invention relates to an acoustic sound panel, comprising: a back substrate, a core plate arranged parallel to and at the back substrate, wherein the core plate is provided with a plurality of resonator cells arranged next to each other, wherein each of the resonator cells defines a resonating chamber therein, and a front substrate arranged parallel to and at the core plate, so that the core plate is sandwiched between the back substrate and the front substrate, wherein at least a part of the plurality of resonator cells of the core plate is provided with a resonator neck for providing a fluid connection between the resonating chamber and the environment, wherein the resonator necks extend into the resonating chambers of the respective resonator cells, and wherein the front substrate is provided with a plurality of perforations that are aligned with the resonator necks of the resonator cells.

The application provides a neck structure and a humanoid robot. The neck structure is used to drive a robot head to move relative to a robot body. The neck structure comprises a first driving unit, a second driving unit and a third driving unit. The first driving unit is arranged in the robot head. When the first driving unit rotates, it drives the robot head to rotate around an axial direction parallel to a first direction. The second driving unit drives the first driving unit to rotate around an axial direction parallel to a second direction when the second driving unit rotates, so as to drive the robot head to rotate around the axial direction parallel to the second direction. The third driving unit is partially arranged in the robot body. When the third driving unit rotates, it drives the second driving unit and the first driving unit to rotate around an axial direction parallel to a third direction, so as to drive the robot head to rotate around the axial direction parallel to the third direction. The application can realize three degrees of freedom of the robot head in a limited space.

The utility model provides a bottle opener for opening an ampoule bottle, which relates to the field of medical instruments and comprises a grip structure, and a retainer is arranged at the front end of the grip structure and allows the top of the ampoule bottle to pass through so that a neck structure of the ampoule bottle is positioned at the retainer; and the cutting structure is arranged on the grip structure and comprises an adjusting assembly and a cutting assembly, the adjusting assembly is used for adjusting the position of the cutting assembly relative to the protective ring so that the cutting assembly can abut against the ampoule bottle, and the cutting assembly can cut the structure at the bottle neck of the ampoule bottle. The protective ring can clamp the neck of the ampoule bottle, the human hand is prevented from making direct contact with the bottle body, even if the bottle body is broken accidentally, the human hand cannot be hurt, the safety coefficient is higher, the grinding wheel is easy to adjust through the adjusting assembly, the ampoule bottle can be easily cut, time and labor are saved, and the whole device is simple in structure, low in cost and convenient to use. And the device can adapt to ampoule bottles of different sizes and is convenient to popularize.

The utility model provides a chest shell assembly and a humanoid robot, and relates to the technical field of robots. The chest shell assembly comprises a chest shell body, arm buffering pieces and a neck buffering piece. The front shell body, the rear shell body, the two arm buffering pieces and the neck buffering piece of the chest shell body can be assembled after being independently manufactured, and therefore the manufacturing process difficulty of the chest shell assembly can be lowered. The neck buffering piece and the arm buffering piece are elastic pieces, so that the neck buffering piece and the arm buffering piece have the effects of energy absorption and shock absorption, and therefore when the neck structure rotates to impact the neck buffering piece and the mechanical arm rotates to impact the arm buffering piece, the neck buffering piece and the arm buffering piece can absorb impact force through deformation. Therefore, the neck buffering piece and the arm buffering piece cannot be damaged. The arm buffering piece is provided with a first fracture, and the neck buffering piece is provided with a second fracture, so that the arm buffering piece and the neck buffering piece can be integrally formed when being prepared through a copying process.

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.

The present application relates to a kind of robot neck mechanism and its ball hinge layout optimization method.The mechanism includes neck support platform, head support platform, between two platforms limiting rod assembly and four circumferentially arranged servo cylinder assembly, the upper and lower ends of limiting rod assembly are connected to two platforms by first universal joint and second universal joint respectively, for limiting the distance between platform and allowing four degrees of freedom attitude change.The present application further proposes ball hinge layout optimization method, the length of servo cylinder under different attitudes is calculated by attitude transformation matrix, and the attitude angle boundary of each degree of freedom is determined in combination with stroke constraint, then three-dimensional offset search is carried out in candidate area in combination with assembly height difference and space limitation, to screen effective ball hinge layout that meets constraint condition.The present application is suitable for the case that space is limited and cylinder stroke is short, and can significantly improve the attitude range and stability of robot neck structure.