CN116394275A - Robot head structure and robot - Google Patents

Abstract

The invention discloses a robot head structure and a robot, which are characterized by comprising: a bracket; the mounting platform is arranged at intervals with the bracket and is used for mounting the head body; a hinge assembly; the hinge assembly is arranged on the bracket and matched with the mounting platform, and comprises a movable piece which can rotate around a first axial direction relative to the bracket and can rotate around a second axial direction relative to the mounting platform; the first driving piece is arranged on the support and matched with the mounting platform, and drives the mounting platform to move so that the head body rotates around the second axis, and/or drives the mounting platform to move and drives the movable piece to move so that the head body rotates around the first axis. According to the robot head structure provided by the embodiment of the invention, the hinge assembly is arranged, so that the degree of freedom of movement of the robot head structure can be increased, and the bionic effect of the robot head structure is improved.

Description

Robot head structure and robot

Cross Reference to Related Applications

The present application is based on the chinese patent application with application number 202210593493.9, application day 2022, month 05 and 27, and claims priority from that chinese patent application, the entire contents of which are incorporated herein by reference.

Technical Field

The invention relates to the technical field of robots, in particular to a robot head structure and a robot.

Background

In the related art, in order to realize different degrees of freedom, the existing robot head structure generally needs a plurality of driving motors to drive and realize, and then results in that the overall structure is great, and the production assembly is complicated, has the room for improvement.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a robot head structure, which has a large number of degrees of freedom of movement, high flexibility of movement, high interaction capability, simple and compact structure, and high carrying capacity.

The invention further provides a robot.

The robot head structure according to the embodiment of the first aspect of the present invention includes: a bracket; the mounting platform is arranged at intervals with the bracket and is used for mounting the head body; a hinge assembly; the hinge assembly is arranged on the bracket and matched with the mounting platform, the hinge assembly comprises a movable piece, the movable piece is rotatable relative to the bracket around a first axial direction, and the movable piece is rotatable relative to the mounting platform around a second axial direction; the first driving piece is arranged on the support and matched with the mounting platform, and drives the mounting platform to move so that the head body rotates around the second axis, and/or drives the mounting platform to move and drives the movable piece to move so that the head body rotates around the first axis.

According to the robot head structure provided by the embodiment of the invention, the hinge assembly is arranged, and the hinge assembly and the mounting platform are mutually matched, so that the robot head structure can realize two degrees of freedom through one driving piece, the movement flexibility of the robot head structure is improved, the interaction function of the robot head structure is enhanced, the experience of a user is improved, meanwhile, the whole structure is simple and compact, the assembly and the manufacture are convenient, the bearing capacity is high, the supporting rigidity of the robot head structure can be improved, and the stability of the movement of the robot head structure is facilitated.

According to the robot head structure of the embodiment of the invention, the hinge assembly further comprises: the fixed part is fixedly arranged on the support, the movable part is in running fit with the fixed part through a first rotating part, the rotating axial direction of the first rotating part is the first axial direction, the movable part is in running fit with the mounting platform through a second rotating part, and the rotating axial direction of the second rotating part is the second axial direction.

In some examples, the mount defines an open-top receiving cavity, and the mounting platform has a limit post adapted to be inserted into the receiving cavity and limit movement of the head body when the limit post abuts an inner wall surface of the receiving cavity.

According to the robot head structure provided by the embodiment of the invention, the support comprises the base and the supporting seat, the supporting seat is arranged on the base, the hinge assembly is arranged on the supporting seat, the first driving piece comprises two telescopic rods, one end of each telescopic rod is matched with the base, and the other end of each telescopic rod is matched with the mounting platform.

In some examples, a rod seat is arranged on the base, one end of the telescopic rod is connected with the rod seat through a spherical hinge or a hooke hinge, and the other end of the telescopic rod is connected with the mounting platform through a spherical hinge or a hooke hinge.

In some examples, the head structure further comprises: the second driving piece is arranged on the mounting platform and matched with the mounting platform to drive the head body to rotate around the third axial direction.

In some examples, the mounting platform includes: the head body is arranged on the first mounting seat, and the second driving piece is connected with the first mounting seat; the second installation seat, the moving part with the cooperation of second installation seat just the output of second driving piece is located the second installation seat, the casing of second driving piece for the output rotates and drives the robot head rotates.

In some examples, the second mounting seat is provided with a limiting groove, the first mounting seat is provided with a limiting piece protruding towards one side of the second mounting seat, the limiting piece is suitable for being inserted into the limiting groove and moves relative to the limiting groove, and the limiting piece and the end part of the limiting groove are in stop contact to limit the rotation of the first mounting seat.

In some examples, the first axial direction is perpendicular to the second axial direction, and the third axial direction is perpendicular to the first axial direction and/or the second axial direction.

According to the robot according to the second aspect of the embodiment of the invention, the robot head structure according to the first aspect of the embodiment of the invention is adopted, so that the robot can realize multiple motion functions, the interaction performance of the robot head structure is improved, the experience of a user is improved, and meanwhile, the robot head structure is simple and compact, the manufacturing cost is low, the bearing capacity is high, and the supporting rigidity of the robot can be improved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is an exploded view of a robot head structure according to an embodiment of the present invention;

FIG. 2 is a schematic view of a robot head structure according to an embodiment of the present invention at a certain view angle;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;

FIG. 4 is an enlarged view of a portion of the B structure of FIG. 3;

FIG. 5 is a schematic view of an assembled configuration of a hinge assembly according to an embodiment of the present invention;

FIG. 6 is an exploded view of an assembled construction of a hinge assembly according to an embodiment of the present invention;

FIG. 7 is an exploded view of a partial structure of a robot head structure according to an embodiment of the present invention;

FIG. 8 is a partial exploded view of the first driver end according to an embodiment of the present invention;

FIG. 9 is a partial structural schematic of a robot head structure according to an embodiment of the present invention;

fig. 10 is a schematic view of a robot head structure in a limited state of a limiting column according to an embodiment of the present invention;

fig. 11 is a schematic view of a robot head structure according to an embodiment of the present invention in a certain state;

FIG. 12 is a partial schematic view of the robot head structure shown in FIG. 11;

Fig. 13 is a schematic view of a robot head structure according to an embodiment of the present invention in another state;

FIG. 14 is a partial schematic view of the robot head structure shown in FIG. 13;

fig. 15 is a schematic hardware configuration of a multi-legged robot according to one embodiment of the present invention;

fig. 16 is a schematic structural view of a multi-legged robot according to an embodiment of the present invention.

Reference numerals:

the head structure 100 is configured such that,

the head body 10 is provided with a pair of projections,

the second drive member 20, the output 21,

mounting platform 30, first mount 31, opening 311, stop collar 312, second mount 32, stop post 321, stop groove 322, connecting boss 323, stop 33, third bearing 34, bearing block 35,

hinge assembly 40, movable member 41, fixed member 42, receiving cavity 421,

a first bearing 50, a first coupling 51, a first mating shaft 511, a second bearing 52, a second coupling 53, a second mating shaft 531,

a bracket 60, a base 61, a support base 62, a lever base 63,

a first driver 70, a first telescoping rod 71, a first end 711 of the first telescoping rod, a second end 712 of the first telescoping rod, a second telescoping rod 72, a first end 721 of the second telescoping rod, a second end 722 of the second telescoping rod, a spherical hinge 73,

a first fastener 81, a second fastener 82, a third fastener 83, a fourth fastener 84, and a fifth fastener 85.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1-16, fig. 15 is a schematic hardware structure of a multi-legged robot 1000 according to one embodiment of the present invention. In the embodiment shown in fig. 13, the multi-legged robot 1000 includes a mechanical unit 101, a communication unit 102, a sensing unit 103, an interface unit 104, a storage unit 105, a control module 110, and a power source 111. The various components of the multi-legged robot 1000 can be connected in any manner, including wired or wireless connections, and the like. It will be appreciated by those skilled in the art that the specific structure of the multi-legged robot 1000 shown in fig. 13 does not constitute a limitation of the multi-legged robot 1000, the multi-legged robot 1000 may include more or less components than illustrated, and that some components do not necessarily constitute the multi-legged robot 1000, may be omitted entirely within a range not changing the essence of the invention, or some components may be combined as desired.

The various components of the multi-legged robot 1000 are described in detail below in conjunction with fig. 15:

the mechanical unit 101 is hardware of the multi-legged robot 1000. As shown in fig. 15, the mechanical unit 101 may include a drive plate 1011, a motor 1012, a mechanical structure 1013, as shown in fig. 16, the mechanical structure 1013 may include a body 1014, extendable legs 1015, feet 1016, and in other embodiments, the mechanical structure 1013 may further include an extendable mechanical arm (not shown), a rotatable head structure 100, a swingable tail structure 1018, a carrier structure 1019, a saddle structure 1020, a camera structure 1021, and the like. It should be noted that, the number of the component modules of the mechanical unit 101 may be one or more, and may be set according to the specific situation, for example, the number of the legs 1015 may be 4, each leg 1015 may be configured with 3 motors 1012, and the number of the corresponding motors 1012 is 12.

The communication unit 102 may be used for receiving and transmitting signals, or may be used for communicating with a network and other devices, for example, receiving command information sent by the remote controller or other multi-legged robot 1000 to move in a specific direction at a specific speed value according to a specific gait, and then transmitting the command information to the control module 110 for processing. The communication unit 102 includes, for example, a WiFi module, a 4G module, a 5G module, a bluetooth module, an infrared module, and the like.

The sensing unit 103 is used for acquiring information data of the surrounding environment of the multi-legged robot 1000 and monitoring parameter data of each component inside the multi-legged robot 1000, and sending the information data to the control module 110. The sensing unit 103 includes various sensors such as a sensor that acquires surrounding environment information: lidar (for remote object detection, distance determination and/or speed value determination), millimeter wave radar (for short range object detection, distance determination and/or speed value determination), cameras, infrared cameras, global navigation satellite systems (GNSS, global Navigation Satellite System), etc. Such as sensors to monitor various components within the multi-legged robot 1000: an inertial measurement unit (IMU, inertial Measurement Unit) (values for measuring velocity values, acceleration values and angular velocity values), plantar sensors (for monitoring plantar force point position, plantar posture, touchdown force magnitude and direction), temperature sensors (for detecting component temperature). As for other sensors such as a load sensor, a touch sensor, a motor angle sensor, a torque sensor, etc. that may be further configured for the multi-legged robot 1000, the detailed description thereof will be omitted.

The interface unit 104 may be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more components within the multi-legged robot 1000, or may be used to output (e.g., data information, power, etc.) to an external device. The interface unit 104 may include a power port, a data port (e.g., a USB port), a memory card port, a port for connecting devices having identification modules, an audio input/output (I/O) port, a video I/O port, and the like.

The storage unit 105 is used to store a software program and various data. The storage unit 105 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system program, a motion control program, an application program (such as a text editor), and the like; the data storage area may store data generated by the multi-legged robot 1000 in use (such as various sensed data acquired by the sensing unit 103, log file data), and the like. In addition, the storage unit 105 may include high-speed random access memory, and may also include nonvolatile memory, such as disk memory, flash memory, or other volatile solid state memory.

The display unit 106 is used to display information input by a user or information provided to the user. The display unit 106 may include a display panel 1061, and the display panel 1061 may be configured in the form of a liquid crystal display (Liquid Crystal Display, LCD), an Organic Light-Emitting Diode (OLED), or the like.

The input unit 107 may be used to receive input numeric or character information. In particular, the input unit 107 may include a touch panel 1071 and other input devices 1072. The touch panel 1071, also referred to as a touch screen, may collect touch operations of a user (e.g., operations of the user on the touch panel 1071 or in the vicinity of the touch panel 1071 using a palm, a finger, or a suitable accessory), and drive the corresponding connection device according to a preset program. The touch panel 1071 may include two parts of a touch detection device 1073 and a touch controller 1074. The touch detection device 1073 detects the touch orientation of the user, detects a signal caused by the touch operation, and transmits the signal to the touch controller 1074; the touch controller 1074 receives touch information from the touch detecting device 1073, converts it into touch point coordinates, and sends the touch point coordinates to the control module 110, and can receive and execute commands sent from the control module 110. The input unit 107 may include other input devices 1072 in addition to the touch panel 1071. In particular, other input devices 1072 may include, but are not limited to, one or more of a remote control handle or the like, as is not limited herein.

Further, the touch panel 1071 may cover the display panel 1061, and when the touch panel 1071 detects a touch operation thereon or thereabout, the touch operation is transmitted to the control module 110 to determine the type of touch event, and then the control module 110 provides a corresponding visual output on the display panel 1061 according to the type of touch event. Although in fig. 15, the touch panel 1071 and the display panel 1061 are two independent components to implement the input and output functions, in some embodiments, the touch panel 1071 may be integrated with the display panel 1061 to implement the input and output functions, which is not limited herein.

The control module 110 is a control center of the multi-legged robot 1000, connects the respective components of the entire multi-legged robot 1000 using various interfaces and lines, and performs overall control of the multi-legged robot 1000 by running or executing a software program stored in the storage unit 105, and calling data stored in the storage unit 105.

The power supply 111 is used to supply power to the various components, and the power supply 111 may include a battery and a power control board for controlling functions such as battery charging, discharging, and power consumption management. In the embodiment shown in fig. 15, the power source 111 is electrically connected to the control module 110, and in other embodiments, the power source 111 may be electrically connected to the sensing unit 103 (such as a camera, a radar, a speaker, etc.), and the motor 1012, respectively. It should be noted that each component may be connected to a different power source 111, or may be powered by the same power source 111.

On the basis of the above embodiments, specifically, in some embodiments, the terminal device may be in communication connection with the multi-legged robot 1000, when the terminal device communicates with the multi-legged robot 1000, instruction information may be sent to the multi-legged robot 1000 through the terminal device, the multi-legged robot 1000 may receive the instruction information through the communication unit 102, and the instruction information may be transmitted to the control module 110 in case of receiving the instruction information, so that the control module 110 may process to obtain the target speed value according to the instruction information. Terminal devices include, but are not limited to: a mobile phone, a tablet personal computer, a server, a personal computer, a wearable intelligent device and other electrical equipment with an image shooting function.

The instruction information may be determined according to preset conditions. In one embodiment, the multi-legged robot 1000 may include a sensing unit 103, and the sensing unit 103 may generate instruction information according to the current environment in which the multi-legged robot 1000 is located. The control module 110 may determine whether the current speed value of the multi-legged robot 1000 satisfies the corresponding preset condition according to the instruction information. If so, maintaining the current speed value and current gait movement of the multi-legged robot 1000; if not, the target speed value and the corresponding target gait are determined according to the corresponding preset conditions, so that the multi-legged robot 1000 can be controlled to move at the target speed value and the corresponding target gait. The environmental sensor may include a temperature sensor, a barometric pressure sensor, a visual sensor, an acoustic sensor. The instruction information may include temperature information, air pressure information, image information, sound information. The communication mode between the environment sensor and the control module 110 may be wired communication or wireless communication. Means of wireless communication include, but are not limited to: wireless networks, mobile communication networks (3G, 4G, 5G, etc.), bluetooth, infrared.

A robot head structure 100 according to an embodiment of the present invention is described below with reference to fig. 1-16.

As shown in fig. 1 to 16, a robot head structure 100 according to an embodiment of the present invention includes: the device comprises a bracket 60, a mounting platform 30, a hinge assembly 40 and a first driving piece 70, wherein the mounting platform 30 is arranged at intervals from the bracket 60, the mounting platform 30 is used for mounting the head body 10, the hinge assembly 40 is arranged on the bracket 60, the hinge assembly 40 is matched with the mounting platform 30 to realize the mounting of the mounting platform 30 on the bracket 60, the hinge assembly 40 comprises a movable piece 41, the movable piece 41 can rotate relative to the bracket 60, specifically, the movable piece 41 rotates around a first axial direction, and the mounting platform 30 connected with the movable piece 41 can also rotate around the first axial direction to drive the head body 10 to rotate around the first axial direction; the movable member 41 may also rotate relative to the mounting platform 30, and in particular, the movable member 41 may rotate about a second axis, and thus the mounting platform 30 and the head body 10 thereon may rotate about the second axis relative to the movable member 41.

The first driving member 70 is disposed on the bracket 60, the first driving member 70 is matched with the mounting platform 30, the first driving member 70 can drive the mounting platform 30 to move, so that the mounting platform 30 rotates relative to the movable member 41, the mounting platform 30 can rotate around the second axis, the head body 10 is mounted on the mounting platform 30, so that the head body 10 can rotate around the second axis, the first driving member 70 can also drive the mounting platform 30 to move, and then drive the movable member 41 to rotate relative to the bracket 60, namely, the movable member 41 rotates around the first axis, and when the movable member 41 rotates, the mounting platform 30 and the head body 10 mounted thereon can also rotate around the first axis; meanwhile, the movable part 41 can rotate around the second axis relative to the mounting platform 30, that is, the mounting platform 30 can rotate around the second axis, and the mounting platform 30 can rotate around the first axis, so that the first driving part 70 can also drive the mounting platform 30 to move, so that the head body 10 can move around the first axis and the second axis at the same time, thereby realizing various movement functions of the robot head structure 100 and improving the interactivity of the robot head structure 100.

It will be appreciated that by spacing the mounting platform 30 from the bracket 60, it may be advantageous to accommodate components of the robotic head structure 100, facilitate assembly of the robotic head structure 100, and facilitate manipulation of the robotic head structure 100; through the cooperation between hinge assembly 40 and mounting platform 30, can improve robot head structure 100's support rigidity to increase robot head structure 100's functional unit, make robot head structure 100's interactive mode diversified, improved robot head structure 100's bionical effect.

According to the robot head structure 100 provided by the embodiment of the invention, through the arrangement of the hinge assembly 40 and the mutual matching of the hinge assembly 40 and the mounting platform 30, the robot head structure 100 can realize two degrees of freedom through one driving piece, the movement flexibility of the robot head structure 100 is improved, the interaction function of the robot head structure 100 is enhanced, the experience of a user is improved, meanwhile, the whole structure is simple and compact, the assembly and the manufacture are convenient, the bearing capacity is strong, the supporting rigidity of the robot head structure 100 can be improved, and the activity stability of the robot head structure 100 is facilitated.

As shown in fig. 5, in some examples, the first axial direction (r-axis as shown in fig. 5) may be disposed on a horizontal plane, and the second axial direction (p-axis as shown in fig. 5) may be disposed on another horizontal plane, wherein the extending directions of the first axial direction and the second axial direction are different, thereby enabling the head body 10 to be axially rotated in both directions by the driving of the first driving member 20, the first axial direction and the second axial direction may also be disposed on one horizontal plane at the same time, and the first axial direction and the second axial direction intersect, whereby the head body 10 may also be axially rotated in both directions by the driving of the first driving member 20.

In some examples, the first axial direction may be perpendicular to the second axial direction, whereby the head body 10 may be movable in two perpendicular directions, e.g., the first axial direction may extend in a front-to-back direction, the head body 10 may be roll or pitch-moved about the first axial direction, the second axial direction may extend in a left-to-right direction, and the head body 10 may be pitch or roll-moved about the second axial direction.

As shown in fig. 3, 5 and 6, the hinge assembly 40 further includes: the mounting 42, mounting 42 fixed mounting is on support 60, and moving part 41 and mounting 42 pass through first rotating member normal running fit, and the rotation axial of first rotating member is first axial, and moving part 41 and mounting platform 30 pass through second rotating member normal running fit, and the rotation axial of second rotating member is second axial, through with the fixed setting of mounting 42 on support 60, and then through mounting platform 30 and moving part 41's cooperation, realize the connection of mounting platform 30 and the function of relative activity, overall structure is simple, and the user of being convenient for controls.

Wherein, two rotation pieces can be independent structural members, and two rotation pieces are assembled respectively on hinge assembly 40 or mounting platform 30, and two rotation pieces can integrated into one piece on movable piece 41, or first rotation piece integrated into one piece is on mounting platform 42, and second rotation piece integrated into one piece is on mounting platform 30, can simplify the structure of robot from this, the assembly of robot of being convenient for improves the bearing capacity of hinge assembly 40 simultaneously, improves robot head structure 100's supporting rigidity.

As shown in fig. 5, 6, and 8, in some examples, the first rotation member includes: the first bearing 50 and the first connecting member 51, the first bearing 50 is disposed on the fixing member 42, for example, an outer wall surface of the fixing member 42 has an open groove, the first bearing 50 is mounted in the open groove, and an outer ring of the first bearing 50 abuts against a side wall surface of the open groove, thereby mounting the first bearing 50 on the fixing member 42, the first connecting member 51 is disposed on the movable member 41, the first connecting member 51 has a first fitting shaft 511, the first fitting shaft 511 is fitted with an inner ring of the first bearing 50, thereby achieving a running fit of the movable member 41 and the fixing member 42, wherein an axial direction of the first bearing 50 is a first axial direction, thereby enabling the head body 10 to rotate about the first axial direction.

Of course, the first bearing 50 may also be disposed on the movable member 41, for example, the outer wall surface of the movable member 41 has an open groove, the first bearing 50 is mounted in the open groove, and the outer ring of the first bearing 50 abuts against the side wall surface of the open groove, thereby implementing the mounting of the first bearing 50 on the movable member 41, the first connecting member 51 is disposed on the fixed member 42, the first connecting member 51 has a first mating shaft 511, and the first mating shaft 511 mates with the inner ring of the first bearing 50, thereby implementing the rotation mating of the movable member 41 and the fixed member 42, wherein the axial direction of the first bearing 50 is the first axial direction, so that the head body 10 can rotate around the first axial direction.

The second rotating member includes: the second bearing 52 and the second connecting member 53, the second bearing 52 being provided on the movable member 41, for example, an outer wall surface of the movable member 41 having an open groove, the second bearing 52 being mounted in the open groove with an outer ring of the second bearing 52 abutting against a side wall surface of the open groove, thereby effecting mounting of the second bearing 52 on the movable member 41, the second connecting member 53 being provided on the second mounting seat 32, the second connecting member 53 having a second fitting shaft 531, the second fitting shaft 531 being fitted with an inner ring of the second bearing 52, thereby effecting a rotational fit of the second mounting seat 32 and the movable member 41, wherein an axial direction of the second bearing 52 is a second axial direction, thereby permitting the head body 10 to rotate about the second axial direction. Of course, the second bearing 52 may also be disposed on the second mount 32, for example, the outer wall surface of the second mount 32 has an open groove, the second bearing 52 is mounted in the open groove, and the outer ring of the second bearing 52 abuts against the side wall surface of the open groove, thereby mounting the second bearing 52 on the second mount 32, the second connecting member 53 is disposed on the movable member 41, the second connecting member 53 has a second mating shaft 531, and the second mating shaft 531 mates with the inner ring of the second bearing 52, thereby achieving a rotational mating of the movable member 41 and the second mount 32, wherein the axial direction of the second bearing 52 is the second axial direction, so that the head body 10 can rotate about the second axial direction.

Through the above-mentioned setting for robot head structure 100's degree of freedom mutually independent avoids robot head structure 100's motion to take place to interfere, improves robot head structure 100's motion flexibility, has strengthened the interactivity between robot and the user, improves user's use experience, and simultaneously first connecting piece 51 can be fixed on moving part 41 or mounting 42 through the fastener, and second connecting piece 53 can be fixed on mounting platform 30 or moving part 41 through the fastener, can simplify each structural component from this, the manufacturing shaping of each structure of being convenient for makes articulated assembly 40 compact reasonable after the assembly, has reduced manufacturing cost.

In some examples, the hinge assembly 40 may be a ball and socket assembly, and by using the ball and socket assembly, the rotational direction of the head body 10 may be increased, so that the movement of the head body 10 may be more flexible.

As shown in fig. 1, 5 and 6, in some examples, the first connecting member 51 includes a connecting plate and a mating shaft, the movable member 41 may be ring-shaped, the ring-shaped movable member 41 may be sleeved outside the fixed member 42, the ring-shaped outer circumference may be provided with a through hole for penetrating the mating shaft of the first connecting member 51, the connecting plate may be fixed on the ring-shaped outer circumference of the movable member 41 by a fourth fastener 84 so that the first bearing 50 is sandwiched between the fixed member 42 and the movable member 41, and a plurality of structures are sequentially sleeved so that the overall structure is compact.

The structure of the second connecting piece 53 is the same as that of the first connecting piece 51, so that universality of parts is achieved, assembly, disassembly and mass production are facilitated, and cost is reduced, wherein the second mounting seat 32 is provided with a downward extending flange, the flange can be located on the periphery of the movable piece 41, the flange is provided with a through hole for penetrating through a matched shaft of the second connecting piece 53, the connecting plate can be fixed on the flange of the second mounting seat 32 through a fourth fastening piece 84, so that the second bearing 50 is clamped between the second mounting seat 32 and the movable piece 41, the movable piece 41 can be sleeved by the flange, and a plurality of structures are sequentially sleeved, so that the whole structure is compact.

The number of the fourth fasteners 84 is plural, and the plural fasteners are symmetrically arranged at two ends of the connecting piece, so that the fastening effect on the first bearing 50 and the second bearing 52 can be enhanced, meanwhile, the pressure can be uniformly dispersed, the parts of the robot head structure 100 are protected from damage, and the fourth fasteners 84 can be screws, bolts or screws.

In some examples, the number of first connectors 51 may be two, the first connectors 51 may be disposed oppositely on the same plane, and the number of second connectors 53 may be two, the second connectors 53 may be disposed oppositely on the same plane, in such a way that the hinge assembly 40 is uniformly stressed, the bearing capacity of the hinge assembly 40 may be improved, the supporting rigidity of the robot head structure 100 may be improved, and the assembly may be facilitated.

The first connecting piece 51 and the second connecting piece 53 are respectively arranged in the circumference of the movable piece 41, the first connecting piece 51 and the second connecting piece 53 can be arranged at intervals along an angle of 90 degrees, wherein the two first connecting pieces 51 are oppositely arranged, and the two second connecting pieces 53 are oppositely arranged, so that the bearing capacity of the hinge assembly 40 can be improved, and meanwhile, the assembly is convenient.

In other examples, the movable member 41 may be provided with four through holes of the same size, and the through holes may be disposed on the annular wall of the movable member 41 at an angular interval of 90 ° for penetrating the first connecting member 51 or the second connecting member 53, wherein the two first connecting members 51 are disposed opposite to each other, and the two second connecting members 53 are disposed opposite to each other.

In still other examples, the moveable member 41 may be provided with four equally sized open slots that may be disposed on the annular wall of the moveable member 41 at 90 angular intervals, with four bearings mounted in the four open slots for rotational engagement with the stationary member 42 and the mounting platform 30.

As shown in fig. 6-7 and fig. 9-10, in some examples, the fixing member 42 defines an accommodating cavity 421 with an open top, a part of an inner wall surface of the accommodating cavity 421 forms an inclined surface, or the inner wall surface of the accommodating cavity 421 integrally forms an inclined surface, the inclined surface gradually extends obliquely from top to bottom in a direction close to the center of the accommodating cavity, the mounting platform 30 has a limiting post 321, the limiting post 321 can be inserted into the accommodating cavity 421, when the limiting post 321 abuts against the inner wall surface of the accommodating cavity 421, the movement of the head body 10 can be limited, such as a roll angle or a pitch angle, by the cooperation of the limiting post 321 and the accommodating cavity 421, the limiting post 321 abuts against one side inner wall surface of the accommodating cavity 421, as shown in fig. 10, thereby the head body 10 can be prevented from continuing to roll right, the excessive rotation angle of the head body 10 is avoided, the movement of each part of the robot is caused to interfere with each other, the head structure 100 of the robot is damaged, the safety protection capability of the head structure 100 of the robot is improved, and the maintenance cost of the robot is reduced.

As shown in fig. 1, according to the robot head structure 100 of the embodiment of the present invention, the stand 60 includes a base 61 and a support base 62, the support base 62 is disposed on the base 61, the hinge assembly 40 is disposed on the support base 62, the first driving member 70 includes two telescopic rods, one end of each telescopic rod is engaged with the base 61, the other end of each telescopic rod is engaged with the mounting platform 30, specifically, the first driving member 70 includes a first telescopic rod 71 and a second telescopic rod 72, the first end 711 of the first telescopic rod is engaged with the mounting platform 30, the second end 712 of the first telescopic rod is engaged with the base 61, the first end 721 of the second telescopic rod is engaged with the mounting platform 30, the second end 722 of the second telescopic rod is engaged with the base 61, and the head body 10 can perform a rolling motion, a pitching motion, and a simultaneous rolling motion and a pitching motion, through the mutual engagement of the first telescopic rod 71 and the second telescopic rod 72, namely, by changing the length of the first telescopic rod 71 and the second telescopic rod 72, the head body 10 can also perform a rolling motion and a pitching motion, and the interaction of the head structure 100 can enhance user experience.

It should be noted that, the two telescopic rods can be symmetrically arranged along the vertical plane where the r axis (r axis shown in fig. 5) is located as a symmetrical plane, so that the assembly can be facilitated, the calculated amount in the process of controlling the movement of the head body 10 by the robot control program can be reduced, the feedback time of the robot is shortened, the interaction performance of the robot is improved, and the use experience of a user is improved.

As shown in fig. 1, 3 and 8, in some examples, the base 61 is provided with a rod seat 63, one end of each of two telescopic rods may be connected to the rod seat 63 through a spherical hinge 73, the other end of each of the telescopic rods may be connected to the mounting platform 30 through the spherical hinge 73, and the telescopic rods may be connected to parts of the head structure 100 of the robot through the spherical hinge 73, so that the telescopic rods may avoid interference with the mounting platform 30 or the rod seat 73 when being stretched or locked, so that the telescopic rods may perform slight displacement motion along the axial direction of the spherical hinge 73, flexibility and formability of the movement are improved, interference between each part of the head structure 100 of the robot is relieved, interference deformation, bending, and the like of the telescopic rods are prevented, and the robot is damaged.

As shown in fig. 1, in some examples, the rod seat 63 is fixed on the base 61 by the fifth fastening member 85, the fifth fastening member 85 may be a screw, a bolt or a bolt, the fifth fastening member 85 may pass through the rod seat 63 and the base 61 from top to bottom, so as to fix the rod seat 63, the number of the fifth fastening members 85 may be multiple, and the fifth fastening member 85 is arranged between two telescopic rods at intervals, so that the fixing effect of the rod seat 63 can be enhanced, the base 61 is uniformly stressed, the damage of the robot head structure 100 is prevented, and the supporting rigidity of the robot head structure 100 is improved.

As shown in fig. 3, 4, and 7, in some examples, the head structure 100 further includes: the second driving piece 20, the second driving piece 20 sets up on mounting platform 30, and second driving piece 20 and mounting platform 30 mutually support, and second driving piece 20 can drive head body 10 and rotate around the third axial (for example y axial that fig. 5 shows), has increased the degree of freedom of head body 10 activity, and then has enriched the motion pattern of robot head structure 100, has promoted the interactive performance of robot head structure 100.

As shown in fig. 1, 4, and 7, in some examples, the mounting platform 30 includes: the head body 10 is arranged on the first mounting seat 31, the second driving piece 20 is connected with the first mounting seat 31 in a screw connection mode, the movable piece 41 is matched with the second mounting seat 32, the output end 21 of the second driving piece 20 is arranged on the second mounting seat 32, specifically, the upper surface of the second mounting seat 32 is provided with a convex connecting boss 323, the output end 21 is fixedly connected with the connecting boss 323, and the connecting mode can be screw connection.

Because the output end 21 of the second driving piece 20 is fixedly connected with the second mounting seat 32, the output end 21 cannot rotate, the output end 21 reversely transmits output torque to the shell of the second driving piece 20, so that the shell of the second driving piece 20 rotates, the shell of the second driving piece 20 is fixedly connected with the first mounting seat 31, the first mounting seat 31 rotates, the head body 10 is arranged on the first mounting seat 31, and further the head body 10 can realize rotary motion, wherein the shell of the second driving piece 20 rotates relative to the output end 21 and drives the head of the robot to rotate, the supporting rigidity of the whole structure of the robot is improved, and meanwhile, the stability and reliability of the rotation of the head body 10 are improved, and the reliability of the driving of the output end 21 of the second driving piece 20 is prevented from being influenced by the excessive weight of the head body 10.

It will be appreciated that the first mounting seat 31 and the second mounting seat 32, in cooperation with the second driving member 30, form a whole with the mounting platform 30, and when the mounting platform 30 drives the head body 10 to rotate around the first axial direction or the second axial direction, the first mounting seat 31 and the second mounting seat 32 synchronously rotate, and when the second driving member 20 drives the head body 10 to rotate around the third axial direction, the first mounting seat 31 and the second mounting seat 32 can rotate relatively.

It should be added that, the output end 21 is fixedly connected with the second mounting seat 32 through the third fastening piece 83, the third fastening piece 83 can be a screw, a bolt or a bolt, and passes through the second mounting seat 32 and the output end 21 from bottom to top, the number of the third fastening pieces 83 can be multiple, and the third fastening pieces are arranged at the periphery of the output end 21 at intervals by taking a y axis (as shown in fig. 4) as an axis, so that the torque force output by the output end 21 is uniformly distributed on each third fastening piece 83, the fastening pieces are prevented from being broken, and the service life of the head structure 100 of the robot is prolonged.

In some specific examples, an opening 311 is disposed in the first mounting seat 31, and the opening 311 may pass through the output end 21 of the second driving member 20, where the output end 21 is disposed on the second mounting seat 32, and the housing of the second driving member 20 drives the robot head to rotate by rotating itself, where the rotation direction of the head body 10 is opposite to the torque direction output by the second driving member 20.

It should be added that the lower end surface of the housing of the second driving member 20 is fixed on the periphery of the opening 311 by the second fastening members 82, the second fastening members 82 may be screws, bolts or bolts, and the number of the second fastening members 82 may be plural and arranged on the periphery of the opening 311 at intervals, so as to enhance the fastening effect of the second driving member 20, facilitate the reverse torque transmission of the output end 21, and improve the rotation capability of the head body 10.

In some examples, the driving mechanism of the second driving member 20 may be a motor, and the head body 10 is rotated by the rotation of an output shaft of the motor; the driving mechanism of the second driving member 20 may also be a steering engine, by which the rotational movement of the head body 10 is controlled.

As shown in fig. 1 and 4, in some examples, the mounting platform 30 further includes: the third bearing 34, the third bearing 34 sets up between first mount pad 31 and second mount pad 32, the second mount pad 32 has the connection boss 323 that upwards protrudes, the inner circle and the connection boss 323 cooperation of third bearing 34, first mount pad 31 has the spacing ring 312 of downward protrusion, the outer lane and the spacing ring 312 cooperation of third bearing 34, through setting up third bearing 34, can play certain supporting role to first mount pad 31, avoid the output 21 atress of second driving piece 20, and then influence the life of second driving piece 20, improve the support rigidity and the stability of robot head structure 100, can reduce the friction of first mount pad 31 and head body 10 in rotary motion simultaneously, reduce the abnormal sound, in addition, the robot head structure 100 of being convenient for can the faster response rotation instruction, improve rotatory flexibility.

In some examples, the mounting platform 30 further includes a bearing block 35, where the bearing block 35 is fixedly connected to the first mounting seat 31 through a first fastener 81, so that the third bearing 34 is mounted between the bearing block 35 and the second mounting seat 32, the first fastener 81 may be a screw, a bolt or a screw, and the number of the first fasteners 81 may be plural and arranged at the periphery of the bearing block 35 at intervals, and the first fastener 81 passes through the bearing block 35 from the first mounting seat 31 to connect the first mounting seat 31 and the bearing block 35 into a whole and rotate at the same time, so that the third bearing 34 is fixed under the first mounting seat 31 by providing the bearing block 35, and the bearing block 35 and the first mounting seat 31 are mutually matched to wrap the outer part of the third bearing 34, so as to compress the third bearing 34 and fix the third bearing 34.

As shown in fig. 5-7 and fig. 9, in some examples, the second mounting seat 32 has a limiting groove 322, the first mounting seat 31 has a limiting piece 33, the limiting piece 33 protrudes towards one side of the second mounting seat 32, the limiting piece 33 is suitable for being inserted into the limiting groove 322, the limiting piece 33 can move relatively to the limiting groove 322, when the limiting piece 33 abuts against the end of the limiting groove 322, the limiting piece 33 and the limiting groove 322 cannot rotate further, the purpose of limiting the rotation of the first mounting seat 31 is achieved, that is, through the mutual matching of the limiting piece 33 and the limiting groove 322, the rotation angle of the head body 10 can be limited, the excessive rotation angle of the head body 10 is avoided, the movement of each part of the robot is caused, the head structure 100 of the robot is damaged, the safety protection capability of the head structure 100 of the robot is improved, the maintenance cost of the robot is reduced, the limiting piece 33 can be a screw, a bolt or a bolt, the limiting piece 33 can pass through the bearing block 35 from bottom to top, and pass through the first mounting seat 31, the limiting piece 33 and the first mounting seat 31 can be matched with the first mounting seat 31, and the bearing block 35 can be matched with the first mounting seat 35 at the same time, and the limiting block 35 can be connected with the bearing block 35.

The limiting groove 322 is located at the outer side of the connecting boss 323, and the limiting groove 322 and the connecting boss 323 are arranged at intervals in the horizontal direction, so that interference between the limiting piece 33 and the third bearing 34 is avoided, and the whole structure is compact and reasonable.

As shown in fig. 5, in some examples, the first axial direction is perpendicular to the second axial direction, the third axial direction may be perpendicular to the first axial direction, may also be perpendicular to the second axial direction, and may also be perpendicular to the first axial direction and the second axial direction, and co-act in three directions, so that the robot head body 10 may implement rolling motion, pitching motion, and rotating motion, and implement three degrees of freedom, thereby improving the motion flexibility of the robot head structure 100, improving the interaction performance of the robot, and simultaneously, mutually independent each degree of motion freedom of the robot head structure 100, avoiding interference, and improving the user experience.

According to the robot provided by the embodiment of the invention, the robot head structure 100 is arranged on the robot, and by adopting the robot head structure 100, the robot can realize various motion functions, the interaction performance of the robot head structure 100 is improved, the experience of a user is improved, meanwhile, the robot head structure 100 is simple and compact in structure, low in manufacturing cost and high in bearing capacity, and the supporting rigidity of the robot can be improved.

A specific embodiment of a robot according to the present invention is described below in connection with fig. 1-16.

The robot comprises a robot head structure 100, the robot head structure 100 comprising: the head body 10 is mounted on the first mounting seat 31, the second driving piece 20 is mounted on the first mounting seat 31, a third bearing 34 is arranged between the first mounting seat 31 and the second mounting seat 32, the first mounting seat 31 is provided with a limiting ring 312 protruding downwards, the upper surface of the second mounting seat 32 is provided with a protruding connecting boss 323, the inner ring of the third bearing 34 is matched with the connecting boss 323, the outer ring of the third bearing 34 is matched with the limiting ring 312, the second driving piece 20 is positioned inside the head body 10, and the output end 21 of the second driving piece 20 is fixedly connected with the connecting boss 323.

The output end 21 of the second driving member 20 is fixedly connected to the second mounting seat 32 through the third fastening member 83, the output end 21 reversely transmits output torque to the shell of the second driving member 20, so that the shell of the second driving member 20 rotates, the shell of the second driving member 20 is fixedly connected with the first mounting seat 31, the first mounting seat 31 rotates, the head body 10 is arranged on the first mounting seat 31, the head body 10 can rotate along the axial direction of the output end 21 of the second driving member 20, the axial direction of the output end 21 of the second driving member 20 is y, and the axial direction y extends along the up-down direction.

The hinge assembly 40 includes a movable member 41 and a fixed member 42, the movable member 41 being engaged with the fixed member 42 through a first coupling member 51 and a first bearing 50, the movable member 41 being engaged with the mounting platform 30 through a second coupling member 53 and a second bearing 52, wherein an axial direction r of the first bearing 50 extends in a front-rear direction, an axial direction p of the second bearing 52 extends in a left-right direction.

The fixing piece 42 is fixedly connected with the upper end of the supporting seat 62, a groove or a jack is formed in the upper end face of the supporting seat 62, a protruding portion is formed in the lower end face of the fixing piece 42, the protruding portion can be inserted into the groove or the jack, the positioning effect on the hinge assembly 40 is achieved, meanwhile, the fixing piece 42 is fixedly connected with the supporting seat 62 through a fastening piece, and meanwhile, the supporting rigidity of the robot head structure 100 is improved. The first driving member 70 includes a first telescopic rod 71 and a second telescopic rod 72, a first end 711 of the first telescopic rod is hinged to the mounting platform 30 through a ball hinge 73, a second end 712 of the first telescopic rod is hinged to one end of the rod seat 63 through a ball hinge 73, a first end 721 of the second telescopic rod is hinged to the mounting platform 30 through a ball hinge 73, a second end 722 of the second telescopic rod is hinged to the other end of the rod seat 63 through a ball hinge 73, wherein the first telescopic rod 71 is arranged at the left rear side of the supporting seat 62, the second telescopic rod 72 is arranged at the right rear side of the supporting seat 62, a rotation axis at the second end 712 of the first telescopic rod and a rotation axis at the second end 722 of the second telescopic rod can intersect, and the second end can be located on horizontal planes of different heights, so that modification is facilitated, and meanwhile, movement flexibility of the robot head structure 100 can be adjusted, and the first driving member 70 is facilitated to operate the robot head structure 100.

Wherein, the robot head structure 100 can be controlled to make partial movement by changing the length of the first telescopic rod 71, the robot head structure 100 can be controlled to make partial movement by changing the length of the second telescopic rod 72, the robot head structure 100 can be controlled to make partial movement by rotating the second driving member 20, and the first telescopic rod 71, the second telescopic rod 72 and the second driving member 20 are mutually matched, so that the head body 10 can roll by taking the r axis in fig. 4 as an axis, pitch by taking the p axis in fig. 4 as an axis, and rotate by taking the y axis in fig. 4 as an axis.

In some examples, by controlling the amount of telescoping of the first telescoping rod 71 and the second telescoping rod 72, the head body 10 may be made to perform a roll or pitch function, wherein keeping the second telescoping rod 72 stationary, the first telescoping rod 71 may enable the head body 10 to perform both a roll right function and a roll down function by extension, and the first telescoping rod 71 may enable the head body 10 to perform both a roll left function and a roll up function by shortening; keeping the first telescopic link 72 stationary, the second telescopic link 72 can make the head body 10 realize the left roll function and the low head function simultaneously by extension, and the second telescopic link 72 can make the head body 10 realize the right roll function and the head tilting function simultaneously by shortening.

The first telescopic rod 71 and the second telescopic rod 72 are telescopic by the same distance, so that the head body 10 can realize a pitching function, for example, the first telescopic rod 71 and the second telescopic rod 72 are simultaneously extended to realize a head lowering function of the head body 10, and the first telescopic rod 71 and the second telescopic rod 72 are simultaneously shortened to realize a head tilting function of the head body 10.

When one telescopic rod is extended by a certain distance, the other telescopic rod is shortened by the same distance, so that the head body 10 can realize a roll function, for example, when the first telescopic rod 71 is extended, a right roll function of the head body 10 can be realized by shortening the second telescopic rod 72, and when the second telescopic rod 72 is extended, a left roll function of the head body 10 can be realized by shortening the first telescopic rod 71, and it can be understood that when only the head structure 100 is required to roll, the first telescopic rod 71 is extended or shortened, and at this time, the second telescopic rod 72 is required to perform a telescopic motion opposite to the first telescopic rod 71 so as to offset a pitching motion caused by the independent movement of the first telescopic rod 71.

As shown in fig. 11 and 12, in some examples, by extending the first telescopic link 71, the head body 10 can be controlled to simultaneously perform a low head movement and a right roll movement, on the basis of which the second telescopic link 72 is further extended so that the head body 10 can perform a low head movement and a right roll movement, and the second telescopic link 72 is further shortened so that the head body 10 can perform a right roll movement on the basis of a low head movement and a right roll movement, at which time the head body 10 can be driven to turn right or left by the second driving member 20.

As shown in fig. 13 and 14, in some examples, by shortening the second telescopic link 72, the head body 10 can be controlled to simultaneously perform the tilting motion and the right-hand roll motion, on the basis of which the first telescopic link 71 is further shortened so that the head body 10 can perform the tilting function on the basis of the tilting motion and the right-hand roll motion, and the first telescopic link 71 is further extended so that the head body 10 can perform the right-hand roll function on the basis of the tilting motion and the right-hand roll motion, at which time the head body 10 can be driven to turn right or left by the second driving member 20.

Other constructions and operations of robots according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description of the present invention, unless explicitly stated and limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, or may include both the first and second features not being in direct contact but being in contact by another feature therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A robotic head structure, comprising:

a bracket;

the mounting platform is arranged at intervals with the bracket and is used for mounting the head body;

A hinge assembly; the hinge assembly is arranged on the bracket and matched with the mounting platform, the hinge assembly comprises a movable piece, the movable piece is rotatable relative to the bracket around a first axial direction, and the movable piece is rotatable relative to the mounting platform around a second axial direction;

the first driving piece is arranged on the support and matched with the mounting platform, and drives the mounting platform to move so that the head body rotates around the second axis, and/or drives the mounting platform to move and drives the movable piece to move so that the head body rotates around the first axis.

2. The robotic head structure of claim 1, wherein the hinge assembly further comprises: the fixed part is fixedly arranged on the support, the movable part is in running fit with the fixed part through a first rotating part, the rotating axial direction of the first rotating part is the first axial direction, the movable part is in running fit with the mounting platform through a second rotating part, and the rotating axial direction of the second rotating part is the second axial direction.

3. The robotic head structure of claim 2, wherein the fixture defines an open-top receiving cavity, and the mounting platform has a limit post adapted to be inserted into the receiving cavity and limit movement of the head body when the limit post abuts an inner wall surface of the receiving cavity.

4. The robotic head structure of claim 1, wherein the frame comprises a base and a support base, the support base is provided on the base, the hinge assembly is provided on the support base, the first driving member comprises two telescoping rods, one end of each telescoping rod is engaged with the base, and the other end of each telescoping rod is engaged with the mounting platform.

5. The head structure of claim 4, wherein the base is provided with a rod seat, one end of the telescopic rod is connected with the rod seat through a ball hinge or a hooke hinge, and the other end of the telescopic rod is connected with the mounting platform through a ball hinge or a hooke hinge.

6. The robotic head structure of any one of claims 1-5, wherein the head structure further comprises: the second driving piece is arranged on the mounting platform and matched with the mounting platform to drive the head body to rotate around the third axial direction.

7. The robotic head structure of claim 6, wherein the mounting platform comprises:

the head body is arranged on the first mounting seat, and the second driving piece is connected with the first mounting seat;

The second installation seat, the moving part with the cooperation of second installation seat just the output of second driving piece is located the second installation seat, the casing of second driving piece for the output rotates and drives the robot head rotates.

8. The robot head structure of claim 7, wherein the second mount has a limiting groove, the first mount has a limiting member protruding toward one side of the second mount, the limiting member is adapted to be inserted into the limiting groove to move relative to the limiting groove, and the limiting member is stopped against an end of the limiting groove to limit rotation of the first mount.

9. The robotic head structure of claim 6, wherein the first axial direction is perpendicular to the second axial direction, and the third axial direction is perpendicular to the first axial direction and/or the second axial direction.

10. A robot comprising a robot head structure according to any one of claims 1-9.

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