Head of robot, head assembly of robot, and robot

Abstract

The application relates to the technical field of robots, and provides a head of a robot, a head assembly of the robot and the robot. The head of the robot comprises a head main framework, a first framework and a second framework, and a mounting space of a neck joint is formed; a first cover body and the first framework form a first containing space; a second cover body and the second framework form a second containing space; and a projection unit is located in the first containing space or the second containing space. According to the head of the robot provided by the application, the mounting space, the first containing space and the second containing space can be used for mounting different components of the robot respectively, the projection unit is mounted in the containing space between the head main framework and the cover body, sufficient mounting space and heat dissipation space of the projection unit can be ensured, and the projection unit has a better use environment. In addition, the projection unit can adjust the position along with the pitching or rotation of the head, so as to adapt to different projection requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a head of a robot, a head assembly of a robot and a robot. BACKGROUND

[0002] With the development of science and technology, robots have been widely used in families, medical treatment, catering, construction and other industries, bringing many conveniences to people's life and production. People's requirements for robots are also getting higher and higher, especially the head of the robot as the main body of human-computer interaction, which often has functions of touch interaction or voice interaction at the same time. At the same time, the demand for robot audio-visual entertainment is also getting higher and higher, for example, more and more users have put forward the demand for the projection function of the robot. However, due to the characteristics of large volume and serious heat of the projection unit, the use effect of the projection unit in the robot is not good. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the related art. To this end, the present application provides a head of a robot, and the assembly space, the first accommodating space and the second accommodating space can be used for mounting different components of the robot respectively, so that the space can be reasonably divided. On this basis, the projection unit is mounted in the accommodating space between the head main skeleton and the cover, which can ensure that the projection unit has enough mounting space and heat dissipation space, and thus ensure that the projection unit has a better use environment. In addition, the projection unit can adjust the position with the pitching movement or rotation of the head, so as to adapt to the projection demand under different conditions.

[0004] The present application also provides a head assembly of a robot.

[0005] The present application also provides a robot.

[0006] According to the head of the robot of the first aspect of the present application, the head of the robot comprises:

[0007] The head main skeleton comprises a first skeleton and a second skeleton, and an assembly space of a neck joint is formed between the first skeleton and the second skeleton;

[0008] The cover comprises a first cover and a second cover, a first accommodating space is formed between the first cover and the first skeleton, and a second accommodating space is formed between the second cover and the second skeleton;

[0009] The projection unit is located in the first accommodating space or the second accommodating space, and the cover forms a light output part of the projection unit.

[0010] According to the head of the robot of the embodiment of the present application, the assembly space, the first accommodating space and the second accommodating space can be respectively used for mounting different components of the robot, and thus the space can be reasonably divided. On this basis, the projection unit is mounted in the accommodating space between the head main framework and the cover, so that the projection unit has sufficient mounting space and heat dissipation space, and thus the projection unit has a better use environment. In addition, the projection unit can adjust the position along with the pitching movement or rotation of the head, and thus the projection unit can adapt to the projection requirements under different conditions.

[0011] According to one embodiment of the present application, the second framework is in the shape of a curved panel, the second cover and the second framework are matched in shape, and a second air duct in the shape of an arc is formed between the second framework and the second cover, and the projection unit is located in the second air duct.

[0012] According to one embodiment of the present application, the two ends of the second air duct are provided with an air inlet fan and an air outlet fan, the bottom of the second framework is formed with a second air inlet portion and a second air outlet portion, and the second air inlet portion corresponds to the windward surface of the air inlet fan, and the second air outlet portion corresponds to the air outlet surface of the air outlet fan.

[0013] According to one embodiment of the present application, the first framework is a front framework, the second framework is a rear framework, and along the extension direction of the second air duct, the projection unit is located in the middle part of the second air duct.

[0014] According to one embodiment of the present application, the air inlet fan and the projection unit are connected with a heat sink, and the projection unit and the air outlet fan are connected with the heat sink.

[0015] According to one embodiment of the present application, the heat sink includes a plurality of heat dissipation fins, and the heat dissipation fins of the heat sink are consistent with the extension direction of the second air duct.

[0016] Further comprising:

[0017] A heat conduction assembly is connected between the projection unit and the heat sink, the heat conduction assembly includes at least one of a heat conduction block and a heat pipe, and the projection unit is connected with the fins through the heat conduction block and / or the heat pipe.

[0018] According to one embodiment of the present application, at least one inner surface of the second framework and the second cover extends outwardly towards the accommodating space with a mounting rib plate and a plurality of connecting columns, at least one of the air inlet fan, the heat sink and the air outlet fan is fixed to the mounting rib plate, and at least one of the air inlet fan, the heat sink and the air outlet fan is connected to the connecting column through a threaded member.

[0019] According to an embodiment of the present application, a head portion of the second air duct is provided with a head air inlet portion adapted to communicate with the first air duct of the machine body, and a head air outlet portion is provided on a side of the second air duct facing away from the machine body, and the projection unit is located in an extended path of the head air outlet portion.

[0020] According to an embodiment of the present application, the light outlet portion comprises a light outlet formed in the second cover body, and a cover is provided at the light outlet and is openable and closable.

[0021] According to an embodiment of the present application, the projection unit comprises a calibration lens, a projection module, a projection control board, and a projection lens, and the projection lens is provided corresponding to the light outlet.

[0022] According to an embodiment of the present application, the cover is provided with a first magnetic member, the second skeleton is provided with a second magnetic member, and the first magnetic member and the second magnetic member are correspondingly provided and magnetically adsorbed.

[0023] According to an embodiment of the present application, the first skeleton is in a flat plate shape, the first cover body and the first skeleton are in a shape matching relationship, and the head of the robot further comprises:

[0024] a screen fixed to a side of the first cover body facing away from the first skeleton.

[0025] According to an embodiment of the present application, the head of the robot further comprises:

[0026] at least one of a photographing unit, an infrared emitting unit, and a human body sensor, fixed to an edge position of the screen;

[0027] at least one of a main control board and an AI computing board, installed in the first accommodating space.

[0028] According to an embodiment of the present application, the first skeleton is extended towards the first cover body at a bottom portion to form a surrounding plate, the surrounding plate is provided with a first air inlet portion and a first air outlet portion, and the first air inlet portion and the first air outlet portion are both in communication with the first accommodating space.

[0029] According to an embodiment of the present application, the head further comprises:

[0030] a top mounting rack connected to the first cover body and extended above the assembly space from the first cover body;

[0031] a microphone array installed on an upper surface of the top mounting rack, and the microphone array is provided corresponding to the assembly space.

[0032] According to an embodiment of the second aspect of the present application, the head assembly of the robot comprises:

[0033] the head part;

[0034] a neck joint, one end of which is installed in the assembly space, and the other end of which is connected to a body of the robot, the neck joint comprising at least one of a pitch mechanism and a rotation mechanism.

[0035] According to the robot of the second aspect of the present application, the robot comprises:

[0036] the head part;

[0037] the body and the chassis;

[0038] a neck joint, one end of which is installed in the assembly space, and the other end of which is connected to the body, the neck joint comprising at least one of a pitch mechanism and a rotation mechanism.

[0039] According to the robot of the second aspect of the present application, the robot comprises:

[0040] According to an embodiment of the present application, the second skeleton extends a connecting part towards the assembly space, the connecting part comprising coaxially arranged first and second connecting shafts, and the pitch mechanism comprises:

[0041] a base, which is installed in the body through the rotation mechanism;

[0042] a first gear, which is rotatably installed in the base;

[0043] a second gear, which is fixed to the first connecting shaft, and is engaged with the first gear;

[0044] a rotation shaft connector, which is fixed to the base, and connects the second connecting shaft.

[0045] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0047] Figure 1 is an exploded schematic view of the robot head and the neck joint provided by the embodiments of the present application;

[0048] Figure 2 is an assembly schematic diagram of a robot head and neck joint provided by an embodiment of the present application;

[0049] Figure 3 is a schematic diagram of horizontal projection of a projection unit of a robot head provided by an embodiment of the present application;

[0050] Figure 4 is a schematic diagram of upward projection of a projection unit of a robot head provided by an embodiment of the present application;

[0051] Figure 5 is a schematic diagram of downward projection of a projection unit of a robot head provided by an embodiment of the present application;

[0052] Figure 6 is a schematic diagram of a projection assembly provided by an embodiment of the present application;

[0053] Figure 7 is an installation schematic diagram of a projection assembly provided by an embodiment of the present application;

[0054] Figure 8 is a schematic diagram of position relationship between a second cover and a shell provided by an embodiment of the present application;

[0055] Figure 9 is an assembly relationship schematic diagram of a second cover and a shell provided by an embodiment of the present application;

[0056] Figure 10 is one of assembly schematic diagrams of a screen and peripheral components thereof provided by an embodiment of the present application;

[0057] Figure 11 is another of assembly schematic diagrams of a screen and peripheral components thereof provided by an embodiment of the present application;

[0058] Figure 12 is an assembly schematic diagram of a screen and back components thereof provided by an embodiment of the present application;

[0059] Figure 13 is an installation schematic diagram of an infrared LED lamp provided by an embodiment of the present application;

[0060] Figure 14 is a schematic diagram of partial structure of a robot provided by an embodiment of the present application;

[0061] Figure 15 is one of schematic diagrams of partial explosion of a robot provided by an embodiment of the present application;

[0062] Figure 16 is a schematic diagram of explosion of a robot head provided by an embodiment of the present application;

[0063] Figure 17 is another of schematic diagrams of partial explosion of a robot provided by an embodiment of the present application;

[0064] Figure 18 Figure 3 is a third partial exploded schematic view of a robot according to an embodiment of the present application;

[0065] Figure 19 Figure 4 is a schematic view of a second air duct according to an embodiment of the present application;

[0066] Figure 20 Figure 5 is a partial enlarged schematic view of a head according to an embodiment of the present application;

[0067] Figure 21 Figure 6 is a partial schematic view of a head according to an embodiment of the present application;

[0068] Figure 22 Figure 7 is a schematic view of a robot head according to an embodiment of the present application;

[0069] Figure 23 Figure 8 is a schematic view of an assembly of a head main skeleton and a head heat generating device according to an embodiment of the present application;

[0070] Figure 24 Figure 9 is a first schematic view of an assembly of a head main skeleton and a first cover according to an embodiment of the present application;

[0071] Figure 25 Figure 10 is a partial enlarged schematic view of the assembly of the head main skeleton and the first cover according to an embodiment of the present application;

[0072] Figure 26 Figure 11 is a second schematic view of the assembly of the head main skeleton and the first cover according to an embodiment of the present application;

[0073] Figure 27 Figure 12 is a partial schematic view of an assembly of the head main skeleton and the first cover according to an embodiment of the present application;

[0074] Figure 28 Figure 13 is a partial enlarged schematic view of the assembly of the head main skeleton and the first cover according to an embodiment of the present application;

[0075] Figure 29 Figure 14 is a third schematic view of the assembly of the head main skeleton and the first cover according to an embodiment of the present application;

[0076] Figure 30 Figure 15 is a schematic view of an assembly of a head main skeleton and a second cover according to an embodiment of the present application;

[0077] Figure 31 Figure 16 is a cross-sectional schematic view of the assembly of the head main skeleton and the second cover according to an embodiment of the present application;

[0078] Figure 32is an assembly schematic view of a head main framework and a neck joint provided by an embodiment of the present application, wherein a first framework of the head main framework is cut off;

[0079] Figure 33 is an explosion schematic view of a head main framework and a neck joint provided by an embodiment of the present application;

[0080] Reference signs:

[0081] 110, chassis; 111, chassis body; 112, mounting plate;

[0082] 113, ventilation space; 114, air guide opening; 115, chassis air outlet; 120, first air duct;

[0083] 130, head; 131, second air duct; 132, head heat generating device; 133, first cover body;

[0084] 134, head main framework; 1341, first framework; 1342, second framework; 1343, assembly space; 135, second cover body; 1351, third groove; 136, head air inlet part; 137, head air outlet part;

[0085] 138, heat dissipation assembly; 1381, heat dissipation fin; 1382, plug-in part; 1383, clamping groove; 139, heat conduction assembly; 1391, heat conduction block; 1392, heat pipe; 1311, first groove; 1312, second groove;

[0086] 1313, air duct cover plate; 1314, air section; 1315, connecting support;

[0087] 140, air supply part; 141, heat dissipation fan; 150, machine body heat generating device;

[0088] 200, coaming; 210, first component; 220, second component; 230, first air inlet part;

[0089] 231, first air outlet part; 232, second air inlet part; 233, second air outlet part;

[0090] 240, first fixed connection assembly; 241, first buckle; 242, first clamping hole; 243, first connecting hole; 244, second connecting hole;

[0091] 250, third fixed connection assembly; 251, second buckle; 252, second clamping hole;

[0092] 253, stop block; 260, fourth fixed connection assembly; 261, inclined surface; 262, third buckle;

[0093] 263, fourth buckle; 270, fifth fixed connection assembly; 271, hanging part;

[0094] 280, sixth fixed connection assembly; 281, buckle female head; 282, buckle male head;

[0095] 290, neck joint; 291, pitch mechanism; 292, positioning clamping groove; 293, clamping block;

[0096] 2911, speed reduction motor; 2912, base; 2913, first gear;

[0097] 2914, rotating shaft connector; 2915, first connecting shaft; 2916, second connecting shaft; 2917, second gear;

[0098] 310, screen; 320, photographing unit; 330, human body sensor; 340, projection unit; 341, calibration lens; 342, projection module; 343, projection lens; 344, projection control board; 350, infrared emission unit; 351, infrared LED lamp; 360, microphone array; 370, touch key; 380, volume key; 390, main control board; 311, AI computing power board; 312, power-on key; 313, heat sink; 314, air inlet fan; 315, air outlet fan; 316, light outlet; 317, shell; 3171, first magnetic part; 318, second magnetic part; 319, mounting rib plate; 321, connecting column; 322, top mounting frame. DETAILED DESCRIPTION

[0099] The embodiments of the present application will be further described below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0100] In the description of the embodiments of the present application, it should be noted that the terms “center”, “longitudinal”, “transverse”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms “first”, “second”, “third” are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0101] In the description of the embodiments of the present application, it should be noted that unless specifically defined and limited, the terms "connected", "connected to", "connection" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection, can be mechanical connection, can also be electrical connection, can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0102] In the embodiments of the present application, unless specifically defined and limited, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0103] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present specification and the features of different embodiments or examples without contradiction.

[0104] According to the embodiments of the present application, the robot can work semi-autonomously or fully autonomously, which can be applied to a family, a shopping mall or a restaurant, etc. The specific application scenario is not limited. Based on the different application scenarios of the robot, the robot can be divided into a family service robot, a welcome guide robot, a point-to-point robot or a disinfection robot, etc. The specific type is not limited.

[0105] The above robots can have the demand of projection function, and then the embodiments of the present application propose a robot with projection function on the basis of the above robots.

[0106] Please refer to Figure 1According to the embodiment of the present application, a head of a robot is provided, which comprises a cover (the first cover 133 and the second cover 135), a head main framework 134 and a projection unit 340. The head main framework 134 comprises a first framework 1341 and a second framework 1342, and an assembly space 1343 of a neck joint 290 is formed between the first framework 1341 and the second framework 1342. The cover comprises the first cover 133 and the second cover 135, and a first accommodating space (not labeled in the figure) is formed between the first cover 133 and the first framework 1341, and a second accommodating space (not labeled in the figure) is formed between the second cover 135 and the second framework 1342. The projection unit 340 is located in the first accommodating space or the second accommodating space, and the cover is formed with a light exit portion of the projection unit.

[0107] According to the embodiment of the present application, the first framework 1341 and the second framework 1342 are generally oppositely arranged, that is, when the first framework 1341 is at the front side, the second framework 1342 is at the rear side; when the first framework 1341 is at the left side, the second framework 1342 is at the right side; and when the first framework 1341 is at the left front side, the second framework 1342 is at the right rear side. Of course, as long as the first framework 1341 and the second framework 1342 can be connected to form an assembly space, the requirement of the embodiment of the present application can be met. When the first framework 1341 and the second framework 1342 are respectively at the front side and the rear side, the head main body obtained at this time is more in line with the interactive needs of people.

[0108] According to the embodiment of the present application, the assembly space 1343, the first accommodating space and the second accommodating space of the head of the robot (hereinafter referred to as "the head of the robot" as "the head") can be respectively used for the installation of different components of the robot, and the space can be reasonably divided. On this basis, the projection unit 340 is installed in the accommodating space between the head main framework 134 and the cover, which can ensure that the projection unit 340 has sufficient installation space and heat dissipation space, and thus ensure that the projection unit 340 has a better use environment. In addition, the projection unit 340 can adjust the position with the pitching movement or rotation of the head 130, and thus can adapt to the projection requirements under different conditions.

[0109] Please refer again to Figure 1 and Figure 2 The second framework 1342 is in the form of a curved panel, and the second cover 135 and the second framework 1342 are matched in shape (here, the matching means that the overall structure of the second cover 135 and the second framework is similar, and when the second framework 1342 is in the form of a curved panel, the second cover 135 is also in the form of a curved panel), and at this time, the second air duct 131 in the form of an arc is formed between the second framework 1342 and the second cover 135 (refer to Figure 14), and the projection unit 340 is located in the second air duct 131. In this case, the second air duct 131 has a larger installation space, and thus when the projection unit 340 is installed in the second air duct 131, the projection unit 340 is less likely to interact thermally with other head heat generating devices 132, so as to ensure the heat dissipation effect of the head 130.

[0110] In one embodiment, the first skeleton 1341 is a front skeleton, and the second skeleton 1342 is a rear skeleton. On this basis, along the extension direction of the second air duct 131, the projection unit 340 is located in the middle of the second air duct 131. At this time, the projection unit 340 is equivalent to being located directly behind the head 130. Thus, when the head 130 can perform the pitching motion, the projection angle of the projection unit 340 can change accordingly to meet the projection requirements at different positions. In combination with Figure 3 to Figure 5 , with the pitching motion of the head 130, the projection unit 340 can realize horizontal projection, upward projection to the roof, or downward projection to the ground or a table top, etc., thereby increasing the user experience of the projection effect.

[0111] Since the projection unit 340 generates a large amount of heat when working, if the heat dissipation is not good, the projection unit 340 will soon fail to work. In view of the above, the air inlet fan 314 and the air outlet fan 315 are arranged at two ends of the second air duct 131, please refer to Figure 6 and Figure 7 . In this case, the air inlet fan 314 sends air to the projection unit 340, and the air outlet fan 315 discharges the air in the second air duct 131 to the external environment, and the air inlet fan 314 and the air outlet fan 315 form forced convection to meet the heat dissipation requirements of the projection unit 340.

[0112] According to the embodiments of the present application, in combination with Figure 6 , the heat sink 313 is connected between the air inlet fan 314 and the projection unit 340, and between the projection unit 340 and the air outlet fan 315. In this case, through the arrangement of the heat sink 313, the heat dissipation area is greatly increased, and the heat dissipation effect of the projection unit 340 is ensured. In addition, the air inlet fan 314, the heat sink 313, the projection unit 340, and the air outlet fan 315 form a projection assembly, and the projection assembly itself can be used to strengthen the structural strength of the head 130.

[0113] According to the embodiments of the present application, the heat sink 313 includes a plurality of heat dissipation fins, and the heat dissipation fins of the heat sink 313 are consistent with the extension direction of the second air duct 131. At this time, the flow performance of the air along the projection assembly can be ensured, and the heat dissipation effect of the entire projection assembly can be ensured.

[0114] In one embodiment, the head 130 further includes a heat conduction assembly Figure 6The heat conducting component is in the form of a heat pipe 1392, and the heat conducting component connects the projection unit 340 and the heat sink 313. The heat conducting component is not limited in form, for example, the heat conducting component 139 includes at least one of a heat conducting block and the heat pipe 1392, and further, the projection unit 340 is connected to the fins through at least one of the heat conducting block and the heat pipe 1392 to increase the heat dissipation area of the projection unit 340.

[0115] Please refer to Figure 7 At least one of the inner surface of the second skeleton 1342 and the second cover 135 extends towards the accommodation space with a mounting rib plate 319 and a plurality of connecting columns 321, and at least one of the air inlet fan 314, the heat sink 313 and the air outlet fan 315 is fixed to the mounting rib plate 319, and at least one of the air inlet fan 314, the heat sink 313 and the air outlet fan 315 is connected to the connecting column 321 through a threaded member. In this case, the projection assembly and the second skeleton 1342 are connected as a whole, and further, the structural strength of the second skeleton 1342 can be strengthened, and the installation reliability of the projection assembly can be ensured.

[0116] In one embodiment, please refer to Figure 23 and Figure 24 The bottom of the second skeleton 1342 is formed with a second air inlet portion 232 and a second air outlet portion 233, and the second air inlet portion 232 corresponds to the windward surface of the air inlet fan 314, and the second air outlet portion 233 corresponds to the air outlet surface of the air outlet fan 315. At this time, the air enters the second air duct 131 from the bottom of the second skeleton 1342, and exits the second air duct 131 from the bottom of the second skeleton 1342, and further, when the second air duct 131 is forced to flow, the user does not feel obvious.

[0117] Of course, in addition to being communicated with the outside through the second air inlet portion 232 and the second air outlet portion 233, the second air duct 131 can also be communicated with the first air duct 120 in the body through the head air inlet portion 136 and the head air outlet portion 137. In combination with Figure 18 The head air inlet portion 136 is arranged on the side of the second air duct 131 away from the second cover 135, and is adapted to be communicated with the first air duct 120 of the body, and the head air outlet portion 137 is arranged on the side of the second air duct 131 away from the body, and the projection unit 340 is located in the extension path of the head air outlet portion 137. At this time, the second air duct 131 and Figure 1 There is a certain difference in the structure of the second air duct 131 in

[0118] Please refer to Figure 8 and Figure 9The light outlet includes a light outlet 316 formed on the second cover 135, and a cover 317 is arranged on the light outlet 316 and can be opened and closed. Further, when the projection unit 340 is not working, the cover 317 covers the light outlet 316 to shield the light outlet 316. When the projection unit 340 needs to work, the cover 317 is removed to expose the light outlet 316 for projection. The cover 317 here can play a role in protecting the projection unit 340. Of course, if the second cover 135 adopts a transparent structure, the cover 317 can also not be arranged, but in this case, the internal components of the second cover 135 can be directly seen, which may affect the appearance.

[0119] In combination Figure 6 The projection unit 340 includes a calibration lens 341, a projection module 342, a projection control board 344, and a projection lens 343 corresponding to the light outlet 316. In addition, the calibration lens 341, the projection module 342, and the projection lens 343 are arranged in sequence from top to bottom, and the projection control board 344 is connected between the air inlet fan 314 and the heat sink 313. Of course, the distribution positions of the calibration lens 341, the projection module 342, the projection control board 344, and the projection lens 343 are not limited to the display, for example, when the height direction space is insufficient, the calibration lens 341, the projection module 342, the projection control board 344, and the projection lens 343 can also be arranged transversely along the extension direction of the projection assembly.

[0120] In one embodiment, continuing to refer to Figure 8 and Figure 9 The cover 317 and the second cover 135 can be magnetically attracted, buckled, or connected in other ways. The opening and closing of the cover 317 can be achieved manually or automatically. Figure 8 and Figure 9 In the cover 317, the opening and closing are achieved manually. Figure 9 In the cover 317, the first magnetic member 3171 is arranged, and the second skeleton 1342 is provided with a second magnetic member 318. The first magnetic member 3171 and the second magnetic member 318 are correspondingly arranged and magnetically attracted. The specific form of the first magnetic member 3171 and the second magnetic member 318 is not limited, as long as a magnetic attraction force can be generated. For example, two circular magnets can be pre-buried in the second skeleton 1342, and two magnets can also be pre-buried at the corresponding position of the cover 317. When the cover 317 is assembled in place, the cover 317 is fixed by the magnetic attraction force. At the same time, the second cover 135 can be provided with a guide hole (not shown in the figure) to ensure that the cover 317 can be correctly assembled in place.

[0121] The above mainly installs the projection assembly in the second air duct 131, and it should be understood that other types of components can also be installed in the second air duct 131 when the space permits.

[0122] According to the embodiments of the present application, in combination with Figure 1 and Figure 7 , the first skeleton 1341 is in a flat plate shape, the first cover 133 and the first skeleton 1341 are matched in shape (here, the matching means that the first skeleton 1341 and the first cover 133 are similar in structure, when the first skeleton 1341 is in a flat plate shape, the first cover 133 is also in a flat plate shape), and then the first cover 133 and the first skeleton 1341 are adapted to each other, so as to ensure that the first cover 133 is also in a flat plate shape. In this case, the head 130 of the robot further includes a screen 310, which is fixed to the side of the first cover 133 away from the first skeleton 1341. That is, the flat plate-shaped first skeleton 1341 can facilitate the installation of the screen 310. Wherein, when the first skeleton 1341 is in a flat plate shape and the second skeleton 1342 is in a curved plate shape, the structure of the obtained head main skeleton 134 is similar to a "D" shape.

[0123] Of course, it needs to be explained that the first skeleton 1341 does not necessarily have to be in a flat plate shape, for example, it can also have a curved plate shape, and then the first skeleton 1341 and the first cover 133 can also adapt to the installation of other types of components other than the screen 310. Or, since the screen 310 itself has also developed a curved screen, and then the curved plate-shaped first skeleton 1341 and the first cover 133 can also adapt to the installation of the curved screen.

[0124] According to the embodiments of the present application, in combination with Figure 1 and Figure 10 to Figure 12The components of the head 130 also include at least one of a photographing unit 320, an infrared emitting unit 350, a human body sensor 330, a power-on key 312, a microphone array 360, a main control board 390, and an AI (artificial intelligence) computing board 311. A screen 310 is arranged at the front of the first cover 133. The screen 310 generally has display and touch functions, and the size is generally less than 15 inches according to design requirements. The screen 310 and the first cover 133 can be fixed by double-sided adhesive tape, and can also be fixed by other means. The photographing unit 320 and the infrared emitting unit 350 are arranged below the left edge of the screen 310. The photographing unit 320 can integrate a day vision lens, a night vision lens, an ambient light sensor, and a TOF (time of flight) transmitting and receiving unit, so as to realize daytime and nighttime photographing and video shooting requirements; the ambient light sensor can be used to detect ambient light intensity, to determine which lens to use for shooting, and to automatically adjust the display brightness of the screen 310. The TOF transmitting and receiving unit can realize 3D model imaging, can shoot more realistically in depth, and no longer relies on algorithm to blur the background. In addition, relying on the TOF transmitting and receiving unit, object recognition is more accurate, can be used for scanning objects in front of the lens, recognizing gestures, indoor navigation, etc., and enhances the sensing ability. The future AR (augmented reality) experience will definitely be improved, for example, in some AR games, the recognition of human body posture and gestures is more accurate. In addition, based on the TOF transmitting and receiving unit, in applications requiring depth scanning, details can also be highlighted. The actual photographing unit 320 of the head generally does not exceed the above lens and sensor requirements.

[0125] According to an embodiment of the present application, the infrared emitting unit 350 emits infrared light by controlling an infrared LED lamp 351 (light-emitting diode), please refer to Figure 13 The robot can control the switch of old household appliances such as televisions and air conditioners by controlling the emission of infrared light, thereby realizing the role of the robot as the indoor IOT (Internet of Things) center.

[0126] In combination with Figure 10 to Figure 12 The human body sensor 330 is arranged on the right side of the screen 310. The human body sensor 330 can sense when a person approaches the robot and can start the interaction function. The human body sensor 330 is more useful when the robot is in sleep. When the robot is in sleep, only the human body sensor 330 needs to be turned on. When a person appears or enters the sensing range of the robot, the human body sensor 330 detects and notifies the robot to wake up and start working.

[0127] The first cover body 133 is provided with two volume buttons 380, i.e., a volume + button and a volume - button, on the right side of the top of the first cover body 133. The two volume buttons 380 correspond to a region provided with a touch sensor, and the volume size of the robot can be controlled by pressing the two regions. The first cover body 133 is provided with a touch region on the left side of the top of the first cover body 133, and the touch region is provided with a touch button 370. The first cover body 133 is connected to a top mounting frame 322, and the top mounting frame 322 extends from the first cover body 133 to an assembly space 1343. A microphone array 360 is arranged on the top mounting frame 322 and corresponds to the assembly space 1343, so as to ensure the heat dissipation effect of the microphone array. The microphone array 360 can be a ring-shaped six-microphone array. The microphone array 360 can realize at least two functions: one is to collect sound, and the other is to locate a sound source and determine the relative position of a user interacting with the robot and the robot, especially the angle relationship. Of course, a linear microphone or other forms of microphone array 360 can also be used to realize this function. The first cover body 133 is provided with a power-on button 312 on the right side of the bottom edge of the first cover body 133, and the power-on button 312 is used to realize the functions of turning on and off the robot. The first cover body 133 is provided with a main control board 390 at the back (in the first accommodating space). The main control board 390 is used for connection, data processing and control of all sensors of the head 130. In order to meet the higher computing power requirements of AI (artificial intelligence) vision and the like, an AI computing board 311 or the like can also be arranged in the first accommodating space to meet the scene of high computing power requirement.

[0128] The first cover body 133 and the components (including the photographing unit 320, the infrared emission unit 350, the human body sensor 330, the power-on button 312, the volume button 380 and the microphone array 360) can be made into an independent module, and only a power supply is needed to test the module, which is beneficial to assembly and testing and facilitates large-scale production and application.

[0129] According to the embodiments of the present application, in the case that the size of the head 130 is small, a large number of components can be integrated in the first accommodating space and the second accommodating space respectively, so as to meet the needs of most video calls, conferences and audio-visual entertainment and the like. The assembly space 1343 is formed between the first skeleton 1341 and the second skeleton 1342, which can assist in heat dissipation of the first accommodating space and the second accommodating space, so as to ensure the heat dissipation performance of the head 130.

[0130] In one embodiment of the present application, the head main skeleton 134 is made of metal. In use, the head main skeleton 134 bears the weight of the whole robot head 130 main body, and the head main skeleton 134 is also adapted to transmit motion and force to drive the robot head 130 main body to move. By using metal as the material of the head main skeleton 134, the strength of the head main skeleton 134 is ensured, and the metal material is conducive to heat dissipation of the components mounted on the head main skeleton 134. In one embodiment of the present application, the head main skeleton 134 can be made of aluminum alloy. However, it should be understood that the head main skeleton 134 can also be any other suitable metal material or other material.

[0131] According to an embodiment of the present application, a head assembly of a robot is also provided, comprising the above-mentioned robot head 130, and further comprising a neck joint 290. The neck joint 290 comprises at least one of a pitch mechanism 291 and a rotation mechanism (not shown in the figure). The projection unit 340 can be adjusted in the up-down projection angle under the drive of the pitch mechanism 291, and the projection unit 340 can be adjusted in the horizontal projection angle under the drive of the rotation mechanism. When the neck joint 290 only comprises the pitch mechanism 291, the end of the pitch mechanism 291 is mounted in the assembly space, and the pitch mechanism 291 connects the head 130 to the body. When the neck joint 290 only comprises the rotation mechanism, the end of the rotation mechanism is mounted in the assembly space, and the rotation mechanism connects the head 130 to the body. When the neck joint 290 comprises both the pitch mechanism 291 and the rotation mechanism, the end of the neck joint 290 is mounted in the assembly space, and the neck joint 290 connects the head 130 and the rotation mechanism, and the rotation mechanism is mounted to the body. Of course, the specific structure and mounting method of the neck joint 290 are not limited, as long as the neck joint 290 can drive the head 130 to move relative to the body. It can be understood that any prior art disclosed neck joint 290 can be included in the scope of the present application.

[0132] According to an embodiment of the present application, a robot is also provided, please refer to Figure 14 , comprising the above-mentioned robot head 130, further comprising a body (not shown in the figure), a chassis 110 and a neck joint 290 (combined with Figure 1 ). The neck joint 290 comprises at least one of a pitch mechanism 291 and a rotation mechanism.

[0133] In one embodiment, the neck joint 290 comprises both the pitch mechanism 291 and the rotation mechanism, the pitch mechanism 291 is mounted in the assembly space 1343, and the pitch mechanism 291 connects the head 130 and the rotation mechanism, and the rotation mechanism is mounted to the body. The specific structure of the neck joint 290 will be mentioned in detail later.

[0134] On the basis, the related components of the robot of the embodiment of the application are further described.

[0135] Please refer to Figure 14 The body is provided with a first air duct 120; the head 130 is provided with a second air duct 131 and head heat generating devices 132 including a projection unit 340, the second air duct 131 is communicated with the first air duct 120, and the second air duct 131 is used for cooling the head heat generating devices 132; at least one of the chassis 110 and the body is provided with a plurality of air supply components 140, the air supply components 140 supply air to the second air duct 131 through the first air duct 120.

[0136] The body of the robot is provided with the first air duct 120, the first air duct 120 is communicated with the air supply components 140 and the second air duct 131, so that the air supply components 140 can deliver gas to the head 130. Specifically, when the robot starts working, the air supply components 140 deliver gas into the first air duct 120, and the gas is delivered to the second air duct 131 through the first air duct 120. Among them, the air supply components 140 not only can take away the heat at the body when delivering gas, but also can cool the head heat generating devices 132 through the second air duct 131 to take out the heat on the head heat generating devices 132 from the head 130.

[0137] The robot of the embodiment of the application can simultaneously realize the heat dissipation of the body and the head 130 by setting one or a small number of air supply components 140, thereby quickly discharging the heat generated inside the robot, improving the heat dissipation effect of the robot, and reducing the use quantity of the air supply components 140. Moreover, in the related art, the number of components of the head 130 of the robot is large and is concentratedly distributed, and the embodiment of the application can effectively avoid affecting other components of the head 130 of the robot by installing the air supply components 140 on the body or the chassis 110 (including the case of being installed between the body and the chassis 110).

[0138] In the embodiment of the application, the head heat generating devices 132 are electronic devices with heat generating properties arranged in the head 130, including but not limited to various control boards, various sensors or a projection unit 340, etc.

[0139] In the embodiments of the present application, the one or more air supply components 140 can be mounted on the chassis 110, in the body, or on both the chassis 110 and the body (in which case the air supply components 140 are connected to both the chassis 110 and the body), and in all the above mounting positions, the air supply components 140 are located far away from the user to control the noise. In particular, when the air supply components 140 are mounted inside the body, the noise of the air supply components 140 is very small. The air supply components 140 can be in the form of a fan or an air blower, and the specific structure is not limited as long as the air supply components 140 can supply air to the first air duct 120 and the second air duct 131. The first air duct 120 is generally arranged inside the body of the robot, and thus does not affect the appearance of the body.

[0140] In one embodiment of the present application, as shown in Figure 15 、 Figure 17 and Figure 18 , the air supply components 140 include at least one cooling fan 141 mounted between the first air duct 120 and the chassis 110. On this basis, a fan can be further arranged at a position of the first air duct 120 close to the head 130 to ensure the cooling effect.

[0141] According to the embodiments of the present application, the size of the cooling fan 141 can be matched with the first air duct 120, so that the heat of the body is conducted to the first air duct 120, and the cooling fan 141 delivers air into the first air duct 120. Alternatively, the diameter of the cooling fan 141 can be larger than the first air duct 120, in which case the cooling fan 141 delivers part of the air into the first air duct 120, and delivers the other part of the air into the body, so that the air carries the heat in the body and is discharged.

[0142] In one embodiment of the present application, the first air duct 120 is a heat-conducting pipe, so that the heat between the head 130 and the chassis 110 is conducted into the heat-conducting pipe. In use, the body heating device 150 in the body is mounted on the heat-conducting pipe, so that the heat of the body heating device 150 is conducted into the heat-conducting pipe, and then the air supply components 140 deliver air into the heat-conducting pipe. In one embodiment of the present application, the heat-conducting pipe is a metal pipe. However, it should be understood that the heat-conducting pipe can also be of any other suitable material.

[0143] In one embodiment of the present application, as shown in Figure 14 and Figure 15As shown, the chassis 110 comprises a chassis body 111 and a mounting plate 112 located above the chassis body 111, a ventilation space 113 is formed between the chassis body 111 and the mounting plate 112, the mounting plate 112 is formed with an air guide opening 114, the air guide opening 114 is communicated with the ventilation space 113 and the first air duct 120, and the air guide opening 114 is provided with the air supply component 140. In use, the air supply component 140 transports the gas at the air guide opening 114 to the second air duct 131 through the first air duct 120, and at the same time, the heat at the machine body is taken away. By installing the air supply component 140 at the air guide opening 114, it is ensured that the air supply component 140 can transport sufficient gas to the inside of the robot, and the heat dissipation effect of the robot is ensured.

[0144] In an embodiment of the present application, a mounting cavity (not shown in the figure) is formed in the chassis 110, in addition to this, the chassis 110 is also formed with a chassis air outlet 115 communicated with the mounting cavity and a chassis air inlet (not shown in the figure) of the chassis 110, so as to ensure the heat dissipation effect of the internal components of the chassis 110. As shown in Figure 14 and Figure 15 As shown, the chassis air outlet 115 is arranged on the side of the chassis body 111 facing the mounting plate 112, and the chassis air outlet 115 corresponds to the air guide opening 114. In use, the air supply component 140 transports the gas at the air guide opening 114 to the first air duct 120, and when the gas at the air guide opening 114 flows, the gas at the chassis air outlet 115 also flows, thereby more favorably discharging the heat in the mounting cavity through the chassis air outlet 115. At this time, the air supply component 140 can simultaneously dissipate heat for the chassis 110, the machine body and the head 130, and the heat dissipation effect of the robot is improved. Of course, the chassis air outlet 115 can also be arranged at other positions, and at this time, the chassis 110 can be separately provided with the air supply component 140 for the gas flow.

[0145] In an embodiment of the present application, as shown in Figure 15 The machine body is provided with a machine body heat generating component 150, and the machine body heat generating component 150 is attached to the outer wall of the first air duct 120. In use, the machine body heat generating component 150 is connected with the first air duct 120, and the heat generated by the machine body heat generating component 150 can be conducted into the first air duct 120. When the air supply component 140 transports the gas into the first air duct 120, the gas can take away the heat in the first air duct 120, thereby achieving heat dissipation for the machine body heat generating component 150. Of course, the machine body heat generating component 150 can also be installed at any suitable position of the machine body, and connected with the outer wall of the first air duct 120 through a corresponding heat conduction component, so that the heat generated by the machine body heat generating component 150 can be conducted to the first air duct 120 through the heat conduction component, thereby achieving effective heat dissipation for the machine body heat generating component 150.

[0146] In the embodiments of the present application, the body heat generating device 150 is an electronic device with heat generating property, which can include a main control board 390, a sensor or a projection unit 340, etc., and the specific form is not limited as long as it has heat generating property, and the heat can be dissipated and cooled by the first air duct 120.

[0147] In an embodiment of the present application, as shown in Figure 14 and Figure 16 , the head 130 includes a first cover 133, a head main framework 134 and a second cover 135. The second cover 135, the first cover 133 and the head main framework 134 jointly constitute the main structure of the head 130 and play a supporting role. Moreover, since the main body of the head 130 (the head 130 without various head heat generating devices 132) only includes three main components, the structure of the head 130 is simplified. A certain space is reserved in the head main framework 134 as an assembly space 1343 to facilitate the connection of the neck joint 290 (the specific structure will be mentioned later) and the head 130. A second accommodating space (not labeled in the figure) is arranged between the second cover 135 and the head main framework 134 to facilitate the installation of most of the head heat generating devices 132 and the second air duct 131 in the second accommodating space, and then when the air supply component 140 supplies air to the first air duct 120, the air is transported to the second air duct 131 through the first air duct 120, and then the air is transported to the head heat generating device 132 and exchanges heat with the head heat generating device 132, thereby taking away the heat on the head heat generating device 132, and realizing the rapid and effective heat dissipation of the head heat generating device 132. Of course, in addition to the air supply component 140 outside the head 130 supplying air to the second air duct 131, the air supply component 140 (air inlet fan 314 and air outlet fan 315) can also be arranged on the head 130 to supply air to the second air duct 131. Figure 6 Figure 7

[0148] In an embodiment of the present application, as shown in Figure 17 and Figure 18 ​​As shown, the extending direction of the second air duct 131 is the same as the extending direction of the second skeleton 1342, the side of the second air duct 131 away from the second cover 135 is provided with a head air inlet part 136, and the side of the second air duct 131 away from the machine body is provided with a head air outlet part 137. In use, the air supply part 140 delivers gas to the first air duct 120, the gas is transmitted to the second air duct 131 through the first air duct 120, and then enters the second air duct 131 through the head air inlet part 136, and then the gas is discharged from the head air outlet part 137 of the second air duct 131. Among them, the head heating device 132 can be located above the head air outlet part 137, at this time the gas will pass through the head heating device 132 and exchange heat with the heat of the head heating device 132, and take the heat in the head heating device 132 away from the head 130. Further, the heat of the head 130 is quickly discharged, the heat dissipation effect of the robot is improved, and the influence on the components in the head 130 is avoided. Of course, the head heating device 132 can also be arranged at other positions, at this time the head heating device 132 can realize heat dissipation through indirect heat exchange, which will be described in detail below.

[0149] Of course, the extending direction of the second air duct 131 can also be different from the extending direction of the second skeleton 1342, and the head air inlet part 136 and the head air outlet part 137 can also be arranged at any other suitable position of the second air duct 131, as long as the second air duct 131 can be communicated with the first air duct 120 of the machine body, and the heat dissipation of the head 130 is realized.

[0150] In an embodiment of the present application, as shown in Figure 17 and Figure 18 As shown, the head 130 is also provided with a heat dissipation assembly 138 and a heat conduction assembly 139. Among them, the heat dissipation assembly 138 is located on the side of the second air duct 131 away from the machine body, and is located in the extension path of the head air outlet part 137; the heat conduction assembly 139 connects the heat dissipation assembly 138 and the head heating device 132. The heat conduction assembly 139 is in contact with the head heating device 132, and the heat in the head 130 is conducted to the heat dissipation assembly 138 through the heat conduction assembly 139. At the same time, the air supply part 140 delivers gas to the first air duct 120, the gas is transmitted to the second air duct 131 through the first air duct 120, and then the gas is transmitted from the second air duct 131 to the heat dissipation assembly 138, and the heat in the heat dissipation assembly 138 is taken away from the head 130 by the gas, thereby realizing the rapid discharge of the heat generated inside the robot, and avoiding the influence on the components in the head 130.

[0151] In an embodiment of the present application, the heat dissipation assembly 138 can be mounted on the second air duct 131, and can also be fixedly mounted on the inner wall surface of the head 130, and can also be mounted at any other suitable position.

[0152] In an embodiment of the present application, as shown inFigure 17 and Figure 18 As shown in FIG. 13, the heat dissipation assembly 138 includes a plurality of heat dissipation fins 1381; the heat conduction assembly 139 includes a heat conduction block 1391 and a heat pipe 1392; the heat conduction block 1391 is in contact with the head heat generating device 132; one end of the heat pipe 1392 is connected to the heat conduction block 1391, and the other end is connected to the heat dissipation fin 1381. In use, the heat conduction block 1391 is in contact with the head heat generating device 132, and the heat generated by the heat generating device is conducted to the heat pipe 1392 through the heat conduction block 1391, and the heat pipe 1392 is connected to the heat dissipation fin 1381, and the heat is conducted to the heat dissipation fin 1381 through the heat pipe 1392. At the same time, the gas is delivered to the second air duct 131 through the air supply component 140, and then the gas is delivered to the heat dissipation fin 1381 through the second air duct 131, and the heat in the heat dissipation fin 1381 is taken away from the head 130 by the gas.

[0153] Since the volume of the head heat generating device 132 is generally small, if the heat pipe 1392 is directly used to conduct the heat of the head heat generating device 132 to the heat dissipation fin 1381, the number of heat pipes 1392 that can be contacted by one head heat generating device 132 is small. By providing the heat conduction block 1391, the heat conduction block 1391 is in contact with the head heat generating device 132, and then the heat conduction block 1391 conducts heat to the heat pipe 1392, which can effectively increase the number of heat pipes 1392, and thus the heat conduction efficiency of the head heat generating device 132 is higher, and the cooling is faster.

[0154] In an embodiment of the present application, the head air exhaust part 137 is provided with air holes corresponding to the heat dissipation fins 1381.

[0155] In an embodiment of the present application, as shown in FIG. 13, at least one of the surrounding wall of the second air duct 131 and the second cover 135 is provided with a plug-in slot (i.e. at least one of the first recess 1311, the second recess 1312 and the third recess 1351 in FIG. 13), and the plug-in slot and the heat dissipation fin 1381 are plug-in matched to realize the fixation of the heat dissipation fin 1381, and the heat dissipation fin 1381 also forms a support structure of the head 130. Figure 17 to Figure 20 Figure 17 to Figure 20

[0156] ​​The heat dissipation fin 1381 comprises a plug-in portion 1382, and the top of the second air duct 131 is provided with a first groove 1311 which is plugged with the plug-in portion 1382. In use, the plug-in portion 1382 of the heat dissipation fin 1381 is clamped with the first groove 1311, the heat dissipation fin 1381 is limited and fixed by the first groove 1311, the heat dissipation fin 1381 is installed on the second air duct 131, and the upper portion of the second air duct 131 is provided with the head air outlet portion 137, so that the gas discharged from the head air outlet portion 137 of the second air duct 131 can be directly transmitted to the heat dissipation fin 1381, and the heat dissipation effect is improved. In addition, the side wall surface of the second air duct 131 is provided with a plurality of second grooves 1312 matched with the heat dissipation fin 1381. In use, the heat dissipation fin 1381 is clamped with the second groove 1312, the heat dissipation fin 1381 is limited and fixed by the second groove 1312, and the heat dissipation fin 1381 is fixedly installed on the second air duct 131. The second groove 1312 can be located on the side of the second air duct 131 facing the second cover body 135, so that the position interference of the head air inlet portion 136 or components thereof can be prevented.

[0157] In an embodiment of the present application, as shown in Figure 17 and Figure 18 , the second air duct 131 and the first air duct 120 can be rotatably communicated through a flange (the head air inlet portion 136 adopts the structure of the flange, and the structure corresponding to the head air inlet portion 136 on the machine body also adopts the structure of the flange). However, it should be understood that the second air duct 131 and the first air duct 120 can also be communicated through any other suitable connecting member.

[0158] In an embodiment of the present application, as shown in Figure 17 and Figure 18 , the lower portion of the second air duct 131 is provided with an air duct cover plate 1313. In use, the air duct cover plate 1313 can prevent the gas conveyed into the second air duct 131 from flowing out from the lower portion of the second air duct 131, so as to ensure that the gas is discharged from the head air outlet portion 137 of the second air duct 131 and conveyed to the heat dissipation assembly 138, and the heat dissipation effect of the head portion 130 is ensured.

[0159] In an embodiment of the present application, as shown in Figure 20 , the second cover body 135 is provided with a third groove 1351 matched with the heat dissipation fin 1381. In use, the heat dissipation fin 1381 is clamped with the third groove 1351, so that the heat dissipation fin 1381 is fixedly connected with the second cover body 135, and the stability of the heat dissipation fin 1381 in the head portion 130 is ensured.

[0160] In an embodiment of the present application, as shown in Figure 21As shown, the heat dissipation fins 1381 are formed with clamping grooves 1383, and the heat pipes 1392 are inserted into the clamping grooves 1383. In use, the heat pipes 1392 are clamped with the clamping grooves 1383 on the heat dissipation fins 1381, so as to realize the fixed connection of the heat pipes 1392 and the heat dissipation fins 1381, and make the heat pipes 1392 contact with multiple heat dissipation fins 1381 at the same time. The heat-conducting blocks 1391 contact with the head heat generating devices 132, so that the heat generated by the components can be conducted to the heat dissipation fins 1381 through the heat pipes 1392.

[0161] Figure 21 In the embodiment, the clamping grooves 1383 are located at the edge of the heat dissipation fins 1381, so that the heat pipes 1392 can be conveniently disassembled and assembled. However, it should be understood that the clamping grooves 1383 can also be located at any other suitable position of the heat dissipation fins 1381. For example, when the clamping grooves 1383 are arranged at the middle part, the contact area between the heat pipes 1392 and the heat dissipation fins 1381 can be ensured, and the heat conduction effect between them can be ensured.

[0162] In an embodiment of the present application, as shown in Figure 18 The heat-conducting assembly 139 includes at least two heat-conducting blocks 1391, and is respectively located at different positions in the head 130. Correspondingly, the heat-conducting assembly 139 includes at least two groups of heat pipes 1392. At this time, the head heat generating devices 132 at different positions of the head 130 can be in contact with different heat-conducting blocks 1391 respectively, so as to conduct the heat generated by the head heat generating devices 132 to different heat-conducting blocks 1391 respectively, and then to different heat pipes 1392, and finally to the heat dissipation fins 1381 through the heat pipes 1392, so as to ensure the heat dissipation effect of the head 130.

[0163] In an embodiment of the present application, the robot includes two groups of heat dissipation assemblies 138 which are symmetrical to each other. However, it should be understood that the robot can also include two groups of heat dissipation assemblies 138 which are different in structure. Alternatively, the number of the heat dissipation assemblies 138 can also be greater than two. In addition, it should be noted that the structures of the heat dissipation assemblies 138 and the heat-conducting assemblies 139 are not limited by the above examples, as long as the heat dissipation effect and the heat conduction effect can be realized respectively.

[0164] In an embodiment of the present application, as shown in Figure 17 to Figure 20As shown, the head 130 is provided with at least two groups of heat dissipation assemblies 138 and the same number of heat conduction assemblies 139 as the heat dissipation assemblies 138, and the heat dissipation assemblies 138 and the heat conduction assemblies 139 are connected one by one. In use, two or more heat dissipation assemblies 138 are selected according to the number of head heating devices 132 in the head 130, and a heat conduction assembly 139 is installed on each heat dissipation assembly 138, and the heat at different head heating devices 132 in the head 130 is conducted to the heat dissipation assembly 138 through the heat conduction assembly 139, thereby achieving comprehensive heat dissipation of the head 130 and solving the problem of difficult heat dissipation of the head heating devices 132.

[0165] In an embodiment of the present application, as shown in Figure 17 to Figure 20 two heat dissipation assemblies 138 are provided in the head 130, and each of the two heat dissipation assemblies 138 is provided with a heat pipe 1392. In use, the respective heat conduction blocks 1391 of the two heat dissipation assemblies 138 are respectively installed at different positions in the head 130, so that different heat conduction blocks 1391 can respectively conduct the heat in the head 130 to different heat pipes 1392, and then conduct the heat to the respective corresponding heat dissipation assemblies 138 through the heat pipes 1392, thereby effectively conducting the heat generated by the head heating devices 132 in the head 130 to the heat dissipation assemblies 138, solving the problem of multiple heating points in the head 130 and improving the heat dissipation effect of the head 130.

[0166] In an embodiment of the present application, as shown in Figure 17 to Figure 20 The second air duct 131 includes at least two independent air sections 1314, each air section 1314 is provided with a head air inlet portion 136, and each air section 1314 is provided with a heat dissipation assembly 138 and a heat conduction assembly 139. In use, a certain number of air sections 1314 are installed in the head 130 according to actual conditions, and each air section 1314 is in communication with the first air duct 120. The heat conduction assembly 139 conducts the heat generated by the head heating device 132 to the heat dissipation assembly 138.

[0167] In an embodiment of the present application, as shown in Figure 19 A connecting bracket 1315 is arranged between the adjacent two air sections 1314, and the connecting bracket 1315 is used to connect the adjacent two air sections 1314. In use, the adjacent two air sections 1314 are fixedly connected together through the connecting bracket 1315, so that the connecting bracket 1315 and the two air sections 1314 together form the skeleton of the head 130, which supports the main body of the robot head 130 and transmits motion and force.

[0168] In an embodiment of the present application, as shown in Figure 18As shown, the heat-conducting block 1391 in the middle connects the heat pipes 1392 on the left and right sides. The heat-conducting block 1391 in the middle can be connected to the projection unit 340, and the projection unit 340 can be cooled by the air passages 1314 on the left and right sides at the same time, thereby ensuring the cooling effect of the projection unit 340.

[0169] As shown, Figure 14 to Figure 18 According to an embodiment of the present application, the head 130 of the robot includes a head main framework 134, a first cover 133, a second cover 135, a head heat generating device 132, a second air duct 131, a heat dissipation assembly 138, and a heat conduction assembly 139. The second cover 135, the first cover 133, and the head main framework 134 together form the structure of the head 130, thereby supporting the structure of the head 130 and simplifying the structure of the head 130. A space is reserved in the head main framework 134 as an assembly space 1343, which facilitates the connection of the neck joint 290 and the head 130. A second accommodating space is arranged between the second cover 135 and the head main framework 134, which facilitates the installation of part of the head heat generating device 132 and the second air duct 131 in the second accommodating space. By conveying gas into the head air inlet 136, the gas is blown from the head air outlet 137 to the heat dissipation assembly 138, and at the same time, the heat conduction assembly 139 conducts the heat generated by the head heat generating device 132 to the heat dissipation assembly 138, so that the gas can exchange heat with the heat dissipation assembly 138 to carry away the heat at the heat dissipation assembly 138, thereby achieving rapid and effective heat dissipation of the head heat generating device 132.

[0170] As shown, Figure 16 and Figure 22 The first cover 133, the head main framework 134, and the second cover 135 are connected together to form the main body of the head 130 of the robot, so that the second cover 135 and the first cover 133 enclose the head main framework 134, and at the same time, the first cover 133, the head main framework 134, and the second cover 135 also serve as the appearance parts of the main body of the head 130 of the robot, so that the main body of the head 130 of the robot only needs three structural parts to be composed, thereby simplifying the structure of the main body of the head 130 of the robot, reducing the assembly process, and reducing the manufacturing cost.

[0171] According to an embodiment of the present application, the first cover 133, the head main framework 134, and the second cover 135 are independent of each other, and in actual production and use, one of the first cover 133, the head main framework 134, and the second cover 135 can be replaced as a whole, thereby facilitating the modular assembly and maintenance, replacement of the main body of the head 130 of the robot.

[0172] In an embodiment of the present application, as Figure 16 and Figure 22As shown, the front part of the first cover 133 is provided with at least one first component 210. In use, one or more than one first component 210 can be installed on the front part of the first cover 133 according to actual needs, and the first cover 133 is connected with the first framework 1341 of the head main framework 134. The first component 210 is, for example, a screen 310, but it should be understood that the first component 210 can also be any other suitable component. Figure 16 As shown, the first cover 133 is connected with a top mounting bracket 322 extending from the first cover 133 to the assembly space 1343. At least one second component 220 is provided on the top mounting bracket 322. In use, one or more than one second component 220 can be installed on the top mounting bracket 322 according to actual needs. The second component 220 is, for example, a microphone array 360. However, it should be understood that the second component 220 can also be any other suitable component.

[0173] In an embodiment of the present application, the first component 210 and the second component 220 can also be installed at any other suitable position of the head 130 main body. In an embodiment of the present application, in addition to the first component 210 and the second component 220, other components can also be provided on the first cover 133.

[0174] In an embodiment of the present application, as shown in Figure 16 and Figure 22 As shown, the two sides of the first cover 133 are connected with the second cover 135, the head main framework 134 is located between the first cover 133 and the second cover 135, and the head main framework 134 is fixedly connected with the first cover 133 and the second cover 135, respectively. Among them, the first cover 133, the head main framework 134 and the second cover 135 can be independent of each other, so that the first cover 133 or the head main framework 134 or the second cover 135 can be directly replaced as a whole, realizing modular assembly and maintenance, replacement.

[0175] In an embodiment of the present application, as shown in Figure 23 As shown, the middle part of the head main framework 134 is formed with an assembly space 1343, which not only facilitates the installation of the neck joint 290, but also reduces the material to a certain extent and increases the heat dissipation area, which is beneficial to heat dissipation.

[0176] In an embodiment of the present application, as shown in Figure 23As shown, the first skeleton 1341 extends towards the first cover 133 to form a baffle 200, the baffle 200 is provided with a first air inlet part 230 and a first air outlet part 231, the first air inlet part 230 and the first air outlet part 231 are suitable for dissipating heat of components in the first accommodating space or components mounted on the first cover 133. Especially when there are many components in the first accommodating space, the first air inlet part 230 and the first air outlet part 231 are both communicated with the first accommodating space, so that the air circulation in the first accommodating space can be accelerated under the condition of natural convection or fan forced convection.

[0177] In an embodiment of the present application, as shown in Figure 23 The bottom of the side of the head main skeleton 134 close to the second cover 135 is provided with a second air inlet part 232 and a second air outlet part 233, the second air inlet part 232 and the second air outlet part 233 are suitable for dissipating heat of components in the second accommodating space. The components will generate heat during use, and the heat generated by the components in the second accommodating space is taken away by the gas entering the second accommodating space from the second air inlet part 232, and then the gas exits the head main skeleton 134 from the second air outlet part 233, so that the components in the second accommodating space can be quickly and effectively cooled. In combination with Figure 23 and Figure 24 Fans can be respectively arranged corresponding to the second air inlet part 232 and the second air outlet part 233.

[0178] According to the embodiment of the present application, when the robot head 130 needs to perform relevant motion actions, the robot body transmits motion and force to the head main skeleton 134, and then the head main skeleton 134 transmits motion and force to the robot head 130 body, so as to drive the whole robot head 130 body to move, further increasing the role of the head main skeleton 134. Further, the robot head 130 body is simplified, a single structure has multiple functions, the number of structure parts of the head 130 is reduced, the assembly process is reduced, the assembly requirements are easy to control, and the modular assembly and maintenance are facilitated.

[0179] In an embodiment of the present application, as shown in Figure 24 and Figure 25 The two sides, the top and the bottom of the connection between the first cover 133 and the first skeleton 1341 are all provided with fixed connection assemblies, the fixed connection assemblies include a first fixed connection assembly 240, a second fixed connection assembly (not labeled), a third fixed connection assembly 250 and a fourth fixed connection assembly 260.

[0180] As shown in Figure 24 and Figure 25As shown, first fixed connection components 240 are provided on both sides of the connection between the first cover 133 and the head main frame 134. The first fixed connection components 240 are adapted to connect the first cover 133 and the head main frame 134. The head main frame 134 supports the first cover 133, and the head main frame 134 is fixedly connected to the first cover 133, so that the head main frame 134 can transmit motion and force to the first cover 133, thereby driving the first cover 133 to move.

[0181] In one embodiment of this application, such as Figure 24 and Figure 25 As shown, the first fixed connection assembly 240 includes a first buckle 241 disposed on the first cover 133 and a first engaging hole 242 disposed on the head main frame 134 that matches the first buckle 241. The first buckle 241 is disposed on the upper part of both sides of the first cover 133 along its width direction. Of course, the positions of the first buckle 241 and the first engaging hole 242 can also be interchanged. Engaging the first buckle 241 on the first cover 133 with the first engaging hole 242 on the head main frame 134 fixes the first cover 133 and the head main frame 134 together. This allows the head main frame 134 to support the first cover 133, and the head main frame 134 can effectively transmit movement and force to the first cover 133, causing the first cover 133 to move accordingly.

[0182] In one embodiment of this application, such as Figure 24 and Figure 25 As shown, the first fixed connection assembly 240 also includes a first connection hole 243 disposed on the first cover 133 and a second connection hole 244 disposed on the head main frame 134 that matches the first connection hole 243. In use, the first cover 133 and the head main frame 134 are first fitted together so that the first connection hole 243 on the first cover 133 and the second connection hole 244 on the head main frame 134 are aligned. Then, a fastener passes through the second connection hole 244 and the first connection hole 243 to fix the first cover 133 and the head main frame 134 together.

[0183] In one embodiment of this application, the fastener is, for example, a bolt. However, it should be understood that the fastener can also be any other suitable structural component.

[0184] In one embodiment of this application, the first connecting hole 243 is, for example, a threaded hole, and the second connecting hole 244 is, for example, a bolt hole. However, it should be understood that the first connecting hole 243 and the second connecting hole 244 can also be any other suitable hole structure.

[0185] In an embodiment of the present application, the second fixed connection assembly is arranged on both sides of the connection between the first cover 133 and the head main framework 134, and is suitable for connecting the first cover 133 and the head main framework 134. The first fixed connection assembly 240 is arranged above the second fixed connection assembly. According to the embodiment of the present application, the second fixed connection assembly comprises a second buckle 251 and a second clamping hole 252 which are matched with each other. The second buckle 251 is arranged on the lower part of the first cover 133 on both sides along the width direction. Of course, the positions of the second buckle 251 and the second clamping hole 252 can be interchanged.

[0186] In an embodiment of the present application, the structure of the second fixed connection assembly is the same as that of the first fixed connection assembly 240, which will not be repeated here.

[0187] In an embodiment of the present application, as shown in Figure 26 to Figure 28 , the lower part of the connection between the first cover 133 and the head main framework 134 is provided with a third fixed connection assembly 250, and the third fixed connection assembly 250 is suitable for connecting the first cover 133 and the head main framework 134.

[0188] In an embodiment of the present application, as shown in Figure 26 to Figure 28 , the third fixed connection assembly 250 comprises at least one third buckle 262 arranged on the first cover 133 and a third clamping hole arranged on the head main framework 134, and the third buckle 262 is matched with the third clamping hole. In use, the first cover 133 and the head main framework 134 are matched, so that the third buckle 262 of the first cover 133 is clamped with the third clamping hole on the head main framework 134, and then the lower part of the first cover 133 and the head main framework 134 are fixedly connected, which further improves the stability of the connection between the first cover 133 and the head main framework 134, and can prevent the head main framework 134 from being pulled away from the first cover 133. Then the head main framework 134 can stably support the first cover 133, and the head main framework 134 can effectively transmit the movement and force to the first cover 133, so that the first cover 133 moves correspondingly.

[0189] In an embodiment of the present application, as shown in

[0190] In an embodiment of the present application, as shown in Figure 26 to Figure 28As shown, the lower part of the first cover body 133 is provided with a stopper 253, which is located in front of the third fixed connecting assembly 250 along the assembly direction of the third fixed connecting assembly 250, and one end of the stopper 253 extends to the third fixed connecting assembly 250. The assembly direction of the third fixed connecting assembly 250 is the relative movement direction between the first cover body 133 and the head main framework 134 during the assembly of the third fixed connecting assembly 250. In use, the first cover body 133 and the head main framework 134 are first matched, and then the lower parts of the first cover body 133 and the head main framework 134 are fixed and connected together through the third fixed connecting assembly 250, so as to prevent the head main framework 134 from moving away from the first cover body 133. At this time, one end of the stopper 253 is located at the third fixed connecting assembly 250, and the end of the stopper 253 abuts against or is on the same vertical line with the end face of the lower part of the head main framework 134, so that the stopper 253 can block the head main framework 134, prevent the head main framework 134 from moving towards the first cover body 133, and ensure the accuracy of the connection between the first cover body 133 and the head main framework 134, thereby effectively preventing the lower parts of the first cover body 133 and the head main framework 134 from loosening.

[0191] In an embodiment of the present application, as shown in Figure 29 The upper part of the connection between the first cover body 133 and the head main framework 134 is provided with a fourth fixed connecting assembly 260, and the fourth fixed connecting assembly 260 is adapted to connect the first cover body 133 and the head main framework 134.

[0192] In an embodiment of the present application, as shown in Figure 29 The upper part of the head main framework 134 is provided with an inclined surface 261, and the inclined surface 261 is located above the fourth fixed connecting assembly 260. Through the arrangement of the inclined surface 261, water on the upper part of the head main framework 134 can flow away along the inclined surface 261, so as to prevent water from penetrating from the fourth fixed connecting assembly 260, and improve the waterproof performance of the upper part of the connection between the first cover body 133 and the head main framework 134.

[0193] In an embodiment of the present application, as shown in Figure 29 The fourth fixed connecting assembly 260 includes a fourth buckle 263 arranged on the first cover body 133 and a fourth clamping hole arranged on the head main framework 134 and matched with the fourth buckle 263. Of course, the positions of the fourth buckle 263 and the fourth clamping hole can be interchanged.

[0194] In one embodiment of the present application, the fourth fixed connecting assembly 260 can further include a first threaded hole arranged on the first cover 133 and a second threaded hole arranged on the head main frame 134 and matched with the first threaded hole, and the first cover 133 and the upper part of the head main frame 134 can be fixedly connected together by a fastener passing through the second threaded hole and the first threaded hole.

[0195] In one embodiment of the present application, as shown in Figure 30 and Figure 31 , the upper part of the connection between the head main frame 134 and the second cover 135 is arranged with a fifth fixed connecting assembly 270, and the fifth fixed connecting assembly 270 is adapted to connect the head main frame 134 and the second cover 135. The second cover 135 and the upper part of the head main frame 134 are fixedly connected together by the fifth fixed connecting assembly 270, further improving the stability of the connection between the second cover 135 and the head main frame 134. In turn, the head main frame 134 can stably support the second cover 135, and the head main frame 134 can effectively transmit motion and force to the second cover 135, so that the second cover 135 moves accordingly. The head main frame 134 has the functions of supporting the second cover 135, bearing components and transmitting motion and force, so that the head main frame 134 has multiple functions, reduces the number of structural parts in the head 130, reduces the assembly process, and is conducive to controlling assembly requirements.

[0196] In one embodiment of the present application, as shown in Figure 30 and Figure 31 , the fifth fixed connecting assembly 270, for example, includes a hanging groove arranged on the head main frame 134 and a hanging part 271 arranged on the second cover 135 and matched with the hanging groove. The hanging part 271 on the second cover 135 is embedded in the hanging groove on the head main frame 134, so that the head main frame can support the second cover 135 and prevent water from penetrating into the interior from the upper part of the connection between the head main frame 134 and the second cover 135. However, it should be understood that the fifth fixed connecting assembly 270 can also be any other suitable connecting structure.

[0197] In one embodiment of the present application, as shown in Figure 30 and Figure 31 , the lower part of the connection between the head main frame 134 and the second cover 135 is arranged with a sixth fixed connecting assembly 280.

[0198] In one embodiment of the present application, the sixth fixed connecting assembly 280, for example, includes a buckle female head 281 arranged on the head main frame 134 and a buckle male head 282 arranged on the second cover 135. However, it should be understood that the sixth fixed connecting assembly 280 can also be any other suitable connecting structure.

[0199] In one embodiment of the present application, the neck joint 290 is connected with the head main framework 134, and the neck joint 290 is adapted to transmit motion and force to the head main framework 134. In use, the neck joint 290 transmits motion and force to the head main framework 134, and then the head main framework 134 transmits the motion and force to the robot head 130 main body, so that the robot head 130 main body performs corresponding motion, so that the head main framework 134 has the functions of transmitting motion and force in addition to the functions of supporting the robot head 130 main body and carrying components, so that the robot head 130 main body can perform corresponding motion according to instructions.

[0200] In one embodiment of the present application, as shown in Figure 32 and Figure 33 , the neck joint 290 includes a pitch mechanism 291, the pitch mechanism 291 is connected with the head main framework 134, and the pitch mechanism 291 is adapted to drive the head main framework 134 to perform pitch motion, and the head main framework 134 will drive the first cover body 133 and the second cover body 135 to move simultaneously when moving, thereby realizing motion control of the robot head 130 main body.

[0201] In one embodiment of the present application, the second framework 1342 of the head main framework 134 extends a connecting part towards the installation space, and the connecting part includes a first connecting shaft 2915 and a second connecting shaft 2916. On this basis, the pitch mechanism 291 includes a base 2912, a first gear 2913, a second gear 2917 and a rotating shaft connector 2914. The base 2912 is installed on the fuselage through a rotating mechanism, the first gear 2913 is rotatably installed on the base 2912, the second gear is fixed on the first connecting shaft 2915, and the second gear is engaged with the first gear 2913; the rotating shaft connector 2914 is fixed on the base 2912 and connected with the second connecting shaft 2916.

[0202] As shown in Figure 32 and Figure 33 , the pitch mechanism 291 further includes a speed reduction motor 2911, and the speed reduction motor 2911 is connected with the first gear 2913. The speed reduction motor 2911 can be fixedly installed on the lower surface of the base 2912, and the first gear 2913 is fixedly installed on the upper surface of the base 2912, the first gear 2913 is driven to rotate by the speed reduction motor 2911, and the first gear 2913 drives the head main framework 134 to move when rotating.

[0203] In one embodiment of the present application, as shown in Figure 32 and Figure 33As shown, the first connecting shaft 2915 is provided with a positioning clamping groove 292, and the second gear 2917 is provided with a clamping block 293 matched with the positioning clamping groove 292. In use, the positioning clamping groove 292 on the first connecting shaft 2915 is clamped and matched with the clamping block 293, so that the head main framework 134 and the second gear 2917 are fixedly connected together, and the second gear 2917 rotates to drive the head main framework 134 to rotate.

[0204] In addition, the first connecting shaft 2915 is further provided with a plurality of third connecting holes (not labeled), and the second gear 2917 is provided with fourth connecting holes (not labeled) matched with the third connecting holes. In use, the head main framework 134 and the second gear 2917 are matched, so that the third connecting holes and the fourth connecting holes are aligned, and then the head main framework 134 and the second gear 2917 are fixedly connected together by a fastener passing through the fourth connecting holes and the third connecting holes, thereby improving the stability of the connection between the head main framework 134 and the second gear 2917.

[0205] In an embodiment of the present application, as shown in Figure 32 and Figure 33 The base 2912 is further provided with a rotating shaft connector 2914, and the first connecting shaft 2915 and the second connecting shaft 2916 are respectively connected to the second gear 2917 and the rotating shaft connector 2914. In use, by connecting two points of the head main framework 134 to the second gear 2917 and the rotating shaft connector 2914 respectively, the connection between the pitch mechanism 291 and the head main framework 134 is more stable, so that the pitch mechanism 291 can more stably and reliably transmit motion and force to the head main framework 134.

[0206] In an embodiment of the present application, as shown in Figure 32 and Figure 33 The second connecting shaft 2916 and the rotating shaft connector 2914 are connected, and both the second connecting shaft 2916 and the rotating shaft connector 2914 are hollow structures. In use, the robot cable can pass through the hollow part of the second connecting shaft 2916 and the rotating shaft connector 2914 to be connected to the electrical hardware of the head 130, thereby making the wiring inside the robot more standardized and convenient.

[0207] In an embodiment of the present application, the neck joint 290 further comprises a rotating mechanism adapted to drive the head main framework 134 to rotate. In use, by connecting the base 2912 to the rotating mechanism, the rotating mechanism drives the pitch mechanism 291 to rotate.

[0208] In an embodiment of the present application, the rotating mechanism is, for example, a rotating motor. However, it should be understood that the rotating mechanism can also be any other suitable rotating driving member, such as a rotating cylinder.

[0209] Finally, it should be noted that the above embodiments are only used to illustrate the present application, and are not intended to limit the present application. Although the present application is described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present application do not deviate from the spirit and scope of the present application, and should be covered in the scope of claims of the present application.

Claims

1. A head of a robot, characterized in that The head main framework comprises a first framework and a second framework arranged oppositely, and a neck joint assembly space is formed between the first framework and the second framework. The cover body comprises a first cover body and a second cover body, a first accommodating space is formed between the first cover body and the first framework, and a second accommodating space is formed between the second cover body and the second framework. The projection unit is located in the first accommodating space or the second accommodating space, and the cover body is formed with a light outlet of the projection unit. The second framework is in the shape of a curved panel, the second cover body and the second framework are matched in shape, and a second air duct in the shape of an arc is formed between the second framework and the second cover body, and the projection unit is located in the second air duct. Both ends of the second air duct are provided with an air inlet fan and an air outlet fan, the bottom of the second framework is formed with a second air inlet portion and a second air outlet portion, and the second air inlet portion corresponds to the windward surface of the air inlet fan, and the second air outlet portion corresponds to the air outlet surface of the air outlet fan.

2. The head of the robot according to claim 1, characterized in that, The first framework is a front framework, the second framework is a rear framework, and along the extension direction of the second air duct, the projection unit is located in the middle part of the second air duct.

3. The head of the robot according to claim 2, characterized in that, The air inlet fan and the projection unit are connected with a heat sink, and the projection unit and the air outlet fan are connected with the heat sink.

4. The head of the robot according to claim 2, characterized in that, The heat sink comprises a plurality of heat dissipation fins, and the heat dissipation fins of the heat sink are consistent with the extension direction of the second air duct.

5. The head of the robot according to claim 4, characterized in that, Further comprising: A heat conduction assembly is connected between the projection unit and the heat sink, the heat conduction assembly comprises at least one of a heat conduction block and a heat pipe, and the projection unit is connected with the fin through the heat conduction block and / or the heat pipe. At least one inner surface of the second framework and the second cover body protrudes towards the accommodating space with a mounting rib plate and a plurality of connecting columns, at least one of the air inlet fan, the heat sink and the air outlet fan is fixed to the mounting rib plate, and at least one of the air inlet fan, the heat sink and the air outlet fan is connected to the connecting column through a threaded member.

6. The head of the robot according to claim 4, characterized in that, The side of the second air duct away from the second cover body is provided with a head air inlet portion adapted to communicate with a first air duct of a fuselage, and the side of the second air duct away from the fuselage is provided with a head air outlet portion, and the projection unit is located in the extension path of the head air outlet portion.

7. The head of the robot according to claim 1, characterized in that, The light outlet portion comprises a light outlet formed in the second cover body, and a cover capable of being opened and closed is arranged at the light outlet.

8. The head of the robot according to any one of claims 1 to 7, characterized in that, The projection unit comprises a calibration lens, a projection module, a projection electronic control board and a projection lens, and the projection lens is arranged corresponding to the light outlet.

9. The head of the robot according to claim 8, characterized in that, The cover is provided with a first magnetic member, the second framework is provided with a second magnetic member, the first magnetic member and the second magnetic member are correspondingly arranged and magnetically adsorbed.

10. The head of the robot according to claim 9, characterized in that, The first framework is in the shape of a flat panel, the first cover body and the first framework are matched in shape, and the head of the robot further comprises:

11. The head of the robot according to any one of claims 1 to 7, characterized in that, A screen is fixed to the side of the first cover body away from the first framework. The head of the robot further comprises:

12. The head of the robot according to claim 11, characterized in that, ​ At least one of a photographing unit, an infrared emitting unit, and a human sensor is fixed to an edge position of the screen; At least one of a main control board and an AI computing board is installed in the first accommodating space.

13. The head of the robot according to claim 12, characterized in that, The first skeleton bottom extends toward the first cover to form a coaming, the coaming is provided with a first air inlet portion and a first air outlet portion, and the first air inlet portion and the first air outlet portion are both communicated with the first accommodating space.

14. The head of the robot according to claim 11, characterized in that, The head further comprises: A top mounting rack connected to the first cover and extending above the assembly space from the first cover; A microphone array installed on the upper surface of the top mounting rack and corresponding to the assembly space.

15. A head assembly for a robot, comprising: It comprises: The head according to any one of claims 1 to 14; A neck joint having one end installed in the assembly space and the other end connected to the body of the robot, the neck joint comprising at least one of a tilting mechanism and a rotating mechanism.

16. A robot, characterized in that It comprises: The head according to any one of claims 1 to 14; A body and a chassis; A neck joint having one end installed in the assembly space and the other end connected to the body, the neck joint comprising at least one of a tilting mechanism and a rotating mechanism.

17. The robot of claim 16, wherein, The second skeleton extends a connecting portion toward the assembly space, the connecting portion comprises a first connecting shaft and a second connecting shaft arranged coaxially, and the tilting mechanism comprises: A base installed in the body through the rotating mechanism; A first gear rotatably installed in the base; A second gear fixed to the first connecting shaft, and the second gear is engaged with the first gear; A rotating shaft connector fixed to the base and connected to the second connecting shaft.

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