Robot head body, robot head and robot

Abstract

This application relates to the field of robotics technology, providing a robot head body, a robot head, and a robot. The robot head body includes: a main head frame, comprising a first frame and a second frame, with an assembly space for a neck joint formed between the first and second frames, and a connecting portion of the neck joint extending from the second frame toward the assembly space; a first cover, matching the shape of the first frame, and forming a first receiving space between the first cover and the first frame; and a second cover, matching the shape of the second frame, and forming a second receiving space between the second cover and the second frame. The robot head body according to the embodiments of this application simplifies the structure of the robot head body, allowing a single structural component to perform multiple functions, reducing the number of head structural components, reducing assembly steps, facilitating control of assembly requirements, and enabling modular assembly, maintenance, and replacement.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot head body, a robot head, and a robot. Background Technology

[0002] With the development of technology, robots have been widely used in industries such as home, healthcare, catering, and construction, bringing numerous conveniences to people's lives and production. People's demands for robots are also increasing; robots need to possess functions such as display, touch, voice, navigation, vision, and projection. In related technologies, the structural components within the robot head perform a single function, requiring different structural components to undertake different tasks, thus necessitating a large number of structural components to meet the needs of current robot heads. This results in a complex robot head structure with a large number of head structural components in related technologies. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a robot head body, which simplifies the structure of the robot head body, reduces assembly steps, facilitates control of assembly requirements, and enables modular assembly, maintenance, and replacement.

[0004] This application also proposes a robot head.

[0005] This application also proposes a robot.

[0006] The robot head body according to the first aspect of this application includes:

[0007] The main head frame includes a first frame and a second frame, with an assembly space for the neck joint formed between the first frame and the second frame, and the second frame having a connecting part for the neck joint extending toward the assembly space;

[0008] The first cover body matches the shape of the first skeleton and forms a first receiving space between the first cover body and the first skeleton.

[0009] The second cover matches the shape of the second skeleton and forms a second receiving space between the second cover and the second skeleton.

[0010] The robot head body according to the embodiments of this application simplifies the structure of the robot head body, enabling each structural component to perform multiple functions, reducing the number of head structural components, reducing assembly steps, facilitating control of assembly requirements, and enabling modular assembly, maintenance, and replacement. Specifically, the head body of the embodiments of this application, with its main head frame, meets the requirements for connection and fixation while also fulfilling the requirements for motion transmission and heat dissipation. The shape of the first and second covers combined with the main head frame satisfies aesthetic requirements. Thus, this robot head body structure is simple while achieving a high degree of functional integration.

[0011] According to one embodiment of this application, the first skeleton is flat and the second skeleton is curved.

[0012] According to one embodiment of this application, the bottom of the first frame extends toward the first cover to form a surrounding plate, the surrounding plate being provided with a first air inlet and a first air outlet, and both the first air inlet and the first air outlet are connected to the first accommodating space.

[0013] According to one embodiment of this application, the bottom of the second frame is provided with a second air inlet and a second air outlet, both of which are connected to the second accommodating space.

[0014] According to one embodiment of this application, fixed connection components are provided on both sides, top and bottom of the connection between the first cover and the first frame.

[0015] According to one embodiment of this application, the fixed connection component includes one or more of the following:

[0016] The first buckle and the first snap-fit ​​hole cooperate with each other, one of which is located on the upper part of both sides of the first cover along the width direction, and the other is located on the first frame;

[0017] The two latches and the two snap holes are mutually compatible, one of which is located on the lower part of both sides of the first cover along the width direction, and the other is located on the first frame;

[0018] The third buckle and the third snap-fit ​​hole cooperate with each other, one of which is located at the bottom of the first cover and the other is located at the first frame;

[0019] The fourth buckle and the fourth snap-fit ​​hole cooperate with each other, one of which is located on the top of the first cover and the other is located on the first frame.

[0020] According to one embodiment of this application, the top of the first cover is provided with an inclined surface that gradually slopes downward toward the first skeleton, and the inclined surface is located above the third buckle and the third snap-fit ​​hole.

[0021] According to one embodiment of this application, the first cover is provided with a stop, and the stop is located in front of the fixed connection assembly along the assembly direction of the fixed connection assembly.

[0022] According to one embodiment of this application, a hanging part is formed on the top of the second cover, and a hanging groove matching the hanging part is formed on the top of the second frame.

[0023] One of the bottoms of the second cover and the second frame is provided with a snap-fit ​​male connector, and the other is provided with a snap-fit ​​female connector.

[0024] The robot head according to a second aspect embodiment of this application includes:

[0025] The aforementioned robot head body;

[0026] The head heating device includes a screen located in the first receiving space and a projection unit located in the second receiving space.

[0027] The robot head according to the embodiments of this application includes the robot head body described above, and therefore has all the technical effects of the robot head body described above, which will not be repeated here.

[0028] The robot according to a third aspect of this application includes:

[0029] Chassis;

[0030] body;

[0031] Neck joint, including at least one of a pitching mechanism and a rotational mechanism;

[0032] The aforementioned robot head body;

[0033] The chassis, the body, the neck joint, and the robot head are connected in sequence.

[0034] The robot according to the embodiments of this application includes the robot head body described above, and therefore has all the technical effects of the robot head body described above, which will not be repeated here.

[0035] According to one embodiment of this application, the connecting portion includes a first connecting shaft and a second connecting shaft coaxially disposed, and the pitch mechanism includes:

[0036] The base is mounted on the fuselage via the rotating mechanism;

[0037] The first gear is rotatably mounted on the base;

[0038] The second gear is fixed to the first connecting shaft, and the second gear meshes with the first gear;

[0039] A swivel connector is fixed to the base and connected to the second connecting shaft.

[0040] According to one embodiment of this application, both the rotating shaft connector and the second connecting shaft are hollow structures to form a wiring channel.

[0041] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a partial structural schematic diagram of the robot provided in an embodiment of this application;

[0044] Figure 2 This is one of the partial explosion diagrams of the robot provided in the embodiments of this application;

[0045] Figure 3 This is an exploded schematic diagram of the robot's head provided in an embodiment of this application;

[0046] Figure 4 This is the second schematic diagram of a partial explosion of the robot provided in the embodiments of this application;

[0047] Figure 5 This is the third of the partial explosion diagrams of the robot provided in the embodiments of this application;

[0048] Figure 6 This is a schematic diagram of the structure of the second air duct provided in an embodiment of this application;

[0049] Figure 7 This is a partially enlarged schematic diagram of the head provided in an embodiment of this application;

[0050] Figure 8 This is a partial structural diagram of the head provided in an embodiment of this application;

[0051] Figure 9 This is a schematic diagram of the robot head provided in an embodiment of this application;

[0052] Figure 10This is an assembly diagram of the main head frame and head heating device provided in the embodiments of this application;

[0053] Figure 11 This is one of the assembly diagrams of the main head frame and the first cover provided in the embodiments of this application;

[0054] Figure 12 This is a partially enlarged schematic diagram of the assembly schematic diagram of the main head frame and the first cover provided in the embodiments of this application;

[0055] Figure 13 This is the second assembly diagram of the main head frame and the first cover provided in the embodiments of this application;

[0056] Figure 14 This is a partial assembly structure diagram of the head main frame and the first cover provided in the embodiments of this application;

[0057] Figure 15 This is a partially enlarged schematic diagram of the assembly schematic diagram of the main head frame and the first cover provided in the embodiments of this application;

[0058] Figure 16 This is the third assembly diagram of the main head frame and the first cover provided in the embodiments of this application;

[0059] Figure 17 This is an assembly diagram of the main head frame and the second cover provided in an embodiment of this application;

[0060] Figure 18 This is a cross-sectional schematic diagram of the assembly structure of the main head frame and the second cover provided in the embodiments of this application;

[0061] Figure 19 This is an assembly diagram of the main head skeleton and neck joint provided in an embodiment of this application, wherein the first skeleton of the main head skeleton is cut off;

[0062] Figure 20 This is an exploded schematic diagram of the main head skeleton and cervical joints provided in the embodiments of this application;

[0063] Figure label:

[0064] 110. Chassis; 120. First air duct; 111. Chassis body; 112. Mounting plate;

[0065] 113. Ventilation space; 114. Air vent; 115. Chassis exhaust vent;

[0066] 130. Head; 131. Second air duct; 132. Head heating element; 133. First cover;

[0067] 134. Head main frame; 1341. First frame; 1342. Second frame; 1343. Assembly space; 135. Second cover; 136. Head air inlet; 137. Head exhaust.

[0068] 138. Heat dissipation component; 139. Thermal conduction component; 1311. First groove; 1312. Second groove;

[0069] 1313, Duct cover; 1314, Air section; 1315, Connecting bracket; 1351, Third groove;

[0070] 1381. Heat dissipation fins; 1382. Insertion part; 1383. Slot; 1391. Heat-conducting block;

[0071] 1392. Heat pipe; 140. Air supply component; 141. Cooling fan; 150. Heat-generating components in the chassis;

[0072] 200. Enclosure panel; 210. First component; 220. Second component; 230. First air inlet;

[0073] 231. First air outlet; 232. Second air inlet; 233. Second air outlet;

[0074] 240. First fixed connection component; 241. First buckle; 242. First snap-fit ​​hole; 243. First connection hole; 244. Second connection hole;

[0075] 250. Third fixed connection component; 251. Second snap-fit; 252. Second snap-fit ​​hole;

[0076] 253. Stop; 260. Fourth fixed connection component; 261. Inclined surface; 262. Third buckle;

[0077] 263. Fourth buckle; 270. Fifth fixing connection component; 271. Hanging part;

[0078] 280. Sixth fixed connection component; 281. Snap-on female connector; 282. Snap-on male connector;

[0079] 290. Neck joint; 291. Pitch mechanism; 292. Positioning slot; 293. Locking block;

[0080] 2911. Gear motor; 2912. Base; 2913. First gear;

[0081] 2914, Rotary shaft connector; 2915, First connecting shaft; 2916, Second connecting shaft. Detailed Implementation

[0082] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0083] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0084] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0085] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0086] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0087] According to embodiments of this application, the robot is capable of semi-autonomous or fully autonomous operation and can be applied to homes, shopping malls, restaurants, etc., with no limitation on specific application scenarios. Based on different application scenarios, robots can be categorized into home service robots, welcoming and guiding robots, food ordering and delivery robots, or disinfection robots, etc., with no specific type restrictions.

[0088] The following is combined Figures 1 to 20 This application describes the robot, the robot head, and the main body of the robot head.

[0089] According to the embodiments of the first aspect of this application, such as Figure 1 As shown, the robot includes a chassis 110, a body (not shown), and a head 130. The body is provided with a first air duct 120; the head 130 is provided with a second air duct 131 and a head heating element 132. The second air duct 131 connects to the first air duct 120 and is used to dissipate heat and cool the head heating element 132. At least one of the chassis 110 and the body is provided with a plurality of air supply components 140, which supply air to the second air duct 131 through the first air duct 120.

[0090] The robot's body is equipped with a first air duct 120, which connects to an air supply component 140 and a second air duct 131, allowing the air supply component 140 to deliver gas to the head 130. Specifically, when the robot starts working, the air supply component 140 supplies gas into the first air duct 120, and the gas is then transported to the second air duct 131. While supplying gas, the air supply component 140 not only removes heat from the robot body but also cools the head heating element 132 via the second air duct 131, thus removing heat from the head heating element 132 from the head 130.

[0091] The robot in this embodiment can simultaneously dissipate heat from both the body and head by using one or a few air supply components 140, thereby quickly expelling heat generated inside the robot, improving its heat dissipation effect, and reducing the number of air supply components 140 required. Furthermore, in related technologies, the robot head has a large number of components that are concentrated in one location. This embodiment, by installing the air supply components 140 on the body or chassis 110 (including installation between the body and chassis 110), effectively avoids impacting other components in the robot head.

[0092] In the embodiments of this application, the head heating device 132 is an electronic device with heating properties disposed on the head 130, including but not limited to various control boards, various sensors or projection units, etc.

[0093] In the embodiments of this application, one or more air supply components 140 can be installed on the chassis 110, inside the body, or both (in which case the air supply component 140 is connected to both the chassis 110 and the body). All these installation positions ensure that the air supply component 140 is far from the user to control noise. Especially when the air supply component 140 is installed inside the body, its noise level will be very low. The air supply component 140 can generally be in the form of a fan or exhaust fan. Of course, as long as the air supply component 140 can supply air to the first air duct 120 and the second air duct 131, its specific structural form is not limited. The first air duct 120 is generally located inside the robot body, thus not affecting the robot's appearance.

[0094] In one embodiment of this application, such as Figure 2 , Figure 4 and Figure 5 As shown, the air supply component 140 includes at least one cooling fan 141, which is installed between the first air duct 120 and the chassis 110. Furthermore, an additional fan can be installed in the first air duct 120 near the head 130 to ensure effective heat dissipation.

[0095] According to an embodiment of this application, the size of the cooling fan 141 can be matched with the first air duct 120, so that heat from the chassis can be conducted to the first air duct 120, and the cooling fan 141 can deliver air into the first air duct 120. Alternatively, the diameter of the cooling fan 141 can be larger than that of the first air duct 120. In this case, the cooling fan 141 delivers a portion of the air into the first air duct 120 and simultaneously delivers another portion of the air into the chassis, so that the air carries away the heat from the chassis and exhausts it.

[0096] In one embodiment of this application, the first air duct 120 is a heat-conducting pipe, allowing heat to be conducted between the head 130 and the chassis 110 into the interior of the heat-conducting pipe. In use, the body heating element 150 is mounted on the heat-conducting pipe, allowing heat from the body heating element 150 to be conducted into the interior of the heat-conducting pipe, and then the air supply component 140 delivers gas into the heat-conducting pipe. In one embodiment of this application, the heat-conducting pipe is, for example, a metal pipe. However, it should be understood that the heat-conducting pipe can also be any other suitable material.

[0097] In one embodiment of this application, such as Figure 1 and Figure 2As shown, the chassis 110 includes 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 has an air vent 114, which connects the ventilation space 113 and the first air duct 120. An air supply component 140 is provided at the air vent 114. In use, the air supply component 140 delivers the air from the air vent 114 to the second air duct 131 through the first air duct 120, while simultaneously carrying away heat from the robot body. By installing the air supply component 140 at the air vent 114, it is ensured that the air supply component 140 can deliver sufficient air to the inside of the robot, thus ensuring the robot's heat dissipation effect.

[0098] In one embodiment of this application, a mounting cavity (not shown in the figure) is formed within the chassis 110. In addition, the chassis 110 also has a chassis exhaust vent 115 and a chassis air inlet (not shown in the figure) communicating with the mounting cavity, to ensure effective heat dissipation for the components inside the chassis 110. Figure 1 and Figure 2 As shown, the chassis exhaust vent 115 is located on the side of the chassis body 111 facing the mounting plate 112, and the chassis exhaust vent 115 corresponds to the air guide vent 114. During use, the air supply component 140 delivers the gas from the air guide vent 114 to the first air duct 120. The air flow at the air guide vent 114 drives the air flow at the chassis exhaust vent 115, thus facilitating the discharge of heat from the mounting cavity through the chassis exhaust vent 115. At this time, the air supply component 140 can simultaneously dissipate heat from the chassis 110, the body, and the head 130, improving the robot's heat dissipation effect. Of course, the chassis exhaust vent 115 can also be located in other positions, in which case the chassis 110 can be equipped with a separate air supply component for gas flow.

[0099] In one embodiment of this application, such as Figure 2 As shown, the fuselage is equipped with a fuselage heating element 150, which is attached to the outer wall of the first air duct 120. In use, the fuselage heating element 150 is connected to the first air duct 120, and the heat generated by the fuselage heating element 150 can be conducted into the first air duct 120. When the air supply component 140 delivers gas into the first air duct 120, the gas can carry away the heat within the first air duct 120, thus dissipating heat from the fuselage heating element 150. Alternatively, the fuselage heating element 150 can be installed in any other suitable location on the fuselage, and connected to the outer wall of the first air duct 120 via a corresponding heat-conducting component, allowing the heat generated by the fuselage heating element 150 to be conducted into the first air duct 120, thereby achieving effective heat dissipation.

[0100] In the embodiments of this application, the heating device 150 of the fuselage is an electronic device with heating properties. It may include a main control board, a sensor or a projection unit, etc. The specific form is not limited. As long as it has heating characteristics, it can be cooled down by the first air duct 120.

[0101] In one embodiment of this application, such as Figure 1 and Figure 3 As shown, the head 130 includes a first cover 133, a main head frame 134, and a second cover 135, wherein, Figure 3 The main function here is to provide a reference for the structure of the first cover 133, the main head frame 134, and the second cover 135. It should be noted that... Figure 3 Corresponding embodiments and Figure 1 , Figure 2 , Figures 4 to 8 The corresponding implementation methods differ. Based on this, combined with… Figure 3 The main head frame 134 further includes a first frame 1341 and a second frame 1342. An assembly space 1343 for the neck joint is formed between the first frame 1341 and the second frame 1342. The first cover 133 and the first frame 1341 are shaped to match, and a first receiving space (not shown) is formed between the first cover 133 and the first frame 1341. The second cover 135 and the second frame 1342 are shaped to match, and a second receiving space (not shown) is formed between the second cover 135 and the second frame 1342. A second air duct 131 is located in the second receiving space.

[0102] In use, the second cover 135, the first cover 133, and the main head frame 134 together constitute the main structure of the head 130, providing support. Since the head body (head 130 excluding various head heating devices 132) only includes three main components, the structure of the head 130 is simplified. A certain space is reserved in the main head frame 134 as an assembly space 1343 to facilitate the connection of the neck joint (the specific structure will be mentioned later) to the head 130. A second receiving space (not shown in the figure) is provided between the second cover 135 and the main head frame 134, facilitating the installation of most of the head heating devices 132 and the second air duct 131 within this space. When gas is supplied to the first air duct 120 via the air supply component 140, the gas is transported through the first air duct 120 to the second air duct 131, and then to the head heating devices 132, where heat exchange occurs, carrying away the heat from the head heating devices 132 and achieving rapid and effective heat dissipation.

[0103] In one embodiment of this application, such as Figure 4 and Figure 5As shown, the extension direction of the second air duct 131 is the same as that of the second frame 1342. A head air inlet 136 is located on the side of the second air duct 131 facing away from the second cover 135, and a head exhaust 137 is located on the side of the second air duct 131 facing away from the body. In use, the air supply component 140 delivers gas to the first air duct 120, which then transmits the gas to the second air duct 131. The gas enters the second air duct 131 through the head air inlet 136 and is then exhausted from the head exhaust 137 of the second air duct 131. The head heating element 132 can be located above the head exhaust 137. At this time, the gas passes through the head heating element 132 and exchanges heat with it, carrying the heat away from the head 130. This achieves rapid heat dissipation from the head 130, improving the robot's heat dissipation effect and preventing damage to the components inside the head 130. Of course, the head heating device 132 can also be placed in other locations. In this case, the head heating device 132 can dissipate heat through indirect heat exchange, which will be mentioned in detail later.

[0104] Of course, the extension direction of the second air duct 131 and the extension direction of the second frame 1342 can be different, and the head air inlet 136 and the head air outlet 137 can also be set in any other suitable position of the second air duct 131, as long as the second air duct 131 can be connected to the first air duct 120 of the body and achieve heat dissipation of the head 130.

[0105] In one embodiment of this application, such as Figure 4 and Figure 5 As shown, the head 130 is also equipped with a heat dissipation component 138 and a heat conduction component 139. The heat dissipation component 138 is located on the side of the second air duct 131 facing away from the body and is situated in the extended path of the head exhaust section 137. The heat conduction component 139 connects the heat dissipation component 138 and the head heating element 132. The heat conduction component 139 contacts the head heating element 132, conducting heat from the head 130 to the heat dissipation component 138. Simultaneously, the air supply component 140 supplies gas to the first air duct 120. The gas is then transferred through the first air duct 120 to the second air duct 131, and from there to the heat dissipation component 138. This gas carries the heat from the heat dissipation component 138 away from the head 130, thus rapidly dissipating the heat generated inside the robot and preventing damage to the components inside the head 130.

[0106] In one embodiment of this application, the heat dissipation component 138 can be installed on the second air duct 131, or fixedly installed on the inner wall of the head 130, or installed in any other suitable location.

[0107] In one embodiment of this application, such as Figure 4 and Figure 5 As shown, the heat dissipation assembly 138 includes several 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 heating element 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 fins 1381. In use, the heat conduction block 1391 is in contact with the head heating element 132, and the heat generated by the heating element is conducted to the heat pipe 1392 through the heat conduction block 1391. The heat pipe 1392 is connected to the heat dissipation fins 1381, and the heat is conducted to the heat dissipation fins 1381 through the heat pipe 1392. Simultaneously, air is supplied to the second air duct 131 through the air supply component 140, and then the air is supplied to the heat dissipation fins 1381 through the second air duct 131, carrying away the heat within the heat dissipation fins 1381 from the head 130.

[0108] Since the head-heating device 132 is generally small in size, if heat pipes 1392 are directly used to conduct heat from the head-heating device 132 to the heat dissipation fins 1381, the number of heat pipes 1392 that a single head-heating device 132 can contact is relatively small. By providing heat-conducting blocks 1391, which contact the head-heating device 132 and then conduct heat to the heat pipes 1392, the number of heat pipes 1392 can be effectively increased, thereby making the heat conduction efficiency of the head-heating device 132 higher and achieving cooling faster.

[0109] In one embodiment of this application, the head exhaust section 137 is provided with air holes that correspond one-to-one with the heat dissipation fins 1381.

[0110] In one embodiment of this application, such as Figures 4 to 7 As shown, at least one of the walls of the second air duct 131 and the second cover 135 is provided with a insertion slot (i.e., Figures 4 to 7 The first groove 1311, the second groove 1312 and the third groove 1351 are inserted into the groove and the heat dissipation fin 1381 to fix the heat dissipation fin 1381 and make the heat dissipation fin 1381 also form the support structure of the head 130.

[0111] The heat dissipation fin 1381 includes an insertion portion 1382, and the top of the second air duct 131 is provided with a first groove 1311 that engages with the insertion portion 1382. In use, the insertion portion 1382 of the heat dissipation fin 1381 is engaged with the first groove 1311. The first groove 1311 serves to limit and fix the heat dissipation fin 1381, allowing it to be mounted on the second air duct 131. The second air duct 131 has a head exhaust portion 137, allowing air exhausted from the head exhaust portion 137 to be directly transferred to the heat dissipation fin 1381, improving heat dissipation. Furthermore, the side wall of the second air duct 131 is provided with several second grooves 1312 that match the heat dissipation fin 1381. In use, the heat dissipation fins 1381 are engaged with the second groove 1312, and the second groove 1312 limits and fixes the heat dissipation fins 1381, so that the heat dissipation fins 1381 are 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 135, which can prevent interference with the position of the head air inlet 136 or its components.

[0112] In one embodiment of this application, such as Figure 4 and Figure 5 As shown, the second air duct 131 and the first air duct 120 can be rotatably connected via flanges (the head air inlet 136 adopts a flange structure, and the corresponding structures on the body and the head air inlet 136 also adopt a flange structure). However, it should be understood that the second air duct 131 and the first air duct 120 can also be connected via any other suitable connector.

[0113] In one embodiment of this application, such as Figure 4 and Figure 5 As shown, a duct cover 1313 is provided below the second air duct 131. In use, the duct cover 1313 can prevent the gas delivered into the second air duct 131 from flowing out from the bottom of the second air duct 131, ensuring that the gas is discharged from the exhaust section 137 at the head of the second air duct 131 and delivered to the heat dissipation assembly 138, thus ensuring the heat dissipation effect of the head 130.

[0114] In one embodiment of this application, such as Figure 7 As shown, the second cover 135 is provided with a third groove 1351 that matches the heat dissipation fins 1381. In use, the heat dissipation fins 1381 are engaged with the third groove 1351, so that the heat dissipation fins 1381 are fixedly connected to the second cover 135, ensuring the stability of the heat dissipation fins 1381 within the head 130.

[0115] In one embodiment of this application, such as Figure 8As shown, the heat sink fins 1381 have slots 1383 into which the heat pipe 1392 is inserted. In use, the heat pipe 1392 is engaged with the slots 1383 on the heat sink fins 1381, achieving a fixed connection between the heat pipe 1392 and the heat sink fins 1381, allowing the heat pipe 1392 to contact multiple heat sink fins 1381 simultaneously. Furthermore, the heat-conducting block 1391 contacts the head heat-generating device 132, allowing heat generated by the device to be conducted to the heat sink fins 1381 via the heat pipe 1392.

[0116] Figure 8 In this configuration, the slot 1383 is located at the edge of the heat sink fin 1381, facilitating the installation and removal of the heat pipe 1392. However, it should be understood that the slot 1383 can also be located at any other suitable position on the heat sink fin 1381. For example, when the slot 1383 is positioned in the center, it ensures sufficient contact area between the heat pipe 1392 and the heat sink fin 1381, guaranteeing effective heat conduction between them.

[0117] In one embodiment of this application, such as Figure 5 As shown, the heat-conducting component 139 includes at least two heat-conducting blocks 1391, which are located at different positions within the head 130. Correspondingly, the heat-conducting component 139 includes at least two sets of heat pipes 1392. In this case, the head-heating devices at different positions of the head 130 can contact different heat-conducting blocks, thereby transferring the generated heat to different heat-conducting blocks 1391, then to different heat pipes 1392, and finally to the heat dissipation fins 1381 through the heat pipes 1392, ensuring the heat dissipation effect of the head 130.

[0118] In one embodiment of this application, the robot includes, for example, two sets of mutually symmetrical heat dissipation components 138. However, it should be understood that the robot may also include two sets of heat dissipation components 138 with different structures. Alternatively, the number of heat dissipation components 138 may be greater than two sets. Furthermore, it should be noted that the structures of the heat dissipation components 138 and the heat conduction components 139 are not limited to the examples above, as long as they can respectively achieve heat dissipation and heat conduction effects.

[0119] In one embodiment of this application, such as Figures 4 to 7As shown, the head 130 is provided with at least two sets of heat dissipation components 138 and the same number of heat conduction components 139 as the heat dissipation components 138. The heat dissipation components 138 and the heat conduction components 139 are connected one-to-one. In use, two or more heat dissipation components 138 are selected according to the number of head heating devices 132 in the head 130. The heat conduction components 139 are installed on each heat dissipation component 138. The heat from different head heating devices 132 in the head 130 is conducted to the heat dissipation components 138 through the heat conduction components 139, thereby achieving comprehensive heat dissipation of the head 130 and solving the problem of difficult heat dissipation due to the large number of head heating devices 132 in the head 130.

[0120] In one embodiment of this application, such as Figures 4 to 7 As shown, two heat dissipation components 138 are provided inside the head 130, and both heat dissipation components 138 are equipped with heat pipes 1392. In use, the heat-conducting blocks 1391 corresponding to the two heat dissipation components 138 are installed at different positions inside the head 130, so that different heat-conducting blocks 1391 can conduct heat inside the head 130 to different heat pipes 1392, and then conduct it through the heat pipes 1392 to their respective heat dissipation components 138. In this way, the heat generated by the head heating device 132 inside the head 130 is effectively conducted to the heat dissipation components 138, solving the problem of multiple heat points in the head 130 and improving the heat dissipation effect of the head 130.

[0121] In one embodiment of this application, such as Figures 4 to 7 As shown, the second air duct 131 includes at least two independent air sections 1314. Each air section 1314 is provided with a head air inlet 136, and each air section 1314 is provided with a heat dissipation component 138 and a heat conduction component 139. In use, a certain number of air sections 1314 are installed in the head 130 according to the actual situation, and each air section 1314 is connected to the first air duct 120. The heat conduction component 139 conducts the heat generated by the head heating device 132 to the heat dissipation component 138.

[0122] In one embodiment of this application, such as Figure 6 As shown, a connecting bracket 1315 is provided between two adjacent air sections 1314. The connecting bracket 1315 is used to connect the two adjacent air sections 1314. In use, the two adjacent air sections 1314 are fixedly connected together by 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 plays a role in supporting the main body of the robot's head and transmitting motion and force.

[0123] In one embodiment of this application, such as Figure 5As shown, the heat-conducting block 1391 in the middle is connected to the heat pipes 1392 on both the left and right sides. The heat-conducting block 1391 in the middle can be connected to the projection unit, so that the projection unit can dissipate heat through the air sections 1314 on both the left and right sides at the same time, so as to ensure the heat dissipation effect of the projection unit.

[0124] like Figures 1 to 5 As shown, an embodiment of the second aspect of this application provides a robot head, including a main head frame 134, a first cover 133, a second cover 135, a head heating device 132, a second air duct 131, a heat dissipation assembly 138, and a heat conduction assembly 139. The main head frame 134 includes a first frame 1341 and a second frame 1342, with a neck joint assembly space 1343 formed between the first frame 1341 and the second frame 1342. The first cover 133 and the first frame 1341 are shaped to match, and a first receiving space (not shown) is formed between the first cover 133 and the first frame 1341. The second cover 135 and the second frame 1342 are shaped to match, and a second receiving space (not shown) is formed between the second cover 135 and the second frame 1342. A portion of the head heating device 132 is located within the first receiving space. Inside, some of the head heating devices 132 and the second air duct 131 are located in the second accommodating space. The extension direction of the second air duct 131 is the same as the extension direction of the second frame 1342. A head air inlet 136 is provided on the side of the second air duct 131 facing away from the second cover 135, and a head exhaust 137 is provided on the side of the second air duct 131 facing away from the body. A heat dissipation component 138 is located on the side of the second air duct 131 facing away from the body, and the heat dissipation component 138 is located in the extension path of the head exhaust 137. A heat conduction component 139 connects the heat dissipation component 138 and the head heating devices 132 in the second accommodating space.

[0125] According to an embodiment of this application, the second cover 135, the first cover 133, and the main head frame 134 together constitute the head 130 structure, providing support and simplifying the structure of the head 130. A certain space is reserved in the main head frame 134 as an assembly space 1343 to facilitate the connection between the neck joint and the head 130. A second receiving space is provided between the second cover 135 and the main head frame 134 to facilitate the installation of part of the head heating device 132 and the second air duct 131 within the second receiving space. By supplying gas into the head air inlet 136, the gas is blown from the head exhaust 137 towards the heat dissipation component 138. Simultaneously, the heat conduction component 139 conducts the heat generated by the head heating device 132 to the heat dissipation component 138, allowing the gas to exchange heat with the heat dissipation component 138 and carrying away the heat from the heat dissipation component 138, thereby achieving rapid and effective heat dissipation of the head heating device 132.

[0126] like Figure 3 and Figure 9 As shown, according to an embodiment of the third aspect of this application, a robot head 130 body (hereinafter referred to as head 130 body) is provided.

[0127] It is worth mentioning that the content of the first and second aspect embodiments described above can both be used to explain the head 130 body of the third aspect embodiment of this application. Similarly, the content of the third aspect embodiment can also be used to explain the robot of the first aspect embodiment and the robot head 130 of the second aspect embodiment. Likewise, the content of each embodiment of this application can be combined without contradiction, therefore, the same content in each aspect embodiment will not be repeated.

[0128] The head 130 body according to an embodiment of this application includes a main head frame 134, a first cover 133, and a second cover 135. The main head frame 134 includes a first frame 1341 and a second frame 1342, with an assembly space 1343 for a neck joint 290 formed between the first frame 1341 and the second frame 1342, and the second frame 1342 extending toward the assembly space 1343 with a connecting portion of the neck joint 290. The first cover 133 and the first frame 1341 are shaped to match, and a first receiving space is formed between the first cover 133 and the first frame 1341; the second cover 135 and the second frame 1342 are shaped to match, and a second receiving space is formed between the second cover 135 and the second frame 1342.

[0129] According to the embodiments of this application, the head 130 body is formed by connecting the first cover 133, the main head frame 134, and the second cover 135 together, so that the second cover 135 and the first cover 133 surround the main head frame 134. At the same time, the first cover 133, the main head frame 134, and the second cover 135 also serve as the appearance parts of the robot head 130 body. This allows the robot head 130 body to be composed of only three structural parts, simplifying the structure of the robot head 130 body, thereby reducing assembly steps and manufacturing costs.

[0130] According to the embodiments of this application, the three structural components, namely the first cover 133, the main head frame 134, and the second cover 135, are independent of each other. In actual production and use, one of the three structural components, namely the first cover 133, the main head frame 134, and the second cover 135, can be replaced as a whole, thereby facilitating the modular assembly, maintenance, and replacement of the robot head 130 body.

[0131] According to embodiments of this application, the first frame 1341 and the second frame 1342 are generally arranged opposite to each other, that is: when the first frame 1341 is in front, the second frame 1342 is in the back; when the first frame 1341 is on the left, the second frame 1342 is on the right; when the first frame 1341 is on the left front, the second frame 1342 is on the right rear. Of course, as long as the first frame 1341 and the second frame 1342 can be connected to form an assembly space, the requirements of the embodiments of this application are met. When the first frame 1341 and the second frame 1342 are in front and rear respectively, the resulting head body better meets human interaction needs.

[0132] Please see again Figure 3 and Figure 9 The first frame 1341 is flat, and the second frame 1342 is curved. The first frame 1341 can be a front frame, and the second frame 1342 can be a rear frame. In this case, the resulting head main frame 134 has a general "D" shape. Of course, for different types of robots, the first frame 1341 and the second frame 1342 can also adopt other shapes, as long as an assembly space 1343 can be formed between the first frame 1341 and the second frame 1342 to meet the assembly requirements of the neck joint 290, and simultaneously a first and second accommodating space are formed in the head body. Furthermore, the curved frame structure has a larger surface area, which is beneficial for heat dissipation and has an aesthetically pleasing appearance.

[0133] In one embodiment of this application, such as Figure 3 and Figure 9 As shown, at least one first component 210 is provided at the front of the first cover 133. In use, one or more first components 210 can be installed at the front of the first cover 133 as needed, and the first cover 133 can be connected to the first frame 1341 of the head main frame 134.

[0134] In one embodiment of this application, the first component 210 is, for example, a screen; however, it should be understood that the first component 210 can also be any other suitable component.

[0135] Among them, such as Figure 3 As shown, when the first component 210 is a screen, the front of the first cover 133 is provided with a mounting groove that matches the screen, so that the screen can be fixedly installed on the front of the first cover 133.

[0136] In one embodiment of this application, such as Figure 3As shown, the first cover 133 is connected to a top mounting bracket, which extends from the first cover 133 to the assembly space 1343. At least one second component 220 is provided on the top mounting bracket. In use, one or more second components 220 are first installed on the top mounting bracket according to actual needs.

[0137] In one embodiment of this application, the second component 220 is, for example, a microphone array. However, it should be understood that the second component 220 can also be any other suitable component.

[0138] In one embodiment of this application, the first component 210 and the second component 220 may also be installed in any other suitable location on the head body.

[0139] In one embodiment of this application, in addition to the first component 210 and the second component 220, other components may also be provided on the first cover 133.

[0140] In one embodiment, the first component 210 may include a screen or a main control board, which is then mounted on the first cover 133 or within the first accommodating space. Furthermore, the second component 220 may be a microphone array, which is then mounted on a top mounting bracket. Additionally, a projection unit, a camera unit, or other components may be disposed within the second accommodating space. In this case, the spatial distribution of the components is reasonable, preventing the heat from multiple components from concentrating and being difficult to dissipate.

[0141] In one embodiment of this application, such as Figure 3 and Figure 9 As shown, the first cover 133 is connected to the second cover 135 on both sides, and the main head frame 134 is located between the first cover 133 and the second cover 135. The main head frame 134 is fixedly connected to the first cover 133 and the second cover 135 respectively. The first cover 133, the main head frame 134, and the second cover 135 can be independent of each other, allowing for direct replacement of the first cover 133, the main head frame 134, or the second cover 135 as a whole, achieving modular assembly, maintenance, and replacement.

[0142] In one embodiment of this application, such as Figure 10 As shown, an assembly space 1343 is formed in the middle of the main head frame 134. In addition to facilitating the installation of the neck joint 290, it also reduces the amount of material and increases the heat dissipation area, which is beneficial for heat dissipation.

[0143] In one embodiment of this application, the main head frame 134 is made of metal. In use, the main head frame 134 bears the weight of the entire robot head body, and is also suitable for transmitting motion and force to drive the robot head body's movement. By using metal as the main head frame 134, the strength of the main head frame 134 is ensured, and the metal material facilitates heat dissipation for the components mounted on the main head frame 134. In one embodiment of this application, the main head frame 134 may be made of aluminum alloy. However, it should be understood that the main head frame 134 can also be made of any other suitable metal or other material.

[0144] In one embodiment of this application, such as Figure 10 As shown, the first frame 1341 extends toward the first cover 133 to form a surrounding plate 200. The surrounding plate 200 is provided with a first air inlet 230 and a first air outlet 231, which are suitable for dissipating heat from components in the first accommodating space or components mounted on the first cover 133. A certain number of components are mounted on the first cover 133, which is connected to the main head frame 134. By means of forced convection by a fan or natural convection, air enters the first accommodating space from the first air inlet 230. The air carries away the heat emitted by the components in the first accommodating space or mounted on the first cover 133 and leaves the robot head body from the first air outlet 231. A heat dissipation channel is formed between the first air inlet 230 and the first air outlet 231, thereby enabling rapid and effective heat dissipation from the components on the first cover 133.

[0145] In one embodiment of this application, the structure of the first air inlet 230 and the first air outlet 231 is not limited. They can be in the form of air vents, air ducts, or any other structure, as long as they can achieve the effects of air inlet and air outlet respectively.

[0146] In one embodiment of this application, such as Figure 10 As shown, a second air inlet 232 and a second air outlet 233 are provided at the bottom of the main head frame 134 near the second cover 135. The second air inlet 232 and the second air outlet 233 are suitable for dissipating heat from the components within the second accommodating space. When the components are in use, they generate heat. Forced convection by a fan or natural convection forces air into the second accommodating space from the second air inlet 232. The air carries away the heat dissipated by the components in the second accommodating space and exits the main head frame 134 from the second air outlet 233, thus achieving rapid and effective heat dissipation from the components in the second accommodating space. Combined with... Figure 10 and Figure 11Fans can be installed for the second air inlet 232 and the second air outlet 233 respectively.

[0147] In one embodiment of this application, the structure of the second air inlet 232 and the second air outlet 233 is not limited. They can be in the form of an air vent, an air duct, or any other structure, as long as they can achieve the effects of air inlet and air outlet respectively.

[0148] It should be noted that, in order to quickly and effectively dissipate heat from the components in the second accommodating space, other air supply methods in the first aspect embodiment can also be adopted, for example, connecting the second accommodating space and the first air duct 120 of the casing.

[0149] According to the embodiments of this application, when the robot head 130 needs to perform related movements, the robot body transmits motion and force to the head main frame 134. Then, the head main frame 134 transmits motion and force to the robot head body, thereby driving the entire robot head body to move, further increasing the function of the head main frame 134. This simplifies the robot head body, allowing a single structural component to have multiple functions, reducing the number of structural components in the head 130, reducing assembly steps, facilitating control of assembly requirements, and simplifying modular assembly, maintenance, and replacement. Specifically, in the head body of this embodiment, the head main frame 134, while meeting the connection and fixing requirements, also meets the requirements for motion transmission and heat dissipation. The shape of the first cover 133 and the second cover 135 combined with the head main frame 134 meets the appearance requirements. Thus, this robot head body structure is simple while achieving a high degree of functional integration.

[0150] In one embodiment of this application, such as Figure 11 and Figure 12 As shown, at least one of the sides, top and bottom of the connection between the first cover 133 and the first frame 1341 is provided with a fixing connection component. The fixing connection component includes one or more of the following: a first fixing connection component 240, a second fixing connection component (not identified), a third fixing connection component 250 and a fourth fixing connection component 260.

[0151] like Figure 11 and Figure 12 As 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.

[0152] In one embodiment of this application, such as Figure 11 and Figure 12 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.

[0153] In one embodiment of this application, such as Figure 11 and Figure 12 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.

[0154] 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.

[0155] 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.

[0156] In one embodiment of this application, second fixing connection components are provided on both sides of the connection between the first cover 133 and the head main frame 134. The second fixing connection components are adapted to connect the first cover 133 and the head main frame 134, and the first fixing connection component 240 is located above the second fixing connection. According to an embodiment of this application, the second fixing connection component includes a second buckle 251 and a second snap-fit ​​hole 252 that cooperate with each other. The second buckle 251 is provided on the lower part of both sides of the first cover 133 along the width direction. Of course, the positions of the second buckle 251 and the second snap-fit ​​hole 252 can also be interchanged.

[0157] In one embodiment of this application, the structure of the second fixed connection component is the same as that of the first fixed connection component 240, and will not be described again here.

[0158] In one embodiment of this application, such as Figure 13 , Figure 14 and Figure 15 As shown, a third fixed connection component 250 is provided at the lower part of the connection between the first cover 133 and the head main frame 134. The third fixed connection component 250 is suitable for connecting the first cover 133 and the head main frame 134.

[0159] In one embodiment of this application, such as Figure 13 , Figure 14 and Figure 15 As shown, the third fixed connection assembly 250 includes at least one third buckle 262 disposed on the first cover 133 and a third snap-fit ​​hole disposed on the head main frame 134, the third buckle 262 and the third snap-fit ​​hole being matched. In use, the first cover 133 and the head main frame 134 are engaged, causing the third buckle 262 of the first cover 133 to engage with the third snap-fit ​​hole on the head main frame 134, thereby fixing the lower parts of the first cover 133 and the head main frame 134 together. This further improves the stability of the connection between the first cover 133 and the head main frame 134, preventing the head main frame 134 from detaching away from the first cover 133. Consequently, the head main frame 134 can provide stable support for the first cover 133, and can effectively transmit movement and force to the first cover 133, allowing the first cover 133 to perform corresponding movements.

[0160] The number of the third buckle 262 and the third snap hole can be increased or decreased according to the size of the connection between the first cover 133 and the head main frame 134.

[0161] In one embodiment of this application, such as Figure 13 , Figure 14 and Figure 15As shown, a stop 253 is provided at the lower part of the first cover 133. Along the assembly direction of the third fixed connection component 250, the stop 253 is located in front of the fixed connection component, and one end of the stop 253 extends to the third fixed connection component 250. The assembly direction of the third fixed connection component 250 is also the relative movement direction of the first cover 133 and the first frame 1341 during the assembly of the third fixed connection component 250. In use, the first cover 133 and the head main frame 134 are first fitted together, and then the lower parts of the first cover 133 and the head main frame 134 are fixedly connected together by the third fixed connection component 250, thereby preventing the head main frame 134 from detaching away from the first cover 133. At this time, one end of the stop block 253 is located at the third fixed connection component 250. One end of the stop block 253 abuts against or is on the same vertical line as the lower end face of the head main frame 134, thereby allowing the stop block 253 to block the head main frame 134 and prevent the head main frame 134 from moving towards the first cover 133. This ensures the accuracy of the connection between the first cover 133 and the head main frame 134 and effectively prevents the lower part of the first cover 133 and the head main frame 134 from becoming loose.

[0162] In one embodiment of this application, such as Figure 16 As shown, a fourth fixed connection component 260 is provided at the upper part of the connection between the first cover 133 and the head main frame 134. The fourth fixed connection component 260 is suitable for connecting the first cover 133 and the head main frame 134.

[0163] In one embodiment of this application, such as Figure 16 As shown, the upper part of the main head frame 134 is provided with a slope 261, and the slope 261 is located above the fourth fixed connection component 260. The slope 261 allows water on the upper part of the main head frame 134 to flow away along the slope 261, preventing water from seeping in from the fourth fixed connection component 260, thus improving the waterproof performance of the upper part of the connection between the first cover 133 and the main head frame 134.

[0164] In one embodiment of this application, such as Figure 16 As shown, the fourth fixed connection assembly 260 includes a fourth buckle 263 disposed on the first cover 133 and a fourth snap-fit ​​hole disposed on the main head frame 134 that matches the fourth buckle 263. Of course, the positions of the fourth buckle 263 and the fourth snap-fit ​​hole can be interchanged.

[0165] In one embodiment of this application, the fourth fixed connection assembly 260 may further include a first threaded hole disposed on the first cover 133 and a second threaded hole disposed on the head main frame 134 that matches the first threaded hole. The upper part of the first cover 133 and the head main frame 134 can be fixedly connected together by fasteners passing through the second threaded hole and the first threaded hole.

[0166] In one embodiment of this application, such as Figure 17 and Figure 18 As shown, a fifth fixed connection component 270 is provided at the upper part of the connection between the main head frame 134 and the second cover 135. The fifth fixed connection component 270 is suitable for connecting the main head frame 134 and the second cover 135. The fifth fixed connection component 270 fixes the upper part of the second cover 135 and the main head frame 134 together, further improving the stability of the connection between the second cover 135 and the main head frame 134. This allows the main head frame 134 to provide stable support for the second cover 135, and the main head frame 134 can effectively transmit motion and force to the second cover 135, enabling the second cover 135 to move accordingly. Thus, the main head frame 134 simultaneously supports the second cover 135, carries components, and transmits motion and force, giving the main head frame 134 multiple functions. This reduces the number of internal structural components in the head 130, reduces assembly steps, and facilitates control of assembly requirements.

[0167] In one embodiment of this application, such as Figure 17 and Figure 18 As shown, the fifth fixed connection assembly 270 includes, for example, a mounting groove provided on the main head frame 134 and a mounting part 271 provided on the second cover 135 that matches the mounting groove. The mounting part 271 on the second cover 135 is embedded into the mounting groove on the main head frame 134, allowing the main frame to support the second cover 135 and preventing water from seeping into the interior from the upper part of the connection between the main head frame 134 and the second cover 135. However, it should be understood that the fifth fixed connection assembly 270 can also be any other suitable connection structure.

[0168] In one embodiment of this application, such as Figure 17 and Figure 18 As shown, a sixth fixed connection component 280 is provided at the lower part of the connection between the main head frame 134 and the second cover 135.

[0169] In one embodiment of this application, the sixth fixed connection component 280 includes, for example, a female snap-fit ​​connector 281 disposed on the main head frame 134 and a male snap-fit ​​connector 282 disposed on the second cover 135. However, it should be understood that the sixth fixed connection component 280 can also be any other suitable connection structure.

[0170] According to an embodiment of the fourth aspect of this application, a robot head 130 is provided, including the head body of the third aspect embodiment described above, and further including a heating device for the head 130. The heating device for the head 130 includes a screen located in a first accommodating space and a projection unit located in a second accommodating space.

[0171] According to an embodiment of the fifth aspect of this application, a robot is provided, including a chassis 110, a body, a neck joint 290, and a robot head body according to a third aspect embodiment. The neck joint 290 includes at least one of a pitch mechanism 291 and a rotation mechanism; the chassis 110, body, neck joint 290, and robot head body are sequentially connected.

[0172] In one embodiment of this application, such as Figure 19 and Figure 20 As shown, the neck joint 290 is connected to the main head frame 134, and the neck joint 290 is adapted to transmit motion and force to the main head frame 134. In use, the neck joint 290 transmits motion and force to the main head frame 134, and then the main head frame 134 transmits the motion and force to the robot head body, causing the robot head body to perform corresponding movements. Thus, in addition to supporting the robot head body and carrying components, the main head frame 134 also has the function of transmitting motion and force, allowing the robot head body to perform corresponding movements according to instructions.

[0173] In one embodiment of this application, such as Figure 19 and Figure 20 As shown, the neck joint 290 includes a pitch mechanism 291, which is connected to the main head frame 134. The pitch mechanism 291 is adapted to drive the main head frame 134 to perform pitch movements. When the main head frame 134 moves, it will simultaneously drive the first cover 133 and the second cover 135 to move, thereby realizing motion control of the robot's head body.

[0174] In one embodiment of this application, the second frame 1342 of the head main frame 134 extends toward the mounting space with a connecting portion, which includes a first connecting shaft 2915 and a second connecting shaft 2916. Based on this, the pitch mechanism 291 includes a base 2912, a first gear 2913, a second gear, and a rotating shaft connector 2914. The base 2912 is mounted to the fuselage via a rotating mechanism. The first gear 2913 is rotatably mounted on the base 2912. The second gear is fixed to the first connecting shaft 2915 and meshes with the first gear 2913. The rotating shaft connector 2914 is fixed to the base 2912 and connects to the second connecting shaft 2916.

[0175] like Figure 19 and Figure 20 As shown, the pitch mechanism 291 also includes a geared motor 2911, which is connected to the first gear 2913. The geared motor 2911 can be fixedly mounted on the lower surface of the base 2912, and the first gear 2913 can be fixedly mounted on the upper surface of the base 2912. The geared motor 2911 drives the first gear 2913 to rotate, and when the first gear 2913 rotates, it drives the head main frame 134 to move.

[0176] In one embodiment of this application, such as Figure 19 and Figure 20 As shown, a positioning slot 292 is provided on the first connecting shaft 2915, and a locking block 293 matching the positioning slot 292 is provided on the first gear 2913. In use, the positioning slot 292 on the first connecting shaft 2915 is engaged with the locking block 293, so that the head main frame 134 and the first gear 2913 are fixedly connected together. When the first gear 2913 rotates, it will drive the head main frame 134 to rotate.

[0177] In addition, the first connecting shaft 2915 is provided with multiple third connecting holes (unmarked), and the first gear 2913 is provided with a fourth connecting hole (unmarked) that matches the third connecting holes. In use, the head main frame 134 and the first gear 2913 are engaged so that the third connecting holes and the fourth connecting holes are aligned. Then, fasteners are passed through the fourth connecting holes and the third connecting holes to fix the head main frame 134 and the first gear 2913 together, which improves the stability of the connection between the head main frame 134 and the first gear 2913.

[0178] In one embodiment of this application, such as Figure 19 and Figure 20 As shown, a rotating shaft connector 2914 is also provided on the base 2912. The first connecting shaft 2915 and the second connecting shaft 2916 are respectively connected to the first gear 2913 and the rotating shaft connector 2914. In use, by connecting two points of the head main frame 134 to the first gear 2913 and the rotating shaft connector 2914 respectively, the connection between the pitch mechanism 291 and the head main frame 134 is made more stable, allowing the pitch mechanism 291 to transmit motion and force to the head main frame 134 more stably and reliably.

[0179] In one embodiment of this application, such as Figure 19 and Figure 20 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 be connected to the electrical hardware of the head 130 through the hollow part of the second connecting shaft 2916 and the rotating shaft connector 2914, thereby making the internal wiring of the robot more standardized and convenient.

[0180] In one embodiment of this application, the neck joint 290 further includes a rotation mechanism adapted to rotate the main head frame 134. In use, by connecting the base 2912 to the rotation mechanism, the rotation mechanism drives the pitch mechanism 291 to rotate.

[0181] In one embodiment of this application, the rotating mechanism is, for example, a rotary motor. However, it should be understood that the rotating mechanism can also be any other suitable rotary drive, such as a rotary cylinder.

[0182] Finally, it should be noted that the above embodiments are only used to illustrate this application and are not intended to limit this application. Although this application has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of this application do not depart from the spirit and scope of the technical solutions of this application and should be covered within the scope of the claims of this application.

Claims

1. A robot head, characterized in that The robot head comprises: a head main body comprising: a head main skeleton comprising a first skeleton and a second skeleton, a neck joint assembly space being formed between the first skeleton and the second skeleton, and a neck joint connecting portion being extended from the second skeleton towards the neck joint assembly space; a first cover body matching the shape of the first skeleton and forming a first accommodating space between the first cover body and the first skeleton; a second cover body matching the shape of the second skeleton and forming a second accommodating space between the second cover body and the second skeleton; the first skeleton is in a flat plate shape, and the second skeleton is in a curved plate shape; a bottom portion of the first skeleton extends towards the first cover body 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 communicated with the first accommodating space; a bottom portion of the second skeleton is provided with a second air inlet portion and a second air outlet portion, and the second air inlet portion and the second air outlet portion are both communicated with the second accommodating space.

2. The robotic head of claim 1, wherein, both sides, a top portion and a bottom portion of a connection portion between the first cover body and the first skeleton are provided with fixed connection assemblies.

3. The robotic head of claim 2, wherein, the fixed connection assemblies comprise one or more of the following: a first buckle and a first clamping hole matched with each other, one of which is arranged at an upper portion of both sides of the first cover body along a width direction, and the other of which is arranged at the first skeleton; a second buckle and a second clamping hole matched with each other, one of which is arranged at a lower portion of both sides of the first cover body along the width direction, and the other of which is arranged at the first skeleton; a third buckle and a third clamping hole matched with each other, one of which is arranged at a bottom portion of the first cover body, and the other of which is arranged at the first skeleton; a fourth buckle and a fourth clamping hole matched with each other, one of which is arranged at a top portion of the first cover body, and the other of which is arranged at the first skeleton.

4. The robotic head of claim 3, wherein, a slope gradually downwardly inclined towards the first skeleton is arranged at a top portion of the first cover body, and the slope is located above the third buckle and the third clamping hole.

5. The robotic head of claim 2, wherein, a stopper is arranged at the first cover body, and the stopper is located in front of the fixed connection assemblies along an assembly direction of the fixed connection assemblies.

6. The robotic head of claim 1, wherein, a hanging portion is formed at a top portion of the second cover body, and a hanging groove matched with the hanging portion is formed at a top portion of the second skeleton; one of a bottom portion of the second cover body and a bottom portion of the second skeleton is provided with a clamping male head, and the other is provided with a clamping female head.

7. The robotic head of claim 1, wherein, a head heating device comprises a screen arranged in the first accommodating space and a projection unit arranged in the second accommodating space.

8. A robot, characterized in that The robot head comprises: a base plate; a body; a neck joint comprising at least one of a pitching mechanism and a rotating mechanism; the robot head according to any one of claims 1 to 6; the base plate, the body, the neck joint and the robot head are sequentially connected.

9. The robot of claim 8, wherein, the connecting portion comprises a first connecting shaft and a second connecting shaft arranged coaxially, and the pitching mechanism comprises: a base mounted on the body through the rotating mechanism; a first gear rotatably mounted on the base; a second gear fixed to the first connecting shaft and engaged with the first gear; A rotating shaft connector is fixed to the base and connects the second connecting shaft.

10. The robot of claim 9, wherein, The rotating shaft connector and the second connecting shaft are both hollow structures to form a wire channel.

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