Head shell, head assembly and humanoid robot

Abstract

A head shell, a head assembly and a humanoid robot. The head shell is used for a humanoid robot, and includes a first shell and a second shell. The first shell includes a first edge and a second edge, and the first edge is connected to the second edge in a ring shape; the second shell is detachably connected to the first shell, and the second shell includes a third edge and a fourth edge, and the third edge is connected to the fourth edge in a ring shape, and the third edge is opposite to and in contact with the first edge in a first direction, and the fourth edge is opposite to and in contact with the fourth edge in a second direction; the side of the first shell facing away from the second shell in the first direction is used to connect to the neck assembly; the first shell and the second shell enclose a receiving space, and the receiving space is used to receive the first device and the second device of the head assembly. The head shell of the humanoid robot of the present application is stably connected and easy to disassemble and assemble.

Description

Technical Field

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

[0002] Humanoid robots can imitate the appearance and movement posture of the human body. Currently, the research and development of humanoid robots has received more and more attention.

[0003] The head shell of the existing existing robot is connected in a single direction, the connection is not stable enough, and it cannot directly provide support for the internal components. The internal components require additional support structures. Summary of the invention

[0004] The purpose of this application is to provide a head shell, a head component and a humanoid robot to solve the problem that the connection of the head shell is not stable enough and the internal components require additional supporting structures.

[0005] To achieve the purpose of this application, this application provides the following technical solutions:

[0006] In the first aspect, the present application provides a head shell for a humanoid robot, comprising a first shell and a second shell, the first shell comprising a first edge and a second edge, the first edge being connected to the second edge in a ring shape; the second shell is detachably connected to the first shell, the second shell comprising a third edge and a fourth edge, the third edge being connected to the fourth edge in a ring shape, the third edge being opposite to and in contact with the first edge in a first direction, and the fourth edge being opposite to and in contact with the second edge in a second direction; wherein the side of the first shell facing away from the second shell in the first direction is used to be connected to a neck assembly; the first shell and the second shell enclose a receiving space, the receiving space being used to receive a first device and a second device of the head assembly, the first shell being used to install the first device, the second shell being used to install the second device, the first direction being the up and down direction of the humanoid robot, and the second direction being the front and back direction of the humanoid robot; the first shell comprises a mounting platform, the mounting platform being used to be connected to the neck assembly.

[0007] The head shell of the present application is provided with a first shell and a second shell, the second shell is detachably connected to the first shell and encloses a receiving space, the first shell includes a first edge and a second edge, the second shell includes a third edge and a fourth edge, the third edge is opposite to the first edge in a first direction, and the fourth edge is opposite to the second edge in a second direction, the first shell and the second shell are connected in different directions, which can increase the connection area between the first shell and the second shell, and the connection is more stable and not easy to disengage, and the side of the second shell facing away from the first shell in the Y direction is relatively flat, imitating the facial structure of the human body, and has a good anthropomorphic effect; the receiving space is used to accommodate the first device and the second device of the head assembly, the first shell is used to install the first device, and the second shell is used to install the second device, the first device and the second device do not require an additional supporting structure, and can be separated as the first shell and the second shell are separated, which is convenient for disassembly and maintenance.

[0008] In one embodiment, in the orthographic projection of the third direction, the first edge and the second edge are both linear, and the first edge and the second edge have an angle A, satisfying: 90°<A≤150°, and the third direction is the left and right direction of the humanoid robot. By setting the first edge and the second edge in the orthographic projection of the X direction, the first edge and the second edge are both linear, and the first edge and the second edge have an angle A, satisfying: 90°<A≤150°, if the angle A is greater than 150°, the size of the first shell in the second direction is too large, occupying space, if the angle A is less than 90°, the second edge is inward relative to the connection between the first edge and the second edge, which is not conducive to the connection with the second shell, and the humanoid effect is not good. When the angle A is within the above range, the angle between the first edge and the second edge is similar to the mandibular angle of the human body, which is more similar to the human body structure, making the shape of the head shell more anthropomorphic.

[0009] In one embodiment, the first edge is smoothly connected to the second edge. The connection between the first edge and the second edge is smoothly connected to avoid the connection being too sharp to scratch the operator or other parts, and also to increase the connection area between the first shell and the second shell, which can improve the connection stability between the first shell and the second shell.

[0010] In one embodiment, in the orthographic projection of the third direction, the first edge and the second direction have an angle, and the end of the first edge away from the second edge is closer to the second shell than the second edge, and / or the second edge and the first direction have an angle, and in the second direction, the end of the second edge connected to the first edge is closer to the first edge than the end of the second edge away from the second shell. In the orthographic projection of the X direction, the first edge and the second direction have an angle, and the second edge and the first direction have an angle, which can increase the connection area between the first shell and the second shell, improve the connection stability, and the second edge is similar to the shape of the human jaw, making the shape of the first shell more anthropomorphic.

[0011] In one embodiment, the first shell further includes a mounting shell, the mounting shell is connected to the outer peripheral surface of the mounting platform, the mounting shell includes the first edge and the second edge, the mounting shell and the mounting platform jointly enclose a first receiving space, the first receiving space is used to receive the first device, and the mounting shell is used to install the first device. Compared with the prior art, the head shell is composed of two parts of the shell connected in the Y direction, and both parts of the shell need to be connected to the neck component. In the embodiment of the present application, the head shell and the neck component only need to be connected to the mounting platform of the first shell to be connected and fixed, which is convenient for connection and installation.

[0012] In one embodiment, the mounting platform includes a first cylinder, a second cylinder and a first reinforcing rib, the mounting shell is connected to the outer peripheral surface of the second cylinder, the first cylinder is accommodated in the first accommodating space and connected to the second cylinder, and in the orthographic projection of the first direction, the first cylinder is located in the second cylinder, and the first reinforcing rib connects the outer peripheral surface of the first cylinder and the surface of the second cylinder facing the second shell. In the orthographic projection of the first direction, the first cylinder is located in the second cylinder, that is, the inner diameter of the first cylinder is smaller than the inner diameter of the second cylinder, so that the structure of the mounting platform is stable and the dead weight of the mounting platform is reduced; the first reinforcing rib is provided to strengthen the structural strength of the mounting platform so that the connection between the first cylinder and the second cylinder is not easily deformed.

[0013] In one embodiment, the first shell further includes a second reinforcing rib, which is connected to the outer circumference of the second cylinder and the mounting shell and extends along the inner wall of the first receiving space. The second reinforcing rib can enhance the structural strength of the first shell, and the connection between the second cylinder and the first mounting shell is not easily deformed, thereby enhancing the load-bearing capacity of the first shell.

[0014] In one embodiment, the mounting shell includes a first mounting shell and a second mounting shell, the second mounting shell is connected to the first mounting shell, and the second mounting shell protrudes from the side of the first mounting shell facing away from the second shell in the first direction. The second mounting shell is arranged to protrude from the side of the first mounting shell facing away from the second shell in the first direction, and the second mounting shell is connected to the first shell in the second direction, so that the connection area between the first shell and the second shell can be increased, and the connection strength can be improved. In addition, the arrangement of the second mounting shell is similar to the mandibular structure of the human body, and the human-like effect of the head shell is better.

[0015] In one embodiment, the inner wall surface of the first mounting shell is provided with a first fixing portion, and the first fixing portion is used to connect and fix the first component. The first component is connected and fixed to the first fixing portion, and the accommodation space is reasonably utilized. During the disassembly and assembly process of the first shell and the second shell, the first component does not need additional support, which can simplify the structure and facilitate disassembly and assembly.

[0016] In one embodiment, the second shell includes a third mounting shell and a fourth mounting shell, the fourth mounting shell is connected to the third mounting shell in the second direction, the third mounting shell is connected to the first shell, the fourth mounting shell is provided with a first mounting hole and a second mounting hole at intervals, the first mounting hole and the second mounting hole are both used to install the second device, and the fourth mounting shell is used to form the face of the humanoid robot. The second device is connected and fixed to the first mounting hole and the second mounting hole, and the fourth mounting shell is used to form the face of the humanoid robot, which has a good anthropomorphic effect, and during the disassembly and assembly process of the first shell and the second shell, the second device does not require additional support, which can simplify the structure and facilitate disassembly and assembly.

[0017] In one embodiment, the third mounting shell is provided with a plurality of heat dissipation holes at intervals, and the heat dissipation holes are used to dissipate heat for the first device and the second device. By providing the third mounting shell with heat dissipation holes, the gas in the receiving space can be exchanged with the outside through the heat dissipation holes to achieve heat dissipation for the first device and the second device, which can effectively reduce the internal temperature of the head shell, make the working environment temperature of the first device and the second device more suitable and stable, and improve safety performance.

[0018] In one embodiment, the head shell further includes a third shell, which is connected to the side of the fourth mounting shell facing away from the third mounting shell and is used to shield the first mounting hole and the second mounting hole. This arrangement can, on the one hand, prevent bumps or dust from entering the head shell through the first mounting hole and the second mounting hole, and on the other hand, improve the aesthetics and make the head shell more anthropomorphic.

[0019] In a second aspect, the present application further provides a head assembly, comprising a first component, a second component, and a head shell as described in any one of the various embodiments of the first aspect, wherein the first shell and the second shell enclose a receiving space, the first component and the second component are received in the receiving space, the first component is connected to the first shell, and the second component is connected to the second shell. By providing the first component, the second component, and the head shell, the first component and the second component are received in the receiving space of the head shell and are both connected to the head shell, so that the internal space of the head shell can be fully utilized, the space utilization rate can be improved, and the first component and the second component do not require an additional support structure, and are easy to assemble.

[0020] In a third aspect, the present application further provides a humanoid robot, comprising a neck assembly and the head assembly described in the second aspect, wherein the first shell of the head assembly is connected to the neck assembly. By providing a unique head assembly, the head shell of the head assembly is stably connected and easy to disassemble and assemble, which can reduce the difficulty of assembling the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 is a perspective view of a head assembly of one embodiment;

[0023] Figure 2 is an exploded schematic diagram of a head housing of an embodiment;

[0024] Figure 3 is a perspective view of a first housing of an embodiment;

[0025] Figure 4 is a side view of a first housing of an embodiment;

[0026] Figure 5 is a bottom view of a first housing of an embodiment;

[0027] Figure 6 is a perspective view of a second housing of an embodiment;

[0028] Figure 7 The figure is a bottom view of the second shell of one embodiment.

[0029] Description of reference numerals:

[0030] 100-head assembly;

[0031] 10-head shell, 11-accommodating space, 111-first accommodation space, 112-second accommodation space, 12-first shell, 121-first edge, 122-second edge, 123-connecting portion, 1231-first fixing hole, 124-mounting platform, 1241-connecting hole, 1242-first cylinder, 1243-second cylinder, 1244-first reinforcing rib, 125-first mounting shell, 126-second mounting shell, 127-second reinforcing rib, 128-first fixing portion, 129-sound expansion hole, 13-second shell, 131-third edge, 132-fourth edge, 133-second fixing hole, 134-third mounting shell, 1341-heat dissipation hole, 135-fourth mounting shell, 136-first mounting hole, 137-second mounting hole, 138-third fixing portion, 139-fourth fixing portion, 14-third shell;

[0032] A-first angle, B-second angle, C-third angle, L1-first reference line, L2-second reference line, X-left and right direction of the humanoid robot, Y-front and back direction of the humanoid robot, Z-up and down direction of the humanoid robot. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0035] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0036] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0037] Please refer to Figure 1The present application also provides a humanoid robot, including a neck assembly (not shown in the figure) and a head assembly 100 in an embodiment of the present application, wherein the first shell 12 of the head assembly 100 is connected to the neck assembly.

[0038] The specific structures of the head assembly 100 and the neck assembly are not limited and can be set to a humanoid shape. The head assembly 100 is connected to the waist assembly and can rotate relatively to achieve a head and neck function similar to that of the human body. For the convenience of subsequent description, a coordinate system XYZ is established, where the X direction is the left and right direction of the assembled humanoid robot, the Y direction is the front and back direction of the humanoid robot, and the Z direction is the up and down direction of the humanoid robot.

[0039] Optionally, the head assembly 100 can rotate relative to the neck assembly. Considering that the humanoid robot should simulate the appearance and movement posture of the human body as much as possible, the range of movement of the head assembly 100 of the humanoid robot relative to the neck assembly should simulate the movement range of the human head as much as possible, that is, the head assembly 100 can rotate relative to the neck assembly by a certain angle with the vertical direction Z of the humanoid robot as the axis.

[0040] In the embodiment of the present application, by providing a unique head assembly 100, the head shell 10 of the head assembly 100 is stably connected and easy to disassemble and assemble, which can reduce the difficulty of assembling the humanoid robot.

[0041] Please refer to Figure 1 and Figure 2 The embodiment of the present application also provides a head assembly 100, including a first device (not shown in the figure), a second device (not shown in the figure) and a head shell 10, the head shell 10 encloses a receiving space 11, the first device and the second device are received in the receiving space 11, and the first device and the second device are both connected to the head shell 10.

[0042] Optionally, the first device is a speaker commonly used in the art, and the number of speakers can be one or more, and there is no specific limitation. In one embodiment, the number of speakers is two, and the two speakers are spaced apart in the left and right direction X of the humanoid robot and are respectively connected to the head shell 10 to expand the sound range of the humanoid robot.

[0043] Optionally, the second device is any one or a combination of a control module, a display screen, a voice module, and a binocular camera commonly used in the field of humanoid robots, without specific limitation. The first device and the second device can be connected to the head shell 10 by bonding, clamping, screwing, magnetic suction, etc., without limitation.

[0044] Optionally, the first device and the second device may be directly connected or indirectly connected, or may have a gap therebetween. The first device and the second device may also be electrically connected or detachably connected, and there is no specific limitation thereto.

[0045] The head assembly 100 in the embodiment of the present application is configured with a first device, a second device and a head shell 10. The first device and the second device are accommodated in a receiving space 11 of the head shell 10 and are both connected to the head shell 10. This can fully utilize the internal space of the head shell 10 and improve space utilization. The first device and the second device do not require an additional supporting structure, and are easy to assemble.

[0046] The head shell 10 of the embodiment of the present application is described in detail below.

[0047] When the humanoid robot is in a state where both feet stand upright on a horizontal plane and the head is looking straight ahead, the first direction is the Z direction, the second direction is the Y direction, and the third direction is the X direction.

[0048] Please refer to Figure 1 and Figure 2 The embodiment of the present application provides a head housing 10 for a humanoid robot, including a first shell 12 and a second shell 13. The first shell 12 includes a first edge 121 and a second edge 122, and the first edge 121 and the second edge 122 are connected in a ring shape; the second shell 13 is detachably connected to the first shell 12, and the second shell 13 includes a third edge 131 and a fourth edge 132, and the third edge 131 and the fourth edge 132 are connected in a ring shape, and the third edge 131 is opposite to and in contact with the first edge 121 in the Z direction, and the fourth edge 132 is opposite to and in contact with the second edge 122 in the Y direction.

[0049] Among them, the side of the first shell 12 facing away from the second shell 13 in the Z direction is used to connect with the neck assembly; the first shell 12 and the second shell 13 enclose a receiving space 11, and the receiving space 11 is used to accommodate the first component and the second component of the head assembly 100. The first shell 12 is used to install the first component, and the second shell 13 is used to install the second component.

[0050] Optionally, the connection between the first shell 12 and the second shell 13 can be bonding, snap-on, screw-on, magnetic connection, etc., without limitation. When the first shell 12 and the second shell 13 are connected, the first edge 121 and the second edge 122 are in contact in the Z direction, and the fourth edge 132 and the second edge 122 are in contact in the Y direction.

[0051] In one embodiment, Figure 3 and Figure 6As shown, the first shell 12 is provided with a connecting portion 123, and the second shell 13 is correspondingly provided with a second fixing hole 133, and the head shell 10 further includes a fixing member (not shown in the figure). When the first shell 12 is connected to the second shell 13, the connecting portion 123 extends into the second shell 13, and the connecting portion 123 is provided with a first fixing hole 1231, and the fixing member cooperates with the first fixing hole 1231 and the second fixing hole 133 to connect the first shell 12 and the second shell 13.

[0052] Optionally, there are multiple connecting parts 123 and multiple second fixing holes 133, and the multiple connecting parts 123 and the multiple second fixing holes 133 are connected in a one-to-one correspondence.

[0053] Optionally, one end of the first edge 121 is connected to one end of the second edge 122, and the other end of the first edge 121 is connected to the other end of the second edge 122, that is, the first edge 121 and the second edge 122 are connected in a ring shape. The first edge 121 and the second edge 122 are both curved in the orthographic projection in the Y direction, and enclose a perfect circle or an ellipse, which is not specifically limited.

[0054] Similarly, one end of the third edge 131 is connected to one end of the fourth edge 132, and the other end of the third edge 131 is connected to the other end of the fourth edge 132, that is, the third edge 131 and the fourth edge 132 are connected in a ring shape. The third edge 131 and the fourth edge 132 are both curved in the orthographic projection in the Y direction, and enclose a perfect circle or an ellipse, which is not specifically limited.

[0055] Optionally, in the orthographic projection in the Y direction, the shape enclosed by the third edge 131 and the second edge 122 is substantially the same as the shape enclosed by the first edge 121 and the second edge 122, so that the shapes of the connecting surfaces of the first shell 12 and the second shell 13 are similar and the connection is more stable.

[0056] Optionally, the first shell 12 and the neck assembly may be directly connected or indirectly connected, and there is no specific limitation. The first shell 12 and the neck assembly may be rotatably connected or fixedly connected, and there is no specific limitation.

[0057] Optionally, the first device and the first housing 12 may be connected by bonding, snapping, screwing, magnetic connection, etc., without specific limitation. The second device and the second housing 13 may be connected by bonding, snapping, screwing, magnetic connection, etc., without specific limitation.

[0058] The head shell 10 in the embodiment of the present application is provided with a first shell 12 and a second shell 13. The second shell 13 is detachably connected to the first shell 12 and encloses a receiving space 11. The first shell 12 includes a first edge 121 and a second edge 122. The second shell 13 includes a third edge 131 and a fourth edge 132. The third edge 131 is opposite to the first edge 121 in a first direction, and the fourth edge 132 is opposite to the second edge 122 in a second direction. The first shell 12 and the second shell 13 are connected in different directions, which can increase the connection area of ​​the first shell 12 and the second shell 13. The connection is more stable and not easy to disengage. The side of the second shell facing away from the first shell in the Y direction is relatively flat, imitating the facial structure of the human body, and has a good anthropomorphic effect. The receiving space 11 is used to accommodate the first device and the second device of the head assembly 100. The first shell 12 is used to install the first device, and the second shell 13 is used to install the second device. The first device and the second device do not require an additional supporting structure and can be separated as the first shell 12 and the second shell 13 are separated, which is convenient for disassembly and maintenance.

[0059] Optional, such as Figure 4 As shown, in the orthographic projection in the X direction, the first edge 121 and the second edge 122 are both linear, and the first edge 121 and the second edge 122 have a first angle A, which satisfies: 90°<A≤150°.

[0060] Optionally, in the orthographic projection in the X direction, the first edge 121 and the second edge 122 may be in any one or a combination of a straight line, a curve, and a broken line, without specific limitation.

[0061] Optionally, the first shell 12 is a symmetrical structure, and the axis of symmetry is parallel to the Z direction, that is, the first shell 12 is bilaterally symmetrical in the X direction. In the orthographic projection in the X direction, the first edge 121 overlaps on two opposite sides in the X direction, so that the first edge 121 is a single line. Setting the first shell 12 to a symmetrical structure is convenient for processing and installation, and also makes the head shell 10 more anthropomorphic.

[0062] Optionally, the first angle A satisfies: 100°≤A≤130°.

[0063] Optionally, the specific value of the first angle A can be 90°, 100°, 110°, 115°, 120°, 125°, 130°, 140°, 150°, etc., without specific limitation.

[0064] By setting the first edge 121 and the second edge 122 in the orthographic projection in the X direction, both are linear, and the first edge 121 and the second edge 122 have a first angle A, which satisfies: 90°<A≤150°. If the first angle A is greater than 150°, the size of the first shell 12 in the direction Y is too large, occupying space. If the first angle A is less than 90°, the second edge 122 is retracted relative to the connection between the first edge 121 and the second edge 122, which is not conducive to the connection with the second shell 13, and the human-like effect is not good. When the first angle A is within the above range, the angle between the first edge 121 and the second edge 122 is similar to the mandibular angle of the human body, which is more similar to the human body structure, making the shape of the head shell 10 more anthropomorphic.

[0065] Optionally, the first edge 121 is smoothly connected to the second edge 122 .

[0066] Optional, such as Figure 4 As shown, in the orthographic projection in the X direction, the connection between the first edge 121 and the second edge 122 is an arc line, one end of the arc line is tangent to the first edge 121 , and the other end is tangent to the second edge 122 .

[0067] The connection between the first edge 121 and the second edge 122 is smoothly connected to avoid the connection being too sharp and scratching the operator or other parts, and also increase the connection area between the first shell 12 and the second shell 13, which can improve the connection stability between the first shell 12 and the second shell 13.

[0068] Optional, such as Figure 4 As shown, in the orthographic projection in the X direction, the first edge 121 has a second angle B with the Y direction, and the end of the first edge 121 away from the second edge 122 is closer to the second shell 13 than the second edge 122, and / or, the second edge 122 has a third angle C with the Z direction, and the end of the second edge 122 connected to the first edge 121 is closer to the first edge 121 than the end of the second edge 122 away from the second shell 13.

[0069] Optionally, the second angle B is the angle between the first edge 121 and the Y direction when the head assembly of the humanoid robot is in a horizontal state (the binocular camera of the head assembly is parallel to the Y direction). Similarly, the third angle C is the angle between the second edge 122 and the Z direction when the head assembly of the humanoid robot is in a horizontal state.

[0070] like Figure 4 As shown, L1 is a first reference line, and L2 is a second reference line. The first reference line L1 is parallel to the Y direction, and the second reference line L2 is parallel to the Z direction.

[0071] Optionally, the first edge 121 and the Y direction have a second angle B that satisfies: 0°<B≤45°.

[0072] Optionally, the second angle B satisfies: 10°≤B≤30°.

[0073] Optionally, the specific value of the second angle B can be 5°, 10°, 15°, 20°, 25°, 30°, 40°, 45°, etc., without specific limitation.

[0074] Optionally, the second edge 122 has a third angle C with the Z direction, satisfying: 0°<C≤45°.

[0075] Optionally, the third angle C satisfies: 10°≤C≤30°.

[0076] Optionally, the specific value of the third angle C can be 5°, 10°, 15°, 20°, 25°, 30°, 40°, 45°, etc., without specific limitation.

[0077] Optionally, in the orthographic projection in the X direction, the first edge 121 has an angle with the Y direction, and the second edge 122 is parallel to the Z direction; or, the first edge 121 is parallel to the Y direction, and the second edge 122 has an angle with the Z direction; or, the first edge 121 has an angle with the Y direction, and the second edge 122 has an angle with the Z direction. All of the above methods are possible and are not specifically limited.

[0078] Optionally, in the orthographic projection in the X direction, the end of the first edge 121 away from the second edge 122 is closer to the second shell 13 than the second edge 122, that is, the first edge 121 is inclined from the back to the front direction of the humanoid robot to the top to the bottom direction of the humanoid robot; the end of the second edge 122 connected to the first edge 121 is closer to the first edge 121 than the end of the second edge 122 away from the second shell 13, that is, the connection between the first edge 121 and the second edge 122 is located in the Y direction between the end of the second edge 122 away from the first edge 121 and the end of the first edge 121 away from the second edge 122, and the second edge 122 is inclined from the bottom to the top direction of the humanoid robot to the front to the back direction of the humanoid robot.

[0079] In the orthographic projection in the X direction, the first edge 121 has a second angle B with the Y direction, and the end of the first edge 121 away from the second edge 122 is closer to the second shell 13 than the second edge 122, which can increase the connection area between the first shell 12 and the second shell 13 and improve the connection stability, and / or, the second edge 122 has a third angle C with the first direction, and the end of the second edge 122 connected to the first edge 121 is closer to the first edge 121 than the end of the second edge 122 away from the second shell 13, and the second edge 122 is similar to the shape of the human jaw, making the shape of the first shell 12 more anthropomorphic.

[0080] Optional, such as Figure 3 As shown, the first shell 12 includes a mounting platform 124 and a mounting shell, the mounting shell is connected to the outer peripheral surface of the mounting platform 124, the mounting platform 124 is used to connect with the neck assembly, the mounting shell includes a first edge 121 and a second edge 122, the mounting shell and the mounting platform 124 jointly enclose a first receiving space 111, the first receiving space 111 is used to receive the first device, and the mounting shell is used to install the first device.

[0081] Optionally, the first housing 12 is an integrated structure, that is, the first housing 12 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The first housing 12 can also be a split structure, and the mounting platform 124 and the mounting housing are connected and fixed by welding, riveting, clamping, screwing, etc.

[0082] Optionally, the mounting platform 124 may be in the shape of a rectangle, a circle, a triangle, a regular polygon, etc. in the orthographic projection in the Z direction, without any specific limitation.

[0083] Optional, such as Figure 5 As shown, the mounting platform 124 is provided with a connecting hole 1241, and the connecting hole 1241 is connected with the neck assembly in cooperation, and the connection method may be screw connection, clamp connection, magnetic connection, etc., and there is no specific limitation.

[0084] By setting the first shell 12 including a mounting platform 124 and a mounting shell, the mounting shell is connected to the outer peripheral surface of the mounting platform 124, and the mounting platform 124 is used to connect with the neck assembly. Compared with the prior art, the head shell is composed of two parts of the shell connected in the Y direction, and the two parts of the shell need to be connected to the neck assembly. In the head shell 10 in the embodiment of the present application, the neck assembly only needs to be connected to the mounting platform 124 of the first shell 12 to be connected and fixed, which is convenient to connect and easy to install.

[0085] Optional, such as Figure 3 As shown, the mounting platform 124 includes a first cylinder 1242, a second cylinder 1243 and a first reinforcing rib 1244, the mounting shell is connected to the outer peripheral surface of the second cylinder 1243, the first cylinder 1242 is connected to the surface of the second cylinder 1243 facing away from the mounting shell, and in the orthographic projection in the Z direction, the first cylinder 1242 is located inside the second cylinder 1243, and the first reinforcing rib 1244 connects the outer peripheral surface of the first cylinder 1242 and the surface of the second cylinder 1243 facing the second shell 13.

[0086] Optionally, the mounting platform 124 may be an integrated structure, that is, the mounting platform 124 is an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The mounting platform 124 may also be a split structure, and the first cylinder 1242, the second cylinder 1243 and the first reinforcing rib 1244 are connected and fixed by welding, riveting, clamping, screwing, etc.

[0087] Optionally, the connecting hole 1241 passes through the first cylinder 1242 and the second cylinder 1243 in the Z direction. The first cylinder 1242 and the second cylinder 1243 are both circular in the orthographic projection in the Z direction, and the inner diameter of the first cylinder 1242 is smaller than the inner diameter of the second cylinder 1243, so as to stabilize the structure of the mounting platform 124 and reduce the deadweight of the mounting platform 124.

[0088] Optionally, there is no limitation on the number and specific shape of the first reinforcing ribs 1244. Optionally, there are multiple first reinforcing ribs 1244, which are arranged at intervals on the outer peripheral surface of the first cylinder 1242, and in the projection in the Z direction, the multiple first reinforcing ribs 1244 are approximately centrally symmetrical along the axis of the connecting hole 1241.

[0089] The first reinforcing rib 1244 is provided to strengthen the structural strength of the mounting platform 124 so that the connection between the mounting platform 124 and the neck assembly is not easily deformed.

[0090] Optionally, the first shell 12 further includes a second reinforcing rib 127 , which is connected to the outer circumferential surface of the second cylinder 1243 and the mounting shell, and extends along the inner wall surface of the first receiving space 111 .

[0091] Optionally, the second reinforcing rib 127, the second cylinder 1243 and the mounting shell can be an integrated structure or a split structure, and the second reinforcing rib 127, the second cylinder 1243 and the mounting shell are connected and fixed by welding, riveting, clamping, screwing, etc., without specific limitation.

[0092] Optionally, there is no limitation on the number and specific shape of the second reinforcing ribs 127. Optionally, there are multiple second reinforcing ribs 127, which are arranged at intervals on the outer circumference of the second cylinder 1243 and extend radially along the surface of the mounting shell toward the second shell 13.

[0093] By setting the first shell 12 to also include a second reinforcing rib 127, the second reinforcing rib 127 is connected to the outer peripheral surface of the second cylinder 1243 and the mounting shell, the structural strength of the first shell 12 can be strengthened, and the connection between the second cylinder 1243 and the mounting shell is not easily deformed, thereby enhancing the load-bearing capacity of the first shell 12.

[0094] Optionally, the mounting shell includes a first mounting shell 125 and a second mounting shell 126 , the second mounting shell 126 is connected to the first mounting shell 125 , and the second mounting shell 126 protrudes from a side of the first mounting shell 125 facing away from the second shell 13 in the Z direction.

[0095] Optionally, the mounting shell can be an integrated structure, that is, the mounting shell is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The mounting shell can also be a split structure, and the first mounting shell 125 and the second mounting shell 126 can be connected and fixed by welding, riveting, clamping, screwing, etc., without limitation.

[0096] Optionally, the first installation shell 125 includes a portion of the first edge 121 and the second edge 122 , and the second installation shell 126 includes a portion of the second edge 122 excluding the first installation shell 125 . The first installation shell 125 and the second installation shell 126 jointly enclose the first receiving space 111 .

[0097] A second mounting shell 126 is provided to protrude in the Z direction from the side of the first mounting shell 125 facing away from the second shell 13. The second mounting shell 126 is connected to the first shell 12 in the Y direction, which can increase the connection area between the first shell 12 and the second shell 13 and improve the connection strength. The setting of the second mounting shell 126 is similar to the mandibular structure of the human body, and the humanoid effect of the head shell 10 is better.

[0098] Optional, such as Figure 3 As shown, the inner wall surface of the first mounting shell 125 is provided with a first fixing portion 128 , and the first fixing portion 128 is used to mount the first component.

[0099] Optionally, the first fixing portion 128 and the first mounting shell 125 can be an integrated structure, or the first fixing portion 128 and the first mounting shell 125 can be a split structure, and the first fixing portion 128 and the first mounting shell 125 are connected and fixed by welding, riveting, clamping, screwing, etc., without specific limitation.

[0100] Optionally, the shape of the first fixing portion 128 can be square, circular, trapezoidal, regular polygonal, etc., without specific limitation.

[0101] Optionally, the first device and the first fixing portion 128 may be connected by welding, riveting, clamping, screwing, magnetic connection, etc., without specific limitation.

[0102] In one embodiment, the first device is a speaker, and there are two speakers. There are also two first fixing parts 128, which are arranged at intervals in the X direction and are both connected to the first mounting shell 125, and each first fixing part 128 is equipped with a speaker, which can expand the coverage of the speaker and improve the user experience.

[0103] Optionally, the first shell 12 is provided with a sound expansion hole 129 at corresponding positions of the first fixing portion 128 and the speaker to facilitate the expansion of the sound of the speaker.

[0104] The inner wall surface of the first mounting shell 125 is provided with a first fixing portion 128, and the first fixing portion 128 is used to install the first device. The first device is connected and fixed to the first shell 12, and the accommodation space 11 is reasonably utilized. During the disassembly and assembly of the first shell 12 and the second shell 13, the first device does not require additional support, which can simplify the structure and facilitate disassembly and assembly.

[0105] Optional, such as Figure 6 As shown, the second shell 13 includes a third mounting shell 134 and a fourth mounting shell 135, the fourth mounting shell 135 is connected to the third mounting shell 134 in the Y direction, the third mounting shell 134 is connected to the first shell 12, the fourth mounting shell 135 is provided with a first mounting hole 136 and a second mounting hole 137 at intervals, the first mounting hole 136 and the second mounting hole 137 are both used to install the second device, and the fourth mounting shell 135 is used to form the face of the humanoid robot, the third mounting shell 134 and the fourth mounting shell 135 jointly enclose the second receiving space 112, and the first receiving space 111 and the second receiving space 112 together constitute the receiving space 11.

[0106] Optionally, the second housing 13 is an integrated structure, that is, the second housing 13 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The second housing 13 can also be a split structure, and the third mounting shell 134 and the fourth mounting shell 135 are connected and fixed by welding, riveting, clamping, screwing, etc.

[0107] Optionally, the third mounting shell 134 includes a third edge 131 and a fourth edge 132, and the second housing 13 is connected to the first housing 12 via the third mounting shell 134. The fourth mounting shell 135 is connected to the side of the third mounting shell 134 facing away from the first housing 12 in the Y direction.

[0108] Optionally, the shapes and sizes of the first mounting hole 136 and the second mounting hole 137 are not specifically limited. The shapes of the first mounting hole 136 and the second mounting hole 137 can be circular, square, polygonal, irregular, etc. The shapes and sizes of the first mounting hole 136 and the second mounting hole 137 can be the same or different, and are not specifically limited.

[0109] Optionally, when the first shell 12 is connected to the second shell 13 , the second device can be completely contained in the second containing space 112 , or the second device is connected to the second shell 13 and extends from the second containing space 112 to the first containing space 111 , that is, the second device is contained in the containing space 11 .

[0110] Optionally, the second device includes a binocular camera and a display screen. The first mounting hole 136 is closer to the top of the humanoid robot in the Z direction than the second mounting hole 137. The first mounting hole 136 is used to install the binocular camera, which is set to imitate the eye part of a humanoid and has a good humanoid effect. The second mounting hole 137 is used to install the display screen, which is relatively low in height and convenient for users to use. Optionally, as Figure 7 As shown, the second device also includes a control module (not shown in the figure) and a voice module (not shown in the figure), and the third mounting shell 134 is also provided with a third fixing portion 138 and a fourth fixing portion 139 at intervals on one side of the first shell 12 in the Z direction, the third fixing portion 138 is used to install the control module, and the fourth fixing portion 139 is used to install the voice module. With such a configuration, the receiving space 11 can be reasonably utilized, and during the disassembly and assembly process of the first shell 12 and the second shell 13, the second device does not need additional support, which can simplify the structure and facilitate disassembly and assembly.

[0111] By setting the second shell 13 to include a third mounting shell 134 and a fourth mounting shell 135 connected in the Y direction, the third mounting shell 134 is connected to the first shell 12, and the fourth mounting shell 135 is provided with a first mounting hole 136 and a second mounting hole 137. The second device is connected and fixed to the first mounting hole 136 and the second mounting hole 137, and the accommodating space 11 is reasonably utilized. During the disassembly and assembly of the first shell 12 and the second shell 13, the second device does not require additional support, which can simplify the structure and facilitate disassembly and assembly.

[0112] In the head assembly 100 provided in the embodiment of the present application, the first component is connected to the first shell 12, and the second component is connected to the second shell 13. By providing the first component, the second component and the head shell 10, the first component and the second component are accommodated in the accommodating space 11 of the head shell 10, and are both connected to the head shell 10, the internal space of the head shell 10 can be fully utilized to improve the space utilization rate, and the first component and the second component do not need an additional supporting structure, and are easy to assemble.

[0113] Optional, such as Figure 6 As shown, the third mounting shell 134 is provided with a plurality of heat dissipation holes 1341 at intervals, and the heat dissipation holes 1341 are used to dissipate heat for the first component and the second component.

[0114] Optionally, the shape and number of the heat dissipation holes 1341 are not limited. Optionally, the shape of the heat dissipation holes 1341 can be circular, square, polygonal, irregular, etc., and multiple heat dissipation holes 1341 are opened on two opposite sides of the third mounting shell 134 in the X direction or the Y direction, and / or, multiple heat dissipation holes 1341 are opened on the same side of the third mounting shell 134 in the X direction or the Y direction, and there is no specific limitation.

[0115] In one embodiment, there are two heat dissipation holes 1341 , which are respectively opened on two opposite sides of the third mounting shell 134 in the X direction to facilitate ventilation and heat dissipation.

[0116] By providing the third mounting shell 134 with a heat dissipation hole 1341, the gas in the accommodating space 11 can exchange gas with the outside through the heat dissipation hole 1341 to achieve heat dissipation for the first component and the second component, which can effectively reduce the internal temperature of the head shell 10, make the working environment temperature of the first component and the second component more suitable and stable, and improve safety performance.

[0117] Optional, such as Figure 2 and Figure 6 As shown, the head shell 10 further includes a third shell 14 , which is connected to the fourth mounting shell 135 and is used to cover the first mounting hole 136 and the second mounting hole 137 .

[0118] Optionally, the third shell 14 and the fourth mounting shell 135 may be connected in a manner of bonding, snapping, screwing, magnetic attraction, etc., which is not specifically limited.

[0119] Optionally, the third shell 14 completely blocks the fourth mounting shell 135 in the Y direction, or the third shell 14 blocks at least part of the third shell 14, and the third shell 14 blocks the first mounting hole 136 and the second mounting hole 137. This arrangement can, on the one hand, prevent bumps and dust from entering the interior of the head shell 10 through the first mounting hole 136 and the second mounting hole 137, and on the other hand, improve the aesthetics and make the head shell 10 more anthropomorphic.

[0120] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0121] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A head shell, characterized in that: For humanoid robots, including: A first shell, the first shell comprising a mounting platform and a mounting shell, the mounting platform is used to connect with the neck assembly, the mounting shell is connected to the outer peripheral surface of the mounting platform, the mounting shell comprises a first edge and a second edge, the first edge and the second edge are connected in a ring shape; A second shell is detachably connected to the first shell, the second shell comprises a third edge and a fourth edge, the third edge is connected to the fourth edge in a ring shape, the third edge is opposite to and in contact with the first edge in a first direction, and the fourth edge is opposite to and in contact with the second edge in a second direction; The side of the first shell facing away from the second shell in the first direction is used to connect with the neck assembly; the first shell and the second shell enclose a receiving space, the receiving space is used to receive the first component and the second component of the head assembly, the first shell is used to install the first component, the second shell is used to install the second component, the first direction is the up-down direction of the humanoid robot, and the second direction is the front-back direction of the humanoid robot; The installation shell and the installation platform jointly enclose a first receiving space, the first receiving space is used to receive the first component, and the installation shell is used to install the first component; The mounting platform includes a first cylinder, a second cylinder and a first reinforcing rib, the mounting shell is connected to the outer circumferential surface of the second cylinder, the first cylinder is accommodated in the first accommodating space and connected to the second cylinder, and in the orthographic projection of the first direction, the first cylinder is located in the second cylinder, and the first reinforcing rib connects the outer circumferential surface of the first cylinder and the surface of the second cylinder facing the second shell; The mounting shell includes a first mounting shell and a second mounting shell, the second mounting shell is connected to the first mounting shell, and the second mounting shell protrudes from the side of the first mounting shell facing away from the second shell in the first direction; the first shell also includes a second reinforcing rib, the second reinforcing rib is connected to the outer peripheral surface of the second cylinder and the mounting shell, and extends along the inner wall surface of the first accommodating space.

2. The head shell according to claim 1, characterized in that: In the orthographic projection in the third direction, the first edge and the second edge are both linear, and the first edge and the second edge have an included angle A, satisfying: 90°<A≤150°, and the third direction is the left-right direction of the humanoid robot.

3. The head shell according to claim 1, characterized in that: The first edge is smoothly connected to the second edge.

4. The head shell according to claim 2, characterized in that: In the orthographic projection of the third direction, the first edge has an angle with the second direction, and an end of the first edge away from the second edge is closer to the second shell than the second edge, and / or the second edge has an angle with the first direction, and in the second direction, an end of the second edge connected to the first edge is closer to the first edge than an end of the second edge away from the second shell.

5. The head shell according to claim 1, characterized in that: The inner wall surface of the first installation shell is provided with a first fixing portion, and the first fixing portion is used to install the first component.

6. The head shell according to claim 1, characterized in that: The second shell includes a third mounting shell and a fourth mounting shell, the fourth mounting shell is connected to the third mounting shell in the second direction, the third mounting shell is connected to the first shell, the fourth mounting shell is provided with a first mounting hole and a second mounting hole spaced apart, the first mounting hole and the second mounting hole are both used to install the second device, and the fourth mounting shell is used to form the face of the humanoid robot.

7. The head shell according to claim 6, characterized in that: The third mounting shell is provided with a plurality of heat dissipation holes at intervals, and the heat dissipation holes are used to dissipate heat for the first component and the second component.

8. The head shell according to claim 6, characterized in that: The head shell further includes a third shell, which is connected to a side of the fourth mounting shell facing away from the third mounting shell and is used to shield the first mounting hole and the second mounting hole.

9. A head assembly, characterized in that: It includes a first component, a second component and a head shell as described in any one of claims 1 to 8, the first shell and the second shell enclose a receiving space, the first component and the second component are received in the receiving space, the first component is connected to the first shell, and the second component is connected to the second shell.

10. A humanoid robot, characterized in that: It comprises a neck assembly and the head assembly as claimed in claim 9, wherein the first shell of the head assembly is connected to the neck assembly.

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