Head assembly and humanoid robot

Abstract

A head assembly and a humanoid robot, the head assembly includes a first shell, a second shell and a control module, the first shell includes a mounting platform and a first shell, the mounting platform is connected to the first shell and is used to connect to the neck assembly; the second shell is connected to the first shell, and the first shell provides support for the second shell, the first shell and the second shell enclose a receiving space, the second shell structure forms a face, the first shell and the second shell structure form a back of the head, and the face and the back of the head are spaced apart in a first direction; the control module is received in the receiving space and is connected and fixed to the second shell; the first shell is provided with a first heat dissipation hole, the first heat dissipation hole is located between the mounting platform and the face, the second shell is provided with a second heat dissipation hole, the second heat dissipation hole is located at the back of the head, and the first heat dissipation hole and the second heat dissipation hole are both connected to the receiving space; in the orthographic projection in the first direction, the first heat dissipation hole and the second heat dissipation hole both overlap with the first shell. The head assembly of the present application has a high degree of integration.

Description

Technical Field

[0001] The present invention 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 degree of integration of the head components of existing humanoid robots is average. Summary of the invention

[0004] The purpose of the present invention is to provide a head assembly and a humanoid robot, which can improve the integration degree of the head assembly.

[0005] To achieve the purpose of the present invention, the present invention provides the following technical solutions:

[0006] In a first aspect, the present invention provides a head assembly for a humanoid robot, comprising a first shell, a second shell and a control module, wherein the first shell comprises a mounting platform and a first shell, the mounting platform is connected to the first shell, and the mounting platform is used to connect to the neck assembly of the humanoid robot; the second shell is connected to the first shell, and the first shell provides support for the second shell, the first shell and the second shell enclose a receiving space, the second shell comprises a second shell and a third shell, the second shell structure forms a face, the first shell and the third shell structure form a back of the head, the face and the back of the head are spaced apart in a first direction; the control module is received in the receiving space, and is connected and fixed to the third shell, and the control module is opposite to at least a portion of the mounting platform;

[0007] Among them, an air intake cavity is formed between the second shell and the mounting platform, the first shell is provided with a first heat dissipation hole, the first heat dissipation hole is located between the mounting platform and the face, the third shell is provided with a second heat dissipation hole, the first heat dissipation hole is connected with the air intake cavity, the second heat dissipation hole is located at the back of the head, and the first heat dissipation hole and the second heat dissipation hole are both connected with the receiving space; in the orthographic projection of the first direction, the first heat dissipation hole and the second heat dissipation hole both overlap with the second outer shell.

[0008] The head assembly of the present invention is provided with a first shell, a second shell and a control module. A first heat dissipation hole is opened between the mounting platform of the first shell and the face formed by the second shell structure. A second heat dissipation hole is opened at the back of the head formed by the first shell and the second shell structure. Gas can flow between the first heat dissipation hole, the accommodating space and the second heat dissipation hole to dissipate heat for the control module. The heat dissipation effect is good, and the first heat dissipation hole and the second heat dissipation hole are not exposed on the front and sides of the humanoid robot. The integrity of the head assembly is good and the aesthetics is high.

[0009] In one embodiment, the mounting platform includes a cylinder and an end plate, one end of the cylinder is connected to the first shell, and the other end is connected to the end plate, the end plate is used to connect to the neck assembly, the end plate is closer to the control module than the end of the cylinder connected to the first shell, and the air inlet cavity is formed between the cylinder and the face. By setting the cylinder and the end plate, the end plate is used to connect to the neck assembly, the end plate is closer to the control module than the end of the cylinder connected to the first shell, the connection position between the end plate and the neck assembly is not exposed, the integrity is good, and the aesthetics is high; the air inlet cavity is formed between the cylinder and the face, the first heat dissipation hole is connected to the air inlet cavity, the cylinder can guide the airflow, the airflow will not run around in the receiving space, and the heat dissipation efficiency is high.

[0010] In one embodiment, there are a plurality of first heat dissipation holes, and the plurality of first heat dissipation holes are arranged at intervals. By providing a plurality of first heat dissipation holes, it is convenient for gas to enter the air inlet cavity from the first heat dissipation holes to dissipate heat for the control module, and the heat dissipation effect is good.

[0011] In one embodiment, the first shell further includes a first guide rib, the first guide rib is connected to the outer peripheral surface of the cylinder and the first shell, and the first guide rib extends from the end of the cylinder connected to the first shell toward the end plate. The first guide rib can guide the airflow and enhance the structural strength of the cylinder.

[0012] A face portion is formed by setting a second shell, an air intake cavity is formed between the second shell and the mounting platform, the control module is connected and fixed to the third shell, and the control module is at least partially opposite to the mounting platform. The second shell and the mounting platform can guide the gas entering the air intake cavity from the first heat dissipation hole. The installation position of the control module is close to the center line of the humanoid robot, and the center of gravity is stable and not easy to tilt.

[0013] In one embodiment, the second shell includes a first mounting shell and a second mounting shell, the second mounting shell connects the first mounting shell and the third shell, the second mounting shell is in a "U" shape with an opening, the opening of the second mounting shell faces away from the first shell, and the second mounting shell includes a first surface and a second surface facing away from each other, the first surface faces the receiving space, and the first surface is convex in the direction from the second surface to the first surface, and the second surface is concave in the direction from the second surface to the first surface. By setting the second shell to include the first mounting shell and the second mounting shell, the second mounting shell connects the first mounting shell and the third shell, and the shape of the second mounting shell is set to imitate the cheek and chin of the human face, a transition can be made at the connection between the first mounting shell and the third shell, so that the shape of the second shell is more anthropomorphic.

[0014] In one embodiment, there is a accommodating cavity between the first shell and the third shell, the second heat dissipation hole is connected to the accommodating cavity, and the accommodating cavity and the air inlet cavity together form the accommodating space; the control module is accommodated in the accommodating cavity, the control module includes a support frame and a plurality of electronic control units, the plurality of electronic control units are arranged at intervals and are all connected to the support frame, the control module has a through-flow channel, and the support frame is connected and fixed to the third shell. By arranging the control module to be accommodated in the accommodating cavity formed between the first shell and the third shell, and the control module has a through-flow channel, gas flows in the airflow channel and the accommodating cavity, and the outer surface of the control module and the electronic control unit are cooled, and the heat generated by the control module can be promptly taken away by the flowing gas, the heat dissipation effect is good, and the temperature of the working environment is stable.

[0015] In one embodiment, the first mounting shell is spaced apart from the first mounting hole and the second mounting hole, the head assembly further includes a camera and a display, the camera and the display are both accommodated in the accommodation space, the first mounting hole is used to install the camera, and the second mounting hole is used to install the display; the plurality of electric control units include a camera control unit and a display control unit, the camera control unit is electrically connected to the camera, and the display control unit is electrically connected to the display. By setting the first mounting shell to be spaced apart from the first mounting hole and the second mounting hole, the first mounting hole is used to install the camera, the second mounting hole is used to install the display, the plurality of electric control units include a camera control unit and a display control unit, the camera control unit is electrically connected to the camera, and the display control unit is electrically connected to the display, the multifunctional interactive function of the humanoid robot is realized, and 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 is convenient for disassembly and assembly.

[0016] In one embodiment, the head assembly further includes a third shell, which is connected to the first mounting shell and is used to cover the first mounting hole and / or the second mounting hole. This arrangement can prevent bumps and dust from entering the receiving space through the first mounting hole and / or the second mounting hole, and can also improve the aesthetics and make the head assembly more human.

[0017] In one embodiment, the head assembly further includes a voice module, which is contained in the containing space and connected and fixed to the second mounting shell; the plurality of electric control units further include a voice control unit, which is electrically connected to the voice module. By providing a voice module, the voice module is connected and fixed to the second mounting shell, and the voice control unit is electrically connected to the voice module, the voice interaction function of the humanoid robot can be realized, and the voice module occupies a small space and is not exposed, so it has good concealment.

[0018] In one embodiment, the head assembly further includes a fourth shell, which is connected to the second mounting shell and is used to shield the voice module. This arrangement can improve the aesthetics of the head assembly and make the head assembly more anthropomorphic.

[0019] In one embodiment, the second housing further comprises a plurality of second guide ribs, the second guide ribs are arranged on the inner wall surface of the second mounting housing, and the plurality of second guide ribs are arranged in a staggered manner. By providing a plurality of second guide ribs, the structural strength of the second housing can be enhanced, and the airflow in the receiving space can be dispersed to improve the heat dissipation effect.

[0020] In a second aspect, the present invention 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 neck assembly is connected to a mounting platform of the head assembly.

[0021] The humanoid robot in the embodiment of the present invention is provided with a unique head component, and the head component has a good humanoid effect and a high degree of integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 is a perspective view of a head assembly and a neck assembly of one embodiment;

[0024] Figure 2is a side cross-sectional view of a head assembly of one embodiment;

[0025] Figure 3 is an exploded schematic diagram of a head assembly of one embodiment;

[0026] Figure 4 is a perspective view of a first housing of an embodiment;

[0027] Figure 5 is a perspective view of a second housing of an embodiment;

[0028] Figure 6 is a rear view of a second housing of one embodiment;

[0029] Figure 7 1 is a bottom view of the second housing of one embodiment.

[0030] Description of reference numerals:

[0031] 100-head assembly;

[0032] 10-first shell, 11-mounting platform, 111-cylinder, 112-end plate, 113-wiring hole, 12-first shell, 121-first edge, 122-second edge, 123-first heat dissipation hole, 124-first connecting part, 13-first guide rib;

[0033] 20-second shell, 21-third edge, 22-fourth edge, 23-second heat dissipation hole, 24-second shell, 241-first mounting shell, 242-second mounting shell, 243-first mounting hole, 244-second mounting hole, 25-third shell, 26-second guide rib, 27-fixing portion, 28-second connecting portion;

[0034] 30-control module, 31-support frame, 32-electronic control unit, 33-air flow channel;

[0035] 40-accommodation space, 41-air inlet cavity, 42-accommodation cavity;

[0036] 50-face;

[0037] 60- hindbrain;

[0038] 71- camera, 72- display, 73- voice module;

[0039] 80-third housing;

[0040] 90- fourth shell;

[0041] 200-neck assembly;

[0042] 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

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] 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.

[0045] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in the present invention includes any and all combinations of one or more of the related listed items.

[0046] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0047] Please refer to Figure 1 The present invention provides a humanoid robot, comprising a neck component 200 and a head component 100 in an embodiment of the present invention, wherein the neck component 200 is connected to a mounting platform 11 of the head component 100 .

[0048] The specific structures of the head component 100 and the neck component 200 are not limited and can be set to a humanoid shape. The neck component 200 is connected to the waist component 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.

[0049] Optionally, the head assembly 100 can rotate relative to the neck assembly 200. 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 200 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 200 by a certain angle with the X direction / Z direction as the axis.

[0050] The humanoid robot in the embodiment of the present invention is provided with a unique head assembly 100 , and the head assembly 100 has a good humanoid effect and a high degree of integration.

[0051] The head assembly 100 in the embodiment of the present invention is described in detail below.

[0052] 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 Y direction.

[0053] Please refer to Figures 2 to 6 The present invention provides a head assembly 100 for a humanoid robot, including a first shell 10, a second shell 20 and a control module 30. The first shell 10 includes a mounting platform 11 and a first shell 12. The mounting platform 11 is connected to the first shell 12. The mounting platform 11 is used to connect to a neck assembly 200 of the humanoid robot.

[0054] The first shell 10 and the second shell 20 are made of materials with high structural strength, and can be metal materials, high-strength plastics, ceramics, etc., and metal materials such as aluminum, aluminum alloys, magnesium alloys, iron and iron alloys. The first shell 10 and the second shell 20 can be an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The first shell 10 and the second shell 20 can also be a split structure, and the first shell 10 and the second shell 20 are connected and fixed by welding, riveting, clamping, screwing, etc.

[0055] The first housing 10 can be an integrated structure or a split structure, and the first shell 12 and the mounting platform 11 are connected and fixed by welding, riveting, clamping, screwing, etc., without limitation. The mounting platform 11 and the neck component 200 can be directly connected or indirectly connected, without limitation. The mounting platform 11 and the neck component 200 can be rotatably connected or fixedly connected, without limitation.

[0056] The second shell 20 is connected to the first shell 12, and the first shell 12 provides support for the second shell 20. The first shell 10 and the second shell 20 enclose a receiving space 40. The second shell 20 is constructed to form a face 50. The first shell 12 and the second shell 20 are constructed to form a back of the head 60. The face 50 and the back of the head 60 are spaced apart in the Y direction.

[0057] Optional, such as Figure 4 As shown, 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 20 is detachably connected to the first shell 12, and the second shell 20 includes a third edge 21 and a fourth edge 22, and the third edge 21 and the fourth edge 22 are connected in a ring shape, the third edge 21 is opposite to and in contact with the first edge 121 in the Z direction, and the fourth edge 22 is opposite to and in contact with the second edge 122 in the Y direction.

[0058] Optionally, the connection between the first shell 12 and the second shell 20 can be bonding, clamping, screwing, magnetic connection, etc., without limitation. When the first shell 12 and the second shell 20 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.

[0059] Optional, such as Figure 4 and Figure 7 As shown, the inner wall of the first shell 12 is provided with a first connecting portion 124, the inner wall of the second shell 20 is provided with a second connecting portion 28, and the head assembly 100 also includes a connecting column (not shown in the figure), which is passed through the first connecting portion 124 and the second connecting portion 28, and connected with the first connecting portion 124 and the second connecting portion 28, so that the first shell 12 and the second shell 20 are connected and fixed. The number of the first connecting portion 124, the second connecting portion 28 and the connecting column can be 1, 2, 4, 6, etc., without limitation. The multiple first connecting portions 124 and the multiple second connecting portions 28 are all arranged at intervals, and the multiple first connecting portions 124 and the multiple second connecting portions 28 correspond one to one. In this way, the connection position of the first shell 12 and the second shell 20 is concealed and not exposed, and the aesthetics is high.

[0060] When the humanoid robot is standing upright on a horizontal plane with its feet and its head looking straight ahead, the face 50 is formed on the side of the humanoid robot facing forward in the Y direction, and the back of the brain 60 is formed on the side of the humanoid robot facing backward in the Y direction. The shape is roughly modeled after the human body and is not specifically limited.

[0061] The control module 30 is received in the receiving space 40 and is connected and fixed to the second housing 20. The connection between the control module 30 and the second housing 20 can be riveted, clamped, screwed, magnetically connected, etc., without limitation.

[0062] Optionally, the control module 30 includes a support frame 31 and a plurality of electric control units 32, wherein the plurality of electric control units 32 are arranged at intervals and are all connected to the support frame 31. The control module 30 also includes a heat sink, which is fixedly connected to the support frame 31, and the heat sink can accelerate gas flow and improve heat dissipation effect.

[0063] Among them, the first shell 12 is provided with a first heat dissipation hole 123, and the first heat dissipation hole 123 is located between the mounting platform 11 and the face 50. The second shell 20 is provided with a second heat dissipation hole 23, and the second heat dissipation hole 23 is located at the back of the head 60. The first heat dissipation hole 123 and the second heat dissipation hole 23 are both connected to the receiving space 40; in the orthographic projection in the X direction, the first heat dissipation hole 123 and the second heat dissipation hole 23 both overlap with the second shell 20.

[0064] The shapes of the first heat dissipation hole 123 and the second heat dissipation hole 23 can be circular, square, triangular, fan-shaped, irregular, etc., without specific limitation. The number of the first heat dissipation hole 123 and the second heat dissipation hole 23 can be one or more, and the number of the first heat dissipation hole 123 and the number of the second heat dissipation hole 23 can be the same or different, without limitation.

[0065] Optionally, in the orthographic projection in the X direction, the line between the first heat dissipation hole 123 and the second heat dissipation hole 23 has an angle with the Y direction, and the first heat dissipation hole 123 is closer to the neck component 200 than the second heat dissipation hole 23 in the Z direction, that is, the first heat dissipation hole 123 is approximately located at the mandibular position of the human body. In the Y direction, when looking at the humanoid robot from the face 50 (that is, from the front of the humanoid robot), or when looking at the humanoid robot in the X direction (that is, from the side of the humanoid robot), the first heat dissipation hole 123 and the second heat dissipation hole 23 are not exposed, which will not affect the aesthetics, and the integrity of the head component 100 is better.

[0066] One of the first heat dissipation hole 123 and the second heat dissipation hole 23 is an air inlet, and the other is an air outlet. Since the electronic control unit 32 of the control module 30 generates heat during operation, the gas in the receiving space 40 will flow upward due to the heat. Therefore, it is more reasonable to set the first heat dissipation hole 123 near the lower side as the air inlet, and the second heat dissipation hole 23 near the upper side as the air outlet. Since the first heat dissipation hole 123 is located between the mounting platform 11 and the face 50, the gas enters the receiving space 40 from the mounting platform 11 and the face 50, passes through the control module 30 and takes away the heat it dissipates, and then flows out from the second heat dissipation hole 23. The layout is reasonable and the heat dissipation effect is good.

[0067] The head assembly 100 in the embodiment of the present invention is provided with a first shell 10, a second shell 20 and a control module 30. A first heat dissipation hole 123 is provided between the mounting platform 11 of the first shell 10 and the face 50 formed by the second shell 20. A second heat dissipation hole 23 is provided in the back of the head 60 formed by the first shell 12 and the second shell 20. Gas can flow between the first heat dissipation hole 123, the accommodating space 40 and the second heat dissipation hole 23 to dissipate heat for the control module 30. The heat dissipation effect is good, and the first heat dissipation hole 123 and the second heat dissipation hole 23 are not exposed on the front of the humanoid robot. The head assembly 100 has good integrity and high aesthetics.

[0068] In one embodiment, Figure 4 As shown, the mounting platform 11 includes a cylinder 111 and an end plate 112 . One end of the cylinder 111 is connected to the first shell 12 , and the other end is connected to the end plate 112 . The end plate 112 is used to connect to the neck assembly 200 .

[0069] The mounting platform 11 may be an integrated structure, that is, the mounting platform 11 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 11 may also be a split structure, and the cylinder 111 and the end plate 112 are connected and fixed by welding, riveting, clamping, screwing, etc. The connection between the end plate 112 and the neck assembly 200 may be bonding, clamping, screwing, magnetic connection, etc., without limitation.

[0070] Optionally, the end plate 112 is provided with a wiring hole 113, and the wiring hole 113 connects the accommodating space 40 and the internal space of the neck component 200, so as to facilitate electrical connection between the head component 100 and the neck component 200 and facilitate wiring.

[0071] The end plate 112 is closer to the control module 30 than the end of the cylinder 111 connected to the first shell 12, and an air inlet cavity 41 is formed between the cylinder 111 and the face 50, and the first heat dissipation hole 123 is connected to the air inlet cavity 41. That is, in the X-square and Y-directions, the cylinder 111 is not exposed relative to the first shell 12, the cylinder 111 is concave toward the receiving space 40, the neck assembly 200 extends into the cylinder 111 and is connected to the end plate 112, but the neck assembly 200 does not extend into the receiving space 40. In this way, the connection position between the end plate 112 and the neck assembly 200 is not exposed, the integrity is good, and the appearance is high.

[0072] Optionally, the cylinder 111 has an axis, and the axis extends approximately along the Z direction, or the axis has a certain angle with the Z direction, without limitation. The flow direction of the gas in the air inlet cavity 41 is approximately as follows: the gas enters the air inlet cavity 41 from the first heat dissipation hole 123, and flows along the Z direction to the periphery of the control module 30 and inside the control module 30 to dissipate heat for the electronic control unit 32 of the control module 30, the airflow will not run wild, and the heat dissipation efficiency is high.

[0073] Optionally, in the orthographic projection in the Z direction, the area of ​​the cylinder 111 (when the axis of the cylinder 111 extends along the Z direction, the area is the area of ​​the end plate 112) is A, and the area enclosed by the side wall of the first shell 12 is B, which satisfies: 1 / 2≤A / B≤4 / 5. With such a configuration, the end plate 112 for mounting the cylinder 111 has a large connection area, the connection is stable, and the cylinder 111 does not occupy too much accommodation space 40, and there is enough space inside the head assembly 100 to install components such as the control module 30, and the layout is reasonable.

[0074] By setting the cylinder 111 and the end plate 112, the end plate 112 is used to connect with the neck component 200. Compared with the end of the cylinder 111 connected to the first shell 12, the end plate 112 is closer to the control module 30. The connection position between the end plate 112 and the neck component 200 is not exposed, and the integrity is good and the aesthetics is high. An air inlet cavity 41 is formed between the cylinder 111 and the face 50, and the first heat dissipation hole 123 is connected to the air inlet cavity 41. The cylinder 111 can guide the airflow, and the airflow will not run around in the receiving space 40, and the heat dissipation efficiency is high.

[0075] In one embodiment, there are a plurality of first heat dissipation holes 123 , and the plurality of first heat dissipation holes 123 are arranged at intervals.

[0076] Optionally, the number of the first heat dissipation holes 123 may be 2, 3, 4, etc., without limitation. Figure 4 As shown, there are two first heat dissipation holes 123, and the two first heat dissipation holes 123 are arranged at intervals. Further, a symmetry plane is provided, which is perpendicular to the Y direction and parallel to the X direction and the Z direction, and the two first heat dissipation holes 123 are symmetrical with respect to the symmetry plane.

[0077] By providing a plurality of first heat dissipation holes 123 , it is convenient for gas to enter the air inlet cavity 41 through the first heat dissipation holes 123 to dissipate heat for the control module 30 , and the heat dissipation effect is good.

[0078] In one embodiment, Figure 4 As shown, the first shell 10 further includes a first guide rib 13 , which is connected to the outer circumference of the cylinder 111 and the first shell 12 , and extends from one end where the cylinder 111 is connected to the first shell 12 to the end plate 112 .

[0079] The first guide rib 13, the cylinder 111 and the first shell 12 may be an integral structure, or a split structure. The first guide rib 13, the cylinder 111 and the first shell 12 are connected and fixed to the cylinder 111 and the first shell 12 by welding, riveting, clamping, screwing or the like.

[0080] Optionally, there is no limitation on the number and specific shape of the first guide ribs 13. Optionally, there are multiple first guide ribs 13, the multiple first guide ribs 13 are arranged at intervals, and in the projection in the Z direction, the multiple first guide ribs 13 are roughly centrally symmetrical along the axis of the cylinder 111.

[0081] The first guide rib 13 may extend in parallel with the Z direction or at an angle with the Z direction, and is not specifically limited. The first guide rib 13 may also be disposed on the surface of the end plate 112 facing away from the cylinder 111 and extend in the radial direction and / or circumferential direction of the end plate 112 .

[0082] The first guide rib 13 is provided to guide the airflow and enhance the structural strength of the cylinder 111 .

[0083] In one embodiment, Figure 2 , Figure 4 and Figure 5 As shown, the second housing 20 includes a second housing 24 and a third housing 25, the second housing 24 forms a face portion 50, and an air inlet cavity 41 is formed between the second housing 24 and the mounting platform 11. The third housing 25 and the first housing 12 form a back head portion 60, the second heat dissipation hole 23 is opened in the third housing 25, the control module 30 is connected and fixed to the third housing 25, and the control module 30 is opposite to at least a portion of the mounting platform 11.

[0084] The second housing 20 may be an integrated structure, that is, the second housing 20 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 20 may also be a split structure, and the second housing 24 and the third housing 25 are connected and fixed by welding, riveting, clamping, screwing, etc.

[0085] Optionally, the third shell 25 includes a third edge 21 and a fourth edge 22, and the second shell 20 is connected to the first shell 12 via the third shell 25. The control module 30 includes a support frame 31, and the support frame 31 is connected and fixed to the third shell 25, and the connection method can be screw connection, riveting, clamping, magnetic connection, etc., without limitation.

[0086] The number of the second heat dissipation holes 23 may be one or more, and is not specifically limited. Figure 6 As shown, there is one second heat dissipation hole 23 .

[0087] Since the mounting platform 11 is connected to the neck assembly 200, the mounting platform 11 can be roughly located on the center line of the humanoid robot, and the weight distribution of the humanoid robot is relatively uniform. In the Z direction, the control module 30 is opposite to at least part of the mounting platform 11, that is, in the orthographic projection in the Z direction, at least part of the control module 30 overlaps with at least part of the mounting platform 11. Alternatively, in the orthographic projection in the Z direction, the control module 30 is entirely located in the mounting platform 11, or, in the orthographic projection in the Z direction, the mounting platform 11 is entirely located in the control module 30, and the above methods are all possible, and there is no specific limitation. The control module 30 is arranged close to the center line of the humanoid robot, and the center of gravity of the control module 30 roughly coincides with the center of gravity of the humanoid robot in the Z direction. The force on the third shell 25 is relatively uniform, and the layout of the head assembly 100 is reasonable and not easy to tilt.

[0088] Optionally, in the Z direction, there is a gap between the control module 30 and the mounting platform 11, or the control module 30 and the mounting platform 11 are just in contact, and the above methods are all possible, and there is no specific limitation. By setting the second shell 24 to form the face 50, the air inlet cavity 41 is formed between the second shell 24 and the mounting platform 11, the control module 30 is connected and fixed to the third shell 25, and the control module 30 is at least partially opposite to the mounting platform 11. The second shell 24 and the mounting platform 11 can guide the gas entering the air inlet cavity 41 from the first heat dissipation hole 123. The installation position of the control module 30 is close to the center line of the humanoid robot, the center of gravity is stable, and it is not easy to tilt.

[0089] In one embodiment, Figure 5 As shown, the second shell 24 includes a first mounting shell 241 and a second mounting shell 242 . The second mounting shell 242 connects the first mounting shell 241 and the third shell 25 . The second mounting shell 242 is in a “U” shape with an opening. The opening of the second mounting shell 242 faces away from the first housing 10 .

[0090] The second shell 24 can be an integrated structure, that is, the second shell 24 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The second shell 24 can also be a split structure, and the first installation shell 241 and the second installation shell 242 are connected and fixed by welding, riveting, clamping, screwing, etc.

[0091] Optionally, the second installation shell 242 is located between the first installation shell 241 and the third shell 25, and connects the first installation shell 241 and the third shell 25. The second installation shell 242 and the third shell 25 can be connected by welding, riveting, clamping, screwing, etc., without limitation.

[0092] In the orthographic projection in the Y direction, the second mounting shell 242 is in a "U" shape with an opening, and the "U"-shaped opening faces away from the first housing 10, that is, the second mounting shell 242 is configured to form the cheek and chin parts of the face.

[0093] Each part of the second mounting shell 242 may be a flat plate, or a non-flat plate, such as a curved plate, a folded plate, etc., without specific limitation.

[0094] In one embodiment, the second mounting shell 242 includes a first surface and a second surface facing each other, the first surface faces the receiving space 40, and the first surface is convex in the direction from the second surface to the first surface, and the second surface is concave in the direction from the second surface to the first surface. That is, the second mounting shell 242 presents a shape that is concave toward the inside of the receiving space 40, and is arranged to imitate the face 50 of the human body, so as to make a transition at the connection between the first mounting shell 241 and the third shell 25, so that the shape of the second shell 24 is more anthropomorphic.

[0095] By setting the second shell 24 to include a first mounting shell 241 and a second mounting shell 242, the second mounting shell 242 connects the first mounting shell 241 and the third shell 25. The shape of the second mounting shell 242 is set to imitate the cheeks and chin of the human face. A transition can be made at the connection between the first mounting shell 241 and the third shell 25, making the shape of the second shell 24 more anthropomorphic.

[0096] In one embodiment, Figure 2 As shown, there is a receiving cavity 42 between the first shell 10 and the third shell 25, the second heat dissipation hole 23 is connected to the receiving cavity 42, and the receiving cavity 42 and the air inlet cavity 41 together form a receiving space 40. The control module 30 is received in the receiving cavity 42, and the control module 30 includes a support frame 31 and a plurality of electric control units 32, the plurality of electric control units 32 are arranged at intervals and are all connected to the support frame 31, the control module 30 has a penetrating airflow channel 33, and the support frame 31 is connected and fixed to the third shell 25.

[0097] Optionally, the airflow channel 33 may extend along the X direction, and / or the Y direction, and / or the Z direction, without specific limitation. The control module 30 further includes a heat sink, which is connected and fixed to the support frame 31 and may also be connected and fixed to the third shell 25, without specific limitation.

[0098] Optionally, the support frame 31 can be an integrated structure, that is, the support frame 31 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 31 can also be a split structure, and the various parts of the support frame 31 are connected and fixed by welding, riveting, clamping, screwing, etc. The heat sink and the plurality of electronic control units 32 can be connected to the support frame 31 by clamping, bonding, screwing, magnetic suction connection, etc., without limitation.

[0099] Optionally, there is a gap between the heat sink and the multiple electric control units 32 along the Y direction, or the heat sink and at least one of the multiple electric control units 32, and / or some of the multiple electric control units 32 are connected to each other, but there is a gap between the heat sink and the electric control unit 32 or between at least two of the multiple electric control units 32 to form an airflow channel 33 to facilitate gas flow and heat dissipation.

[0100] Optionally, the heat dissipation may be a heat dissipation element commonly used in the art, and is not specifically limited. In one embodiment, the heat dissipation element includes a fan and a heat dissipation fin, and the heat dissipation fin is in contact with the electronic control unit 32 .

[0101] The control module 30 is accommodated in the accommodating cavity 42 formed between the first shell 10 and the third shell 25, and the control module 30 has an airflow channel 33 running through it. Gas flows in the airflow channel 33 and the accommodating cavity 42 to dissipate heat from the outer surface of the control module 30 and the electronic control unit 32. The heat generated by the control module 30 during operation can be promptly taken away by the flowing gas, so the heat dissipation effect is good and the temperature of the working environment is stable.

[0102] In one embodiment, Figure 3 and Figure 5 As shown, the first mounting shell 241 is provided with a first mounting hole 243 and a second mounting hole 244 at intervals, the head assembly 100 also includes a camera 71 and a display 72, the camera 71 and the display 72 are both accommodated in the accommodating space 40, the first mounting hole 243 is used to install the camera 71, and the second mounting hole 244 is used to install the display 72; the multiple electronic control units 32 include a camera control unit and a display control unit, the camera control unit is electrically connected to the camera 71, and the display control unit is electrically connected to the display 72.

[0103] Optionally, the camera 71 may be a binocular camera 71 commonly used in the art, etc., without specific limitation. The binocular camera 71 is set on the face of the humanoid robot, and the binocular camera 71 is set to imitate the eyes of the human body, and has a high degree of anthropomorphism. The display 72 is a display element commonly used in the art, such as a liquid crystal display screen, etc., without specific limitation. The shape of the display 72 may be square, rectangular, circular, trapezoidal, irregular polygonal, etc., without limitation.

[0104] The shapes of the first mounting hole 243 and the second mounting hole 244 are not limited. The shape of the first mounting hole 243 corresponds to the camera 71, and the shape of the second mounting hole 244 corresponds to the display 72. The camera 71 and the first mounting hole 243 are connected and fixed by bonding, clamping, screwing, riveting, magnetic connection, etc., without limitation. The display screen and the second mounting hole 244 are connected and fixed by bonding, clamping, screwing, riveting, magnetic connection, etc., without limitation.

[0105] Optionally, the first mounting hole 243 is closer to the top of the humanoid robot than the second mounting hole 244 in the Z direction. The first mounting hole 243 is used to install the camera 71, which is set to imitate the eye part of the human body and has a good human-like effect. The second mounting hole 244 is used to install the display 72, which is relatively low in height and convenient for users to use. With such a setting, the storage space 40 can be reasonably utilized. During the disassembly and assembly process of the first shell 12 and the second shell 20, the camera 71 and the display 72 do not need additional support, which can simplify the structure and facilitate disassembly and assembly.

[0106] The camera control unit 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 are integrated into one and connected to the support frame 31. The main functions of the camera control unit include automatic exposure control (automatically adjusting the exposure of the camera 71 according to the changes in the 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 71 to eliminate the influence of ambient light on the color of the captured image, so that the color of the captured image is more real and natural), focus control (according to the shooting requirements, automatically adjust the focal length and focus position of the camera 71 to ensure the clarity and detail of the captured image), video signal transmission, etc. The camera control unit and the camera 71 can be connected by wired electricity or by radio, without limitation.

[0107] The display control unit 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 are integrated into one and connected to the support frame 31. The display control unit and the display 72 can be connected by wired electricity or by wireless communication, without limitation.

[0108] A first mounting shell 241 is provided with a first mounting hole 243 and a second mounting hole 244 spaced apart therefrom. The first mounting hole 243 is used to mount the camera 71, and the second mounting hole 244 is used to mount the display 72. The plurality of electric control units 32 include a camera control unit and a display control unit. The camera control unit is electrically connected to the camera 71, and the display control unit is electrically connected to the display 72, thereby realizing the multi-functional interactive function of the humanoid robot. In addition, during the disassembly and assembly process of the first shell 10 and the second shell 20, the camera 71 and the display 72 do not require additional support, thereby facilitating disassembly and assembly.

[0109] In one embodiment, Figure 3 As shown, the head assembly 100 further includes a third shell 80 , which is connected to the first mounting shell 241 and is used to cover the first mounting hole 243 and / or the second mounting hole 244 .

[0110] Optionally, the third shell 80 may be made of a transparent, translucent or opaque material, and the third shell 80 may be a rigid component or a flexible component, and there is no specific limitation thereto.

[0111] Optionally, the third housing 80 and the first mounting housing 241 may be connected by bonding, snapping, screwing, magnetic attraction, etc., which is not specifically limited.

[0112] Optionally, the third housing 80 completely blocks the first mounting housing 241 in the Y direction, or the third housing 80 blocks at least part of the first mounting housing 241, and the third housing 80 blocks the first mounting hole 243 and / or the second mounting hole 244. This arrangement can prevent bumps and dust from entering the receiving space 40 through the first mounting hole 243 and / or the second mounting hole 244, and can improve the aesthetics and make the head assembly 100 more anthropomorphic.

[0113] In one embodiment, Figure 2 As shown, the head assembly 100 further includes a voice module 73, which is received in the receiving space 40 and connected and fixed to the second mounting shell 242. The plurality of electric control units 32 further include a voice control unit, which is electrically connected to the voice module 73.

[0114] Optionally, the voice module 73 includes a microphone commonly used in the art, such as a microphone array, a linear microphone, etc., without limitation. Figure 2 and Figure 5 As shown, there are two voice modules 73 , which are spaced apart in the X direction and are both connected and fixed to the second mounting shell 242 .

[0115] The connection between the voice module 73 and the second mounting shell 242 can be bonding, snap-on, screw-on, magnetic connection, etc., which is not specifically limited. The voice module 73 is connected and fixed to the second mounting shell 242, which facilitates the voice module 73 to collect external sound signals, and the voice module 73 has better concealment.

[0116] The voice control unit and the voice module 73 may be electrically connected by wire or by radio, so long as the voice control unit can control the voice module 73 . There is no specific limitation on this.

[0117] By setting up a voice module 73, the voice module 73 is connected and fixed to the second mounting shell 242, and the voice control unit is electrically connected to the voice module 73, the voice interaction function of the humanoid robot can be realized. The voice module 73 occupies a small space and is not exposed, and has good concealment.

[0118] In one embodiment, Figure 3 and Figure 5 As shown, the head assembly 100 also includes a fourth shell 90 , which is connected to the second mounting shell 242 and is used to shield the voice module 73 .

[0119] Optionally, the fourth shell 90 may be made of a transparent, translucent or opaque material, and the fourth shell 90 may be a rigid component or a flexible component, and there is no specific limitation thereto.

[0120] Optionally, the fourth housing 90 and the second mounting housing 242 may be connected by bonding, snapping, screwing, magnetic attraction, etc., which are not specifically limited.

[0121] Optionally, the fourth housing 90 completely blocks the second mounting housing 242 in the Y direction, or the fourth housing 90 blocks at least a portion of the second mounting housing 242. This arrangement can improve the aesthetics of the head assembly 100 and make the head assembly 100 more anthropomorphic.

[0122] In one embodiment, Figure 7 As shown, the second housing 20 further includes a plurality of second guide ribs 26 , which are disposed on the inner wall surface of the second mounting housing 242 , and the plurality of second guide ribs 26 are staggered.

[0123] The second guide rib 26 and the second mounting shell 242 can be an integral structure, or a split structure. The second guide rib 26 and the second mounting shell 242 are connected and fixed by welding, riveting, clamping, screwing, etc., without specific limitation.

[0124] Optionally, there is no limitation on the number and specific shape of the second guide ribs 26. The first guide ribs 13 may extend in parallel with the X direction or the Y direction, or may extend at an angle with the X direction or the Y direction, and there is no limitation on the specific shape.

[0125] In a specific embodiment, Figure 7 As shown, there are multiple first guide ribs 13, and multiple second guide ribs 26 are staggered along the X direction and the Y direction. In the projection in the Z direction, the intervals between two adjacent second guide ribs 26 can be the same or different, without limitation.

[0126] By providing a plurality of second guide ribs 26 , the structural strength of the second housing 20 can be enhanced, and the airflow in the receiving space 40 can be dispersed to improve the heat dissipation effect.

[0127] Optionally, the inner wall surface of the second mounting shell 242 facing the first housing 10 is provided with a fixing portion 27, and the control module 30 and the fixing portion 27 can be connected by bonding, snapping, screwing, magnetic connection, etc., without specific limitation. In one embodiment, the support frame 31 is connected with the fixing portion 27 to connect and fix the control module 30 and the second mounting shell 242.

[0128] Optionally, the fixing portion 27 may be one or more, and there is no specific limitation. Figure 7 As shown, there are four fixing portions 27 arranged in a rectangular shape.

[0129] The fixing portion 27 of the second mounting shell 242 is used to mount the control module 30 . The control module 30 does not require an additional supporting structure and can be separated along with the separation of the first housing 10 and the second mounting shell 242 , which is convenient for disassembly, assembly and maintenance.

[0130] Optionally, the neck assembly 200 includes a head-turning drive, a first connecting member, a nodding drive, and a second connecting member, wherein the head-turning drive is used to connect to the torso assembly of the humanoid robot. The first connecting member includes a first part and a second part, the first part and the second part are connected and form an "L"-shaped structure, the first connecting member is an integrated structure, the first part is connected to the rotor of the head-turning drive, and the rotor of the nodding drive is connected to the second part. The second connecting member is connected to the stator of the nodding drive, and the second connecting member is also used to connect to the head assembly 100 of the humanoid robot.

[0131] The head turning drive is used to drive the first connecting member, the nodding drive and the second connecting member to rotate as a whole, so as to drive the head assembly 100 to rotate around the first axis, and the nodding drive is used to drive the second connecting member to rotate, so as to drive the head assembly 100 to rotate around the second axis. The first axis extends along the Z direction, and the second axis extends along the X direction. In this way, the neck assembly 200 can realize the connection of the head assembly 100, the torso assembly, the head turning drive and the nodding drive through the first connecting member and the second connecting member, and the nodding and turning actions of the humanoid robot, which has a simple structure and is easy to assemble.

[0132] Optionally, the neck assembly 200 further includes a neck sheath, which is a flexible structure. The neck sheath shields the head turning drive, the first connecting member, the nodding drive, and the second connecting member, and the end of the neck sheath facing the head assembly 100 extends into the cavity formed by the outer peripheral wall of the mounting platform 11 of the first housing 10, and there is a gap between the neck sheath and the end plate 112 of the mounting platform 11. The end of the neck sheath away from the head structure is used to connect with the torso assembly of the humanoid robot, and the neck sheath as a whole will not follow the rotor movement of the first driving member during the head turning action of the humanoid robot, so as to maintain its appearance.

[0133] In the description of the embodiments of the present invention, 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 invention and simplifying the description, rather than indicating or implying 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 invention.

[0134] What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A head assembly (100), characterized in that: For humanoid robots, including: A first housing (10) comprising a mounting platform (11) and a first shell (12), wherein the mounting platform (11) is connected to the first shell (12), and the mounting platform (11) is used to be connected to a neck assembly (200) of the humanoid robot; A second shell (20), wherein the second shell (20) is connected to the first shell (12), and the first shell (12) provides support for the second shell (20), the first shell (10) and the second shell (20) enclose a receiving space (40), the second shell (20) comprises a second shell (24) and a third shell (25), the second shell (24) is structured to form a face (50), the first shell (12) and the third shell (25) are structured to form a back of the head (60), and the face (50) and the back of the head (60) are spaced apart in a first direction; A control module (30) is accommodated in the accommodation space (40) and is connected and fixed to the third shell (25), wherein the control module (30) is opposite to at least a portion of the mounting platform (11); An air inlet cavity (41) is formed between the second shell (24) and the mounting platform (11); the first shell (12) is provided with a first heat dissipation hole (123); the first heat dissipation hole (123) is located between the mounting platform (11) and the face (50); the first heat dissipation hole (123) is communicated with the air inlet cavity (41); the third shell (25) is provided with a second heat dissipation hole (23); the second heat dissipation hole (23) is located at the back of the head (60); the first heat dissipation hole (123) and the second heat dissipation hole (23) are both communicated with the receiving space (40); in the orthographic projection in the first direction, the first heat dissipation hole (123) and the second heat dissipation hole (23) are both overlapped with the second shell (20).

2. The head assembly (100) according to claim 1, characterized in that: The mounting platform (11) comprises a cylinder (111) and an end plate (112); one end of the cylinder (111) is connected to the first shell (12), and the other end is connected to the end plate (112); the end plate (112) is used to connect to the neck assembly (200); the end plate (112) is closer to the control module (30) than the end of the cylinder (111) connected to the first shell (12); and the air inlet cavity (41) is formed between the cylinder (111) and the face (50).

3. The head assembly (100) according to claim 1, characterized in that: There are a plurality of the first heat dissipation holes (123), and the plurality of the first heat dissipation holes (123) are arranged at intervals.

4. The head assembly (100) according to claim 2, characterized in that: The first shell (10) further comprises a first guide rib (13), the first guide rib (13) being connected to the outer peripheral surface of the cylinder (111) and the first shell (12), and the first guide rib (13) extending from one end of the cylinder (111) connected to the first shell (12) toward the end plate (112).

5. The head assembly (100) according to claim 2, characterized in that: The second shell (24) comprises a first mounting shell (241) and a second mounting shell (242), the second mounting shell (242) connecting the first mounting shell (241) and the third shell (25), the second mounting shell (242) being in a "U" shape with an opening, the opening of the second mounting shell (242) facing away from the first outer shell (10), the second mounting shell (242) comprising a first surface and a second surface facing away from each other, the first surface facing the accommodating space (40), and the first surface being convex in a direction from the second surface to the first surface, and the second surface being concave in a direction from the second surface to the first surface.

6. The head assembly (100) according to claim 5, characterized in that: An accommodating cavity (42) is provided between the first shell (10) and the third shell (25); the second heat dissipation hole (23) is communicated with the accommodating cavity (42); the accommodating cavity (42) and the air inlet cavity (41) together form the accommodating space (40); the control module (30) is accommodated in the accommodating cavity (42); the control module (30) comprises a support frame (31) and a plurality of electronic control units (32); the plurality of electronic control units (32) are arranged at intervals and are all connected to the support frame (31); the control module (30) has an air flow channel (33) extending therethrough; the support frame (31) is connected and fixed to the third shell (25).

7. The head assembly (100) according to claim 6, characterized in that: The first mounting shell (241) is provided with a first mounting hole (243) and a second mounting hole (244) at intervals. The head assembly (100) further comprises a camera (71) and a display (72). The camera (71) and the display (72) are both accommodated in the accommodation space (40). The first mounting hole (243) is used to install the camera (71), and the second mounting hole (244) is used to install the display (72). The plurality of electronic control units (32) comprise a camera control unit and a display control unit. The camera control unit is electrically connected to the camera (71), and the display control unit is electrically connected to the display (72).

8. The head assembly (100) according to claim 7, characterized in that: The head assembly (100) further comprises a third shell (80), wherein the third shell (80) is connected to the first mounting shell (241) and is used to cover the first mounting hole (243) and / or the second mounting hole (244).

9. The head assembly (100) according to claim 6, characterized in that: The head assembly (100) further includes a voice module (73), which is accommodated in the accommodation space (40) and is connected and fixed to the second mounting shell (242); the plurality of electronic control units (32) further include a voice control unit, which is electrically connected to the voice module (73).

10. The head assembly (100) according to claim 9, characterized in that: The head assembly (100) further comprises a fourth shell (90), wherein the fourth shell (90) is connected to the second mounting shell (242) and is used to shield the voice module (73).

11. The head assembly (100) according to claim 5, characterized in that: The second outer shell (20) further comprises a plurality of second guide ribs (26), wherein the second guide ribs (26) are arranged on the inner wall surface of the second mounting shell (242), and the plurality of second guide ribs (26) are arranged in a staggered manner.

12. A humanoid robot, characterized in that: It comprises a neck assembly (200) and a head assembly (100) according to any one of claims 1 to 11, wherein the neck assembly (200) is connected to a mounting platform (11) of the head assembly (100).

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