Head assembly and humanoid robot

Abstract

A head assembly and a humanoid robot, the head assembly is used for the humanoid robot, the head assembly includes a head shell and a control module, the head shell has a receiving space, the head shell is provided with two heat dissipation holes, the two heat dissipation holes are connected to the receiving space and are opposite in a first direction; the control module is received in the receiving space, the control module corresponds to the two heat dissipation holes in the first direction, and has a gap with at least part of the head shell; wherein the control module includes a support frame, a first heat dissipation element and a plurality of control units, the first heat dissipation element and the plurality of control units are sequentially arranged along a second direction and are all connected to the support frame, the control module has an air flow channel running through the first direction; the first direction is the left-right direction of the humanoid robot, and the second direction is the front-back direction of the humanoid robot. The control module of the head assembly in the present application has a high degree of integration, good heat dissipation effect, and a stable temperature of the working environment.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to 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 assembly of an existing humanoid robot is provided with a plurality of heat generating components. When the components are working, the heat generated by the components accumulates and causes the working environment temperature to rise, thus affecting the operation of the components. Summary of the invention

[0004] The purpose of the present application is to provide a head assembly and a humanoid robot, which can improve the heat dissipation effect of the head assembly.

[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 assembly for a humanoid robot, the head assembly comprising a head shell and a control module, the head shell having a receiving space, the head shell being provided with two heat dissipation holes, the two heat dissipation holes being connected to the receiving space and being opposite to each other in a first direction; the control module being received in the receiving space, the control module corresponding to the two heat dissipation holes in the first direction, and having a gap with at least a portion of the head shell; wherein the control module comprises a support frame, a first heat dissipation element and a plurality of control units, the support frame being connected and fixed to the head shell, the first heat dissipation element and the plurality of control units being arranged in sequence along a second direction and being connected to the support frame, the control module having an air flow channel running through the first direction; the first direction is the left-right direction of the humanoid robot, and the second direction is the front-back direction of the humanoid robot.

[0007] The head assembly in the embodiment of the present application is provided with a head shell and a control module, and the first heat sink of the control module and multiple control units are arranged on the support frame in sequence along the second direction, and the control module has a high degree of integration; the head shell is provided with two heat dissipation holes opposite to each other in the first direction, the control module corresponds to the two heat dissipation holes in the first direction, and the control module has an air flow channel running through the first direction, the first heat sink is used to accelerate the flow of gas in the first channel and the containing space, and dissipate heat to the outer surface of the control module and the control unit, and the heat generated by the control module can be promptly carried away by the flowing gas, the heat dissipation effect is good, and the temperature of the working environment is stable.

[0008] In one embodiment, the support frame includes a first plate and a second plate, the first plate and the second plate are arranged opposite to each other and spaced apart in the second direction, and the second plate is closer to the face of the humanoid robot than the first plate, the airflow channel includes a first channel, and the first channel is formed between the first plate and the second plate; the first heat sink is arranged on the side of the first plate facing away from the second plate, and the multiple control units are arranged on the first plate and / or the second plate. By arranging the first plate and the second plate opposite to each other and spaced apart in the second direction, and the multiple control units are arranged on the first plate and / or the second plate, the support frame can provide different installation positions, so that the multiple control units can be connected and fixed to the support frame respectively, and the multiple control units will not affect each other, which is convenient for disassembly and assembly.

[0009] In one embodiment, the plurality of control units include a voice control unit, at least part of which is accommodated in the first channel and connected to the second plate, and the voice control unit is spaced apart from the first plate; the first plate is provided with a first hole, the first hole is connected to the first channel, and at least part of the voice control unit is opposite to the first hole. By arranging that at least part of the voice control unit is accommodated in the first channel and spaced apart from the first plate, and at least part of the voice control unit is opposite to the first hole, the voice control unit is arranged close to the voice module described below, which facilitates the electrical connection between the voice control unit and the voice module, and also facilitates the airflow to flow along the first hole and the first channel to take away the heat generated when the voice control unit is working, and the heat dissipation effect is better.

[0010] In one embodiment, the multiple control units also include a camera control unit, the camera control unit is connected to the side of the first plate facing away from the second plate, the air flow channel also includes a second channel, a gap is formed between the camera control unit and the first plate to form the second channel, the first hole connects the first channel and the second channel; the first heat sink is in contact with the side of the camera control unit facing away from the second plate, and the air outlet direction of the first heat sink is facing away from the camera control unit. By setting multiple control units also including a camera control unit, the camera control unit is connected to the first plate and forms a second channel with the first plate, so as to facilitate airflow and diffusion of heat generated during operation; the first heat sink is in contact with the camera control unit, and the heat generated by the camera control unit during operation can be dissipated in time through the first heat sink to avoid heat accumulation and affect the normal operation of the camera control unit.

[0011] In one embodiment, the multiple control units further include a display control unit and a speaker control unit, and the display control unit and the speaker control unit are both connected to the side of the second board facing away from the first board, and the speaker control unit is closer to the second board than the display control unit, and there is a gap between the speaker control unit and the second board, and / or between the speaker control unit and the display control unit. By setting the multiple control units to also include a display control unit and a speaker control unit, both of which are arranged on the side of the second board facing away from the first board, close to the face of the humanoid robot, it is convenient to realize the electrical connection between the display control unit and the speaker control unit and the speaker and display of the head component below, shortening the wiring distance; and there is a gap between at least two of the display control unit, the speaker control unit and the second board, which facilitates airflow to carry away the heat generated during work, and the heat dissipation effect is good.

[0012] In one embodiment, the control module further includes a second heat sink, which is disposed on a side of the second plate facing away from the first plate, and is connected to the display control unit and / or the speaker control unit. By configuring the head assembly to also include a second heat sink, the heat generated by the display control unit and / or the speaker control unit during operation can be dissipated in time through the second heat sink, thereby avoiding heat accumulation and affecting the normal operation of the display control unit and / or the speaker control unit.

[0013] In one embodiment, the support frame further includes a third plate, the third plate connects one end of the first plate and the second plate on the same side in the third direction, the third plate is provided with a third hole, and the third hole is connected to the first channel; the head assembly further includes a wireless signal module, the wireless signal module is connected to the side of the third plate facing away from the first plate and the second plate, and at least part of the wireless signal module corresponds to the third hole in the third direction, and the third direction is the up and down direction of the humanoid robot. The wireless signal module is arranged on the side of the third plate of the support frame facing away from the first plate and the second plate to avoid interference between the wireless model module and the voice module fixed on the top of the head shell. The wireless signal module is connected to the support frame and does not interfere with other control units of the control module, so it is easy to disassemble and assemble.

[0014] In one embodiment, the support frame further includes a fourth plate that is opposite to and spaced from the third plate in the third direction, the fourth plate connects the first plate and the second plate at one end away from the third plate in the third direction, and the fourth plate is used to connect to the head shell, the fourth plate is provided with a fourth hole, and the fourth hole is connected to the first channel. The support frame further includes a fourth plate that is opposite to and spaced from the third plate in the third direction. On the one hand, more installation positions can be provided to install the control unit, and on the other hand, the structural strength of the support frame can be increased. The support frame is in the shape of an "I" in the orthographic projection in the first direction, and has a stable structure and good load-bearing capacity. The fourth plate is provided with a fourth hole to facilitate airflow to flow between the fourth hole and the airflow channel, thereby improving the heat dissipation effect.

[0015] In one embodiment, the head shell includes a first shell and a second shell that are detachably connected, the first shell and the second shell enclose the receiving space, the first shell is used to connect with the neck assembly, and the second shell is provided with a fixing portion on the inner wall surface facing the first shell, and the fixing portion is connected to the fourth plate. In this way, the control module can be installed and fixed to the second shell without an additional supporting structure, and can be separated along with the separation of the first shell and the second shell, which is convenient for disassembly and maintenance.

[0016] In one embodiment, the head assembly further includes a voice module, the voice module is accommodated in the accommodation space, the voice control unit is electrically connected to the voice module, and the voice module is spaced apart from the fourth plate; the second shell is further provided with a first mounting portion on the inner wall surface facing the first shell, the first mounting portion is used to mount the voice module, and the first mounting portion is spaced apart from the fixing portion. With such an arrangement, the accommodation space can be reasonably utilized, and during the disassembly and assembly of the first shell and the second shell, the voice module does not require additional support, and the structure can be simplified for easy disassembly and assembly; in addition, the connection line between the voice module and the voice control unit is accommodated in the fourth hole provided in the fourth plate for easy wiring, and the voice module is spaced apart from the fourth plate for easy airflow and heat dissipation.

[0017] In one embodiment, the second shell includes a first mounting shell and a second mounting shell connected in the second direction, the fixing portion and the first mounting portion are both connected to the first mounting shell, and the second mounting shell is used to form the face of the humanoid robot. The fixing portion and the first mounting portion are both connected to the first mounting shell, and the control module and the voice module do not require additional support, which is convenient for disassembly and assembly. The second mounting shell is used to form the face of the humanoid robot, and the humanoid effect is good.

[0018] In one embodiment, the second mounting shell is provided with a first mounting hole and a second mounting hole at intervals, the head assembly further includes a camera and a display, the camera and the display are both accommodated in the accommodation space, the camera control unit is electrically connected to the camera, the display control unit is electrically connected to the display, and the second mounting hole is used to install the display. The first mounting hole is provided for installing the camera, and is arranged in the shape of the eye part of a human figure, so as to achieve a good human-like effect. The second mounting hole is used for installing the display, and has a relatively low height, which is convenient for users to use, and can also reasonably utilize the accommodation space. During the disassembly and assembly process of the first shell and the second shell, the camera and the display do not require additional support, which can simplify the structure and facilitate disassembly and assembly.

[0019] In one embodiment, the inner wall surface of the first shell in the first direction is provided with a second mounting portion, the head assembly further includes a speaker, the speaker is accommodated in the accommodation space, and the speaker control unit is electrically connected to the speaker, and the second mounting portion is used to mount the speaker. The speaker is connected and fixed to the second mounting portion, and the accommodation space is reasonably utilized. During the disassembly and assembly process of the first shell and the second shell, the speaker does not require additional support, which can simplify the structure and facilitate disassembly and assembly.

[0020] In a second aspect, the present application further provides a humanoid robot, comprising a neck assembly and a head assembly as described in any one of the various embodiments of the first aspect, wherein the first shell of the head assembly is connected to the neck assembly. By providing a unique head assembly, the heat dissipation effect of the head assembly is good. 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 side view of a head assembly of one embodiment;

[0023] Figure 2 is a three-dimensional diagram of a control module of an embodiment;

[0024] Figure 3 is a three-dimensional diagram of a support frame of an embodiment;

[0025] Figure 4 is a side view of a portion of a head assembly of one embodiment;

[0026] Figure 5 is a perspective 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, 12-first shell, 121-first edge, 122-second edge, 123-second mounting portion, 124-sound expansion hole, 13-second shell, 131-third edge, 132-fourth edge, 133-heat dissipation hole, 134-first mounting shell, 135-second mounting shell, 136-first mounting hole, 137-second mounting hole, 138-fixing portion, 139-first mounting portion;

[0032] 20-control module, 21-support frame, 211-first plate, 212-second plate, 213-air flow channel, 2131-first channel, 2132-second channel, 214-third plate, 215-fourth plate, 2151-fixing hole, 216-first hole, 217-second hole, 218-fourth hole, 22-first heat sink, 23-control unit, 231-voice control unit, 232-camera control unit, 233-display control unit, 234-speaker control unit, 24-second heat sink;

[0033] 31- voice module, 32- camera, 33- speaker, 34- display, 35- wireless signal module;

[0034] X-the left and right direction of the humanoid robot, Y-the front and back direction of the humanoid robot, and Z-the up and down direction of the humanoid robot. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] Please refer to Figure 1 An embodiment of the present application provides a humanoid robot, including a neck assembly (not shown in the figure) and a head assembly 100 in the embodiment of the present application, and a head shell 10 of the head assembly 100 is connected to the neck assembly.

[0040] 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.

[0041] 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.

[0042] In the embodiment of the present application, by providing a unique head assembly 100, the heat dissipation effect of the head assembly 100 is good and the working environment is stable.

[0043] The head assembly 100 in the embodiment of the present application is described in detail below.

[0044] 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 X direction, the second direction is the Y direction, and the third direction is the Z direction.

[0045] Please refer to Figure 1 and Figure 2The embodiment of the present application also provides a head assembly 100 for a humanoid robot. The head assembly 100 also includes a head shell 10 and a control module 20. The head shell 10 has a receiving space 11. The head shell 10 is provided with two heat dissipation holes 133. The two heat dissipation holes 133 are both connected to the receiving space 11 and are opposite to each other in the X direction. The control module 20 is received in the receiving space 11 and corresponds to the two heat dissipation holes 133 in the X direction. The control module 20 includes a support frame 21, a first heat dissipation element 22 and a plurality of control units 23. The first heat dissipation element 22 and the plurality of control units are sequentially arranged along the Y direction and are all connected to the support frame 21. The control module 20 has an airflow channel 213 that runs through along the X direction.

[0046] Optional, such as Figure 5 and Figure 6 As shown, the head housing 10 includes 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.

[0047] 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.

[0048] Optionally, the side of the first shell 12 facing away from the second shell 13 in the Z direction is used to connect to the neck assembly. The first shell 12 and the neck assembly can be directly connected or indirectly connected, without specific limitation. The first shell 12 and the neck assembly can be rotatably connected or fixedly connected, without specific limitation. The first shell 12 and the second shell 13 enclose a receiving space 11, and the receiving space 11 is used to accommodate the control module 20 of the head assembly 100. In one embodiment, the second shell 13 is used to install the control module 20.

[0049] Optionally, both heat dissipation holes 133 are formed in the second housing 13 , and in the orthographic projection along the X direction, the heat dissipation module blocks at least a portion of the heat dissipation holes 133 . Optionally, the airflow channel 213 is opposite to at least a portion of the heat dissipation holes 133 .

[0050] In one embodiment, the head shell 10 is provided with a plurality of heat dissipation holes 133, all of which are connected to the receiving space 11, and at least two of the plurality of heat dissipation holes 133 are opposite in the X direction, and the control module 20 corresponds to at least two of the plurality of heat dissipation holes 133 in the X direction. The number of the heat dissipation holes 133 can be 3, 4, 5, 6, etc., and is not specifically limited.

[0051] Optionally, the support frame 21 can be an integrated structure, that is, the support frame 21 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The support frame 21 can also be a split structure, and the various parts of the support frame 21 are connected and fixed by welding, riveting, clamping, screwing, etc. The first heat sink 22 and the multiple control units 23 can be connected to the support frame 21 by clamping, bonding, screwing, magnetic suction connection, etc., without specific limitation.

[0052] Optionally, there is a gap between the first heat sink 22 and the multiple control units 23 along the Y direction, or the first heat sink 22 and at least one of the multiple control units 23, and / or some of the multiple control units 23 are connected to each other, but there is a gap between the first heat sink 22 and the control unit 23 or between at least two of the multiple control units 23 to form an airflow channel 213 to facilitate gas flow and heat dissipation.

[0053] Optionally, the first heat sink 22 may be a heat sink commonly used in the art, and is not specifically limited. In one embodiment, the first heat sink 22 includes a fan and heat sink fins, and the heat sink fins are in contact with the control unit.

[0054] The head assembly 100 in the embodiment of the present application is provided with a head shell 10 and a control module 20. The first heat sink 22 and multiple control units 23 of the control module 20 are sequentially arranged on the support frame 21 along the Y direction, and the control module 20 has a high degree of integration; the head shell 10 is provided with two heat dissipation holes 133 opposite to each other in the X direction, the control module 20 corresponds to the two heat dissipation holes 133 in the X direction, and the control module 20 has an air flow channel 213 running through the X direction. The first heat sink 22 is used to accelerate the flow of gas in the air flow channel 213 and the receiving space 11. The heat generated by the control module 20 can be taken away by the flowing gas in time, the heat dissipation effect is good, and the temperature of the working environment is stable.

[0055] Optional, such as Figure 2 and Figure 3As shown, the support frame 21 includes a first plate 211 and a second plate 212, the first plate 211 and the second plate 212 are opposite to each other and spaced apart in the Y direction, and the second plate 212 is closer to the face of the humanoid robot than the first plate 211, the air flow channel 213 includes a first channel 2131, and the first channel 2131 is formed between the first plate 211 and the second plate 212; the first heat sink 22 is arranged on the side of the first plate 211 facing away from the second plate 212, and a plurality of control units 23 are arranged on the first plate 211 and / or the second plate 212.

[0056] Optionally, the shapes of the first plate 211 and the second plate 212 can be square, rectangular, trapezoidal, irregular, etc., without limitation. The shapes and sizes of the first plate 211 and the second plate 212 can be the same or different, without limitation. In one embodiment, the shapes and sizes of the first plate 211 and the second plate 212 are substantially the same.

[0057] Optionally, multiple control units 23 can be arranged on the side of the first plate 211 facing the first heat sink 22 (i.e., the side of the first plate 211 facing the second plate 212), and / or the side of the first plate 211 facing the second plate 212, and / or the side of the second plate 212 facing the first plate 211, and / or the side of the second plate 212 facing the first plate 211, without specific limitation.

[0058] By setting a first plate 211 and a second plate 212 that are opposite to each other and spaced apart in the Y direction, multiple control units 23 are set on the first plate 211 and / or the second plate 212, and the support frame 21 can provide different installation positions, so that the multiple control units 23 are conveniently connected and fixed to the support frame 21 respectively. The multiple control units 23 will not affect each other, which is convenient for disassembly and assembly, and different control units 23 are separated by the support frame 21 to reduce heat accumulation.

[0059] Optional, such as Figure 4 As shown, the plurality of control units 23 include a voice control unit 231, at least a portion of which is received in the first channel 2131 and connected to the second plate 212, and a gap is formed between the voice control unit 231 and the first plate 211. The first plate 211 is provided with a first hole 216, the first hole 216 is communicated with the first channel 2131, and at least a portion of the voice control unit 231 is opposite to the first hole 216.

[0060] Optionally, the voice control unit 231 and the side of the second plate 212 facing the first plate 211 may be connected by snap connection, bonding, screw connection, magnetic connection, etc., without specific limitation.

[0061] Optionally, the voice control unit 231 is a device or system that converts voice commands into control signals recognizable by electronic devices. The voice control unit 231 may include a core processing chip, an audio processing module, a voice recognition chip, a communication interface, etc. The various parts of the voice control unit 231 are integrated into one and connected to the second board 212.

[0062] Optionally, at least part of the voice control unit 231 is accommodated in the first channel 2131, and the voice control unit 231 is spaced apart from the first plate 211, so that airflow can flow to remove the heat generated by the voice control unit 231 when it is working, and the heat dissipation effect is good. In one embodiment, the second plate 212 is provided with a second hole 217, part of the voice control unit 231 is connected to the second hole 217, and the rest of the voice control unit 231 is accommodated in the first channel 2131, which can save the space in the first channel 2131 occupied by the voice control unit 231 and facilitate gas circulation for heat dissipation.

[0063] By setting up multiple control units 23 including a voice control unit 231, at least a portion of the voice control unit 231 is accommodated in the first channel 2131 and is spaced from the first plate 211, and at least a portion of the voice control unit 231 is opposite to the first hole 216, so that airflow can flow along the first hole 216 and the first channel 2131 to take away the heat generated when the voice control unit 231 is working, and the heat dissipation effect is better.

[0064] Optional, such as Figure 3 and Figure 4 As shown, the multiple control units 23 also include a camera control unit 232, which is connected to the side of the first plate 211 facing away from the second plate 212, the air flow channel 213 also includes a second channel 2132, a gap is formed between the camera control unit 232 and the first plate 211 to form the second channel 2132, and the first hole 216 connects the first channel 2131 and the second channel 2132; the first heat sink 22 is in contact with the side of the camera control unit 232 facing away from the second plate 212, and the air outlet direction of the first heat sink 22 faces away from the camera control unit 232. Optionally, the camera control unit 232 and the side of the first plate 211 facing away from the second plate 212 can be connected by snap connection, bonding, screw connection, magnetic connection, etc., which are not specifically limited.

[0065] Optionally, the camera control unit 232 includes a core processing chip, a signal processing module, a power drive module, a communication interface, etc. The various parts of the camera control unit 232 are integrated into one body and connected to the first board 211. The first heat sink 22 is arranged on the side of the camera control unit 232 facing away from the first board 211, and a second channel 2132 is formed between the camera control unit 232 and the first board 211, which facilitates airflow to take away the heat generated by the camera control unit 232 when working, and has a good heat dissipation effect.

[0066] Optionally, the main functions of the camera control unit 232 include automatic exposure control (automatically adjusting the exposure of the camera according to changes in ambient light to ensure that the brightness and contrast of the captured image are moderate), white balance adjustment (by adjusting the internal color balance of the camera to eliminate the influence of ambient light on the color of the captured image, so that the captured image color is more realistic and natural), focus control (automatically adjusting the focal length and focus position of the camera according to shooting requirements to ensure the clarity and detail of the captured image), video signal transmission, etc. The processing procedure is relatively complicated, and the camera control unit 232 generates a lot of heat when working. Therefore, the camera control unit 232 is set close to the first heat sink 22. The heat generated by the camera control unit 232 when working can be dissipated through the first heat sink 22 in time to avoid heat accumulation and affect the normal operation of the camera control unit 232.

[0067] In one embodiment, the first heat sink 22 and the camera control unit 232 are integrated, that is, the first heat sink 22 and the camera control unit 232 together constitute a small computer for controlling the camera 32, and the first heat sink 22 and the camera control unit 232 can be connected and fixed by bonding, snapping, screwing, magnetic connection, etc., without specific limitation.

[0068] By setting up multiple control units 23, a camera control unit 232 is also included. The camera control unit 232 is connected to the first plate 211, and a second channel 2132 is formed between the camera control unit 232 and the first plate 211 to facilitate air circulation and diffusion of heat generated during operation. The first heat sink 22 is in contact with the camera control unit 232, and the heat generated by the camera control unit 232 during operation can be dissipated in time through the first heat sink 22 to avoid heat accumulation and affect the normal operation of the camera control unit 232.

[0069] Optional, such as Figure 4As shown, the multiple control units 23 also include a display control unit 233 and a speaker control unit 234, and the display control unit 233 and the speaker control unit 234 are both connected to the side of the second plate 212 facing away from the first plate 211, and the speaker control unit 234 is closer to the second plate 212 than the display control unit 233, and there is a gap between the speaker control unit 234 and the second plate 212, and / or between the speaker control unit 234 and the display control unit 233.

[0070] Optionally, the display control unit 233 and the speaker control unit 234 may be connected to the side of the second board 212 facing away from the first board 211 by snap connection, bonding, screw connection, magnetic connection, etc., without specific limitation. The display control unit 233 and the speaker control unit 234 may be two independent control units, or the display control unit 233 and the speaker control unit 234 may be integrated into one, without specific limitation.

[0071] Optionally, the display control unit 233 includes a microprocessor, a programmable logic controller (PLC), a digital signal processor, a memory, a communication interface, etc. The various parts of the display control unit 233 are integrated into one body and connected to the second board 212. There is a gap between the display control unit 233 and the head shell 10, which is convenient for airflow to take away the heat generated when the display control unit 233 is working, and the heat dissipation effect is good.

[0072] Optionally, the speaker control unit 234 includes a power amplifier, a frequency divider, a volume controller, a phase adjuster, etc., and the various parts of the speaker control unit 234 are integrated into one body and connected to the second board 212. There is a gap between the speaker control unit 234 and the head shell 10, which is convenient for airflow to take away the heat generated by the display control unit 233 when working, and the heat dissipation effect is good.

[0073] Optionally, the second board 212, the display control unit 233 and the speaker control unit 234 can be arranged in sequence in the Y direction, and at least there is a gap between them, so that air can flow to take away the heat generated by the display control unit 233 and the speaker control unit 234 when they are working, and the heat dissipation effect is better. In one embodiment, Figure 4 As shown, the second panel 212, the display control unit 233 and the speaker control unit 234 are arranged sequentially and at intervals in the Y direction.

[0074] By setting up multiple control units 23, including a display control unit 233 and a speaker control unit 234, both are arranged on the side of the second plate 212 facing away from the first plate 211, close to the face of the humanoid robot, so as to facilitate the electrical connection between the display control unit 233 and the speaker control unit 234 and the speaker 33 and the display 34 of the head assembly 100, thereby shortening the wiring distance; and there is a gap between at least two of the display control unit 233, the speaker control unit 234 and the second plate 212, so as to facilitate the airflow to take away the heat generated during operation, and the heat dissipation effect is good.

[0075] Optionally, the control module 20 further includes a second heat sink 24 , which is disposed on a side of the second plate 212 facing away from the first plate 211 , and the second heat sink 24 is in contact with the display control unit 233 and / or the speaker control unit 234 .

[0076] Optionally, the second heat sink 24 may be a heat sink commonly used in the art, and is not specifically limited. In one embodiment, the second heat sink 24 includes a fan and heat sink fins, and the heat sink fins are in contact with the control unit.

[0077] In one embodiment, Figure 4 As shown, the second heat sink 24 is arranged between the display control unit 233 and the speaker control unit 234 in the Y direction, the second heat sink 24 is in contact with the display control unit 233 and the speaker control unit 234, and the second heat sink 24, the display control unit 233 and the speaker control unit 234 are integrated, that is, the second heat sink 24, the display control unit 233 and the speaker control unit 234 together constitute a small computer for controlling the display 34 and the speaker 33, and the three can be connected and fixed by bonding, snapping, screwing, magnetic connection, etc., without specific limitation.

[0078] By setting the control module 20 to also include a second heat sink 24, the second heat sink 24 is arranged on the side of the second plate 212 facing away from the first plate 211, and the second heat sink 24 is in contact with the display control unit 233 and / or the speaker control unit 234. The heat generated during operation can be dissipated in time through the second heat sink 24 to avoid heat accumulation and affect the normal operation of the display control unit 233 and / or the speaker control unit 234.

[0079] Optional, such as Figure 3 and Figure 4As shown, the support frame 21 further includes a third plate 214, the third plate 214 connects the first plate 211 and the second plate 212 at one end on the same side in the Z direction, and the third plate 214 is provided with a third hole (not shown in the figure), and the third hole is connected to the first channel 2131. The head assembly 100 further includes a wireless signal module 35, the wireless signal module 35 is connected to a side of the third plate 214 facing away from the first plate 211 and the second plate 212, and at least a portion of the wireless signal module 35 corresponds to the third hole in the Z direction.

[0080] Optionally, the wireless signal module 35 can be a WiFi module, a Bluetooth module, etc. commonly used in the art, and there is no specific limitation. The wireless signal module 35 can be connected to the third plate 214 by a snap connection, bonding, screw connection, magnetic connection, etc., and there is no specific limitation. The wireless signal module 35 can be connected to the surface of the third plate 214 facing away from the first plate 211 and the second plate 212, or the wireless signal module 35 and the third plate 214 are spaced apart.

[0081] Optionally, the wireless signal module 35 and the third hole may be directly opposite in the Z direction, or part of the wireless signal module 35 and the third hole may be opposite in the Z direction, or the wireless signal module 35 and part of the third hole may be opposite in the Z direction, without specific limitation.

[0082] By setting the wireless signal module 35 on the third plate 214 of the support frame 21, which is facing away from the first plate 211 and the second plate 212, interference between the wireless model module and the voice module 31 fixed on the top of the head shell 10 is avoided. The wireless signal module 35 is connected to the support frame 21 and does not interfere with other control units of the control module 20, which is convenient for disassembly and assembly.

[0083] Optional, such as Figure 3 As shown, the support frame 21 also includes a fourth plate 215 that is opposite to and spaced from the third plate 214 in the Z direction, the fourth plate 215 connects the first plate 211 and the second plate 212 at one end away from the third plate 214 in the Z direction, and the fourth plate 215 is used to connect to the head shell 10, and the fourth plate 215 is provided with a fourth hole 218, which is connected to the first channel.

[0084] Optionally, the support frame 21 can be an integrated structure or a split structure, and the first plate 211, the second plate 212, the third plate 214 and the fourth plate 215 are connected and fixed by welding, riveting, clamping, screwing, etc., without specific limitation.

[0085] Optionally, a control unit may be provided on the side of the fourth plate 215 facing toward or away from the third plate 214, and the control unit and the fourth plate 215 may be connected by snapping, bonding, screwing, magnetic attraction, etc., without specific limitation.

[0086] Optionally, the fourth plate 215 is provided with a card slot and a wiring hole for accommodating the connection wires between the control unit 23 and each module. By setting the support frame 21 to also include a fourth plate 215 that is opposite to and spaced from the third plate 214 in the Z direction, on the one hand, more installation positions can be provided to install the control unit, and on the other hand, the structural strength of the support frame 21 can be increased. The support frame 21 is in the shape of an "I" in the orthographic projection in the X direction, with a stable structure and good load-bearing capacity; the fourth plate 215 is provided with a fourth hole 218, which facilitates the airflow to flow between the fourth hole 218 and the airflow channel 213, thereby improving the heat dissipation effect.

[0087] Optionally, the shapes of the first hole 216, the second hole 217, the third hole and the fourth hole 218 can be square, rectangular, circular, trapezoidal, polygonal, etc., without limitation. The shapes and sizes of the first hole 216, the second hole 217, the third hole and the fourth hole 218 can be the same or different, without limitation.

[0088] Optionally, the first hole 216 connects the first channel 2131 and the second channel 2132, and the first hole 216 and the second hole 217 can be partially oppositely arranged in the Y direction, or can be directly arranged, without specific limitation. The third hole and the fourth hole 218 can be partially oppositely arranged in the Z direction, or can be directly arranged, without specific limitation. The space between the third hole and the fourth hole 218 forms a third channel, and the third channel extends along the Z direction.

[0089] By setting the first hole 216, the second hole 217, the third hole and the fourth hole 218, and the first hole 216, the second hole 217, the third hole and the fourth hole 218 are connected to the air flow channel 213, the air flow is convenient to carry away the heat generated when the control unit is working, and the heat dissipation effect is good.

[0090] Optionally, the accommodation space 11 is used to accommodate the control module 20 , the voice module 31 , the camera 32 , the speaker 33 , the display 34 , the first heat sink 22 and the second heat sink 24 .

[0091] Optionally, a fixing portion 138 is provided on the inner wall surface of the second shell 13 facing the first shell 12, and the control module 20 and the fixing portion 138 can be connected by bonding, snap-on, screw connection, magnetic connection, etc., without specific limitation. In one embodiment, the fourth plate 215 of the support frame 21 is provided with a fixing hole 2151, and the fixing hole 2151 is connected with the fixing portion 138 to connect and fix the control module 20 to the second shell 13. Optionally, the fixing portion 138 can be one or more, and the number of the fixing holes 2151 can correspond to the fixing portion 138, without specific limitation.

[0092] The head shell 10 includes a first shell 12 and a second shell 13 that are detachably connected. The first shell 12 is used to connect to the neck assembly, and the fixing portion 138 of the second shell 13 is used to install the control module 20. The control module 20 does not require an additional supporting structure and can be separated along with the separation of the first shell 12 and the second shell 13, so as to facilitate disassembly, assembly and maintenance.

[0093] Optional, such as Figure 4 As shown, the head assembly 100 also includes a voice module 31 , which is accommodated in the accommodating space 11 , the voice control unit 231 is electrically connected to the voice module 31 , and there is a gap between the voice module 31 and the fourth plate 215 .

[0094] Optionally, the voice module 31 can be a microphone commonly used in the art, etc., and is not specifically limited. Optionally, the voice module 31 includes a microphone array formed by multiple microphones to obtain more accurate sound source positioning and better noise suppression effect.

[0095] Optionally, the voice module 31 is accommodated in the accommodating space 11 and is close to the top of the head shell 10. The top of the head shell 10, i.e., the side of the head shell 10 away from the neck assembly of the humanoid robot, is convenient for the voice module 31 to collect external sound signals. The voice control unit 231 and the voice module 31 can be electrically connected by wire or by radio, so as to realize the control of the voice module 31 by the voice control unit 231, without any specific limitation.

[0096] like Figure 7 As shown, a first mounting portion 139 is further provided on the inner wall surface of the second shell 13 facing the first shell 12 . The first mounting portion 139 is used to mount the voice module 31 , and there is a gap between the first mounting portion 139 and the fixing portion 138 .

[0097] Optionally, the shape of the first mounting portion 139 can be square, rectangular, circular, polygonal, etc., corresponding to the shape of the voice module 31, and there is no specific limitation. The first mounting portion 139 and the voice module 31 can be connected by bonding, clamping, screwing, magnetic suction, etc., and there is no specific limitation.

[0098] In one embodiment, there are four fixing portions 138 arranged in a rectangular shape, and the first mounting portion 139 is disposed between the four fixing portions 138 and is spaced apart from the four fixing portions 138 .

[0099] By providing the first mounting portion 139 on the side of the second housing 13 facing the first housing 12, the receiving space 11 can be reasonably utilized. During the disassembly and assembly process of the first housing 12 and the second housing 13, the control module 20 and the voice module 31 do not need additional support, which can simplify the structure and facilitate disassembly and assembly. In addition, the connection line between the voice module 31 and the voice control unit 231 is accommodated in the fourth hole 218 opened in the fourth plate 215, which is convenient for wiring, and the voice module 31 is spaced from the fourth plate 215, which is convenient for airflow and heat dissipation.

[0100] Optional, such as Figure 6 As shown, the second shell 13 includes a first mounting shell 134 and a second mounting shell 135 connected in the Y direction, the fixing portion 138 and the first mounting portion 139 are both connected to the first mounting shell 134, and the second mounting shell 135 is used to form the face of the humanoid robot.

[0101] Optionally, the second housing 13 may be an integrated structure, that is, the second housing 13 is an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The second housing 13 may also be a split structure, and the first mounting shell 134 and the second mounting shell 135 are connected and fixed by welding, riveting, clamping, screwing, etc.

[0102] Optionally, the fixing portion 138 and the first mounting portion 139 and the first mounting shell 134 may be an integrated structure, or may be connected and fixed by welding, riveting, clamping, screwing, etc. With such a configuration, the control module 20 and the voice module 31 do not require additional support, and are easy to disassemble and assemble. The second mounting shell 135 is used to form the face of the humanoid robot, and has a good humanoid effect.

[0103] Optionally, the second mounting shell 135 is provided with a first mounting hole 136 and a second mounting hole 137 at intervals, and the head assembly 100 also includes a camera 32 and a display 34, and the camera 32 and the display 34 are both accommodated in the accommodating space 11, the camera control unit 232 is electrically connected to the camera 32, and the display control unit 233 is electrically connected to the display 34, the first mounting hole 136 is used to install the camera 32, and the second mounting hole 137 is used to install the display 34.

[0104] Optionally, the camera 32 may be a binocular camera 32 commonly used in the art, etc., and is not specifically limited. The binocular camera 32 is arranged on the face of the humanoid robot, and the binocular camera 32 is arranged to imitate the eyes of the human body, and has a high degree of anthropomorphism.

[0105] Optionally, the display 34 is a display element commonly used in the art, and is not specifically limited. The shape of the display 34 can be square, rectangular, circular, trapezoidal, irregular polygonal, etc., and is not limited.

[0106] Optionally, the display 34 is arranged on the face of the humanoid robot, which is convenient for the user to view and operate, and the display control unit 233 is located on the side of the second board 212 facing away from the first board 211, that is, the display control unit 233 is arranged close to the face of the humanoid robot, which is convenient for the display control unit 233 to be connected to the display 34, and the wiring is convenient. The display control unit 233 and the display 34 can be electrically connected by wire or by radio, and the display control unit 233 can control the display 34, and there is no specific limitation.

[0107] Optionally, the first mounting hole 136 is closer to the top of the humanoid robot than the second mounting hole 137 in the Z direction. The first mounting hole 136 is used to mount the camera 32, and is set to imitate the eye part of the humanoid, so as to achieve a good humanoid effect. The second mounting hole 137 is used to mount the display 34, and is relatively low in height, so as to facilitate user use. With such a setting, the receiving space 11 can be reasonably utilized. During the disassembly and assembly process of the first shell 12 and the second shell 13, the camera 32 and the display 34 do not need additional support, so the structure can be simplified and disassembly and assembly are facilitated.

[0108] Optional, such as Figure 5 As shown, the inner wall surface of the first shell 12 in the X direction is provided with a second mounting portion 123 , the head assembly 100 also includes a speaker 33 , the speaker 33 is accommodated in the accommodating space 11 , and the speaker control unit 234 is electrically connected to the speaker 33 , and the second mounting portion 123 is used to install the speaker 33 .

[0109] Optionally, the second mounting portion 123 and the first shell 12 can be an integrated structure, or a split structure, and the second mounting portion 123 and the first shell 12 can be connected and fixed by welding, riveting, clamping, screwing, etc., without specific limitation.

[0110] Optionally, the shape of the second mounting portion 123 may be square, circular, trapezoidal, regular polygonal, etc., without specific limitation. The speaker 33 and the second mounting portion 123 may be connected by welding, riveting, clamping, screwing, magnetic connection, etc., without specific limitation.

[0111] Optionally, the speaker 33 is a commonly used speaker 33 in the art, and is not specifically limited. The number of speakers 33 can be one or more, and is not limited. In one embodiment, there are two speakers 33, and the two speakers 33 are respectively arranged on the inner walls of the head shell 10 on both sides opposite to each other in the X direction, and are arranged to imitate the position of the human ear, with a high degree of anthropomorphism.

[0112] In one embodiment, there are two speakers 33. There are also two second mounting portions 123, which are spaced apart in the X direction and are both connected to the first housing 12. Each second mounting portion 123 is mounted with a speaker 33, which can expand the coverage of the speaker 33 and improve the user experience.

[0113] Optionally, the first shell 12 is provided with a sound expansion hole 124 at corresponding positions of the second mounting portion 123 and the speaker 33 to facilitate the expansion of the sound of the speaker 33.

[0114] The inner wall surface of the first shell 12 is provided with a second mounting portion 123, and the second mounting portion 123 is used to mount the speaker 33. The speaker 33 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 speaker 33 does not require additional support, which can simplify the structure and facilitate disassembly and assembly.

[0115] 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.

[0116] 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 assembly, characterized in that: For humanoid robots, including: The head shell has a receiving space, and the head shell is provided with two heat dissipation holes, the two heat dissipation holes are both connected to the receiving space and are opposite to each other in a first direction; a control module, which is accommodated in the accommodation space, the control module corresponds to the two heat dissipation holes in the first direction, and is spaced apart from at least a portion of the head shell; Wherein, the control module comprises a support frame, a first heat sink and a plurality of control units, the support frame is connected and fixed to the head shell, the first heat sink and the plurality of control units are sequentially arranged along the second direction and are all connected to the support frame, and the control module has an air flow channel running through the first direction; The support frame includes a first plate and a second plate, the first plate and the second plate are arranged opposite to each other in the second direction and spaced apart, and the second plate is closer to the face of the humanoid robot than the first plate, the air flow channel includes a first channel, and the first channel is formed between the first plate and the second plate; the first heat sink is arranged on a side of the first plate facing away from the second plate, and the plurality of control units are arranged on the first plate and / or the second plate; The first direction is the left-right direction of the humanoid robot, and the second direction is the front-back direction of the humanoid robot.

2. The head assembly according to claim 1, characterized in that: The multiple control units include a voice control unit, at least part of which is accommodated in the first channel and connected to the second plate, and there is a gap between the voice control unit and the first plate; the first plate is provided with a first hole, the first hole is connected to the first channel, and at least part of the voice control unit is opposite to the first hole.

3. The head assembly according to claim 2, characterized in that: The multiple control units also include a camera control unit, which is connected to the side of the first plate facing away from the second plate, and the air flow channel also includes a second channel. A gap is provided between the camera control unit and the first plate to form the second channel, and the first hole connects the first channel and the second channel; the first heat sink is in contact with the side of the camera control unit facing away from the second plate, and the air outlet direction of the first heat sink faces away from the camera control unit.

4. The head assembly according to claim 3, characterized in that: The multiple control units also include a display control unit and a speaker control unit, wherein the display control unit and the speaker control unit are both connected to a side of the second plate facing away from the first plate, and the speaker control unit is closer to the second plate than the display control unit, and there is a gap between the speaker control unit and the second plate, and / or between the speaker control unit and the display control unit.

5. The head assembly according to claim 4, characterized in that: The control module further includes a second heat sink, which is disposed on a side of the second plate facing away from the first plate, and is connected to the display control unit and / or the speaker control unit.

6. The head assembly according to claim 4, characterized in that: The support frame also includes a third plate, which connects one end of the first plate and the second plate on the same side in the third direction, and the third plate is provided with a third hole, and the third hole is connected to the first channel; the head assembly also includes a wireless signal module, which is connected to the side of the third plate facing away from the first plate and the second plate, and at least part of the wireless signal module corresponds to the third hole in the third direction, and the third direction is the up and down direction of the humanoid robot.

7. The head assembly according to claim 6, characterized in that The support frame also includes a fourth plate that is opposite to and spaced from the third plate in the third direction, the fourth plate connects the first plate and one end of the second plate in the third direction away from the third plate, and the fourth plate is used to connect with the head shell, the fourth plate is provided with a fourth hole, and the fourth hole is connected to the first channel.

8. The head assembly according to claim 7, characterized in that The head shell includes a first shell and a second shell that are detachably connected, the first shell and the second shell enclose the accommodating space, the first shell is used to connect with the neck assembly, and the second shell is provided with a fixing portion on the inner wall surface facing the first shell, and the fixing portion is connected to the fourth plate.

9. The head assembly according to claim 8, characterized in that The head assembly also includes a voice module, which is accommodated in the accommodating space, the voice control unit is electrically connected to the voice module, and the voice module is spaced apart from the fourth plate; a first mounting portion is also provided on the inner wall surface of the second shell facing the first shell, the first mounting portion is used to install the voice module, and the first mounting portion is spaced apart from the fixing portion.

10. The head assembly according to claim 9, characterized in that The second shell includes a first mounting shell and a second mounting shell connected in the second direction, the first mounting shell is used to be connected to the first shell, the fixing part and the first mounting part are both connected to the first mounting shell, and the second mounting shell is used to form the face of the humanoid robot.

11. The head assembly according to claim 10, characterized in that The second mounting shell is provided with a first mounting hole and a second mounting hole at intervals, the head assembly also includes a camera and a display, the camera and the display are both accommodated in the accommodation space, the camera control unit is electrically connected to the camera, the display control unit is electrically connected to the display, the first mounting hole is used to install the camera, and the second mounting hole is used to install the display.

12. The head assembly according to claim 8, characterized in that The inner wall surface of the first shell in the first direction is provided with a second mounting portion, the head assembly also includes a speaker, the speaker is accommodated in the accommodation space, and the speaker control unit is electrically connected to the speaker, and the second mounting portion is used to install the speaker.

13. A humanoid robot, characterized in that: The invention comprises a neck component and a head component according to any one of claims 1 to 12, wherein the first shell of the head component is connected to the neck component.

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