Head assembly and humanoid robot

Abstract

The head assembly comprises a head shell, a partition plate, a head driving part, a top cover and an electrical module, a containing space is defined by the head shell, a first opening is formed in the bottom of the head shell, a second opening is formed in the top of the head shell, and in orthographic projection of the humanoid robot in the front-back direction, the contour line of the second opening is in a U shape; the partition plate is contained in the containing space and connected with the head shell, the partition plate divides the containing space into a first space and a second space, the first opening is communicated with the first space, and the second opening is communicated with the second space; the head driving part penetrates through the first opening, is partially accommodated in the first space and is connected with the partition plate; the top cover and the head shell are detachably connected at the second opening; the electrical module is accommodated in the second space and is connected with the top cover. The regular structure of the top cover and the head shell simplifies the structure and installation steps when the top cover and the head shell are disassembled and connected, and the appearance integrity and the installation efficiency of the head assembly are improved.

Description

Technical Field

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

[0002] In the existing field of upright humanoid robots, the robot's head shell is typically a monolithic structure or connected through complex fixing methods. The robot's head integrates a large number of electronic components. Even with a detachable head shell, its irregular shape makes assembly complicated. Summary of the Invention

[0003] The present application provides a detachable head assembly and a humanoid robot that are easy to assemble.

[0004] In a first aspect, the present application provides a head assembly for a humanoid robot, the head assembly comprising:

[0005] a head shell enclosing a receiving space, the head shell having a first opening at the bottom and a second opening at the top, wherein the contour of the second opening is U-shaped in an orthographic projection in the front-to-back direction of the humanoid robot;

[0006] a partition plate received in the receiving space and connected to the head shell, the partition plate dividing the receiving space into a first space and a second space, the first opening being in communication with the first space, and the second opening being in communication with the second space;

[0007] a head driving member, which passes through the first opening and is partially accommodated in the first space, and the head driving member is connected to the partition;

[0008] a top cover detachably connected to the head shell at the second opening;

[0009] The electrical module is accommodated in the second space and connected to the top cover.

[0010] The head shell of the head assembly has a first opening and a second opening, and the top cover is detachably connected to the head shell at the second opening. In the front-to-back projection of the humanoid robot, the outline of the second opening is U-shaped, and the outline of the top cover is matched to be an inverted U-shaped. The regular structure of the top cover and the head shell simplifies the structure and installation steps of the two during disassembly and connection, thereby improving the installation efficiency of the head assembly. Moreover, such a structure not only provides a larger second space to facilitate the installation and operation of the electrical module, but also the hot air generated by the components in the head assembly, such as the head drive and the electrical module, during operation can be directly or indirectly connected to the external environment through the U-shaped second opening, which helps to discharge heat and improves the operational stability of the components inside the head assembly.

[0011] In some feasible implementations, the head shell is symmetrical about the left-right centerline of the head shell in an orthographic projection of the humanoid robot in the front-to-back direction. Both the shape and actual structure of the head shell are symmetrical about the left-right centerline of the head shell, meaning that the weight distribution of the actual structure of the head shell is also symmetrical about the left-right centerline of the head shell. This ensures the stability of the center of gravity of the head assembly when the humanoid robot is in an upright position, reduces shaking or instability caused by a shift in the center of gravity of the head, and improves the smoothness and precision of the movement, particularly when the humanoid robot performs rapid movements such as turning its head.

[0012] In some feasible implementations, in the front-to-back projection of the humanoid robot, the head shell has a connected top contour line and side contour lines, both of which are curves, and both ends of the contour line of the second opening are connected to the top contour line, and the intersection of the contour line of the second opening and the top contour line is spaced apart from the side contour line. The second opening is provided at the top of the head shell, and the second opening is located in the central area of ​​the top of the head shell, which is the position of the head assembly that is least likely to be blocked by its own structure. For electrical modules placed in the head assembly, such as cameras, radars, laser scanners, and antennas, the widest field of view and the least signal interference can be obtained. This is crucial for robots that need to perceive the environment in all directions or conduct long-distance communication, and significantly improves the robot's perception and interaction capabilities.

[0013] In some feasible implementations, in an orthographic projection of the humanoid robot in the vertical direction, the second opening has a rounded rectangular outline. The second opening has a smooth, rounded rectangular outline, providing a regular and sufficiently large opening area for the head assembly, thereby providing a larger second space within the head assembly, thereby providing sufficient space within the head assembly to accommodate electrical components connected to the top cover.

[0014] In some feasible implementations, the electrical module intersects the centerline of the head housing extending in the vertical direction of the humanoid robot. The electrical module and the top cover are mounted in the center region of the top cover. This mounting position is also located on the centerline of the head housing in both the front-to-back and left-to-right directions. This ensures that the head assembly is subjected to more uniform force, reduces structural stress caused by offset mounting positions, and thus eliminates the need for additional force from the head actuator to maintain balance when the humanoid robot is in an upright position.

[0015] In some feasible implementations, a snap-in piece is provided at the edge of the top cover, and a slot for the snap-in piece is provided near the second opening of the head shell and / or the partition, and there is a gap between the top cover and the second opening. The gap between the top cover and the second opening forms a channel for air circulation, allowing the cooler air outside to enter the interior of the head assembly more easily, while the hotter air inside, such as the hot air generated by the operation of the head drive or electrical module, can rise and be discharged. The existence of the gap actually increases the air contact area between the lower surface of the top cover and the partition and the head shell, thereby enhancing the efficiency of heat dissipation through air conduction and radiation. This natural or auxiliary air convection helps to carry away heat and ensure the stable operation of the components inside the head assembly.

[0016] In some feasible implementations, the top cover is provided with multiple mounting holes for locking members, which are used to removably connect the partition and the top cover. In addition to the positioning and initial fixation provided by the snap-fitting members, the addition of locking members to the connection ensures that the top cover and partition will not easily separate during robot movement or external impact, thereby improving the reliability of the overall structure.

[0017] In some feasible implementations, the partition has a first inclined surface and a second inclined surface, wherein the first inclined surface is close to the gap between the top cover and the front side of the second opening, and the second inclined surface is close to the gap between the top cover and the rear side of the second opening. When air outside the head assembly enters through the front gap, the first inclined surface guides the incoming airflow more smoothly toward the internal area requiring heat dissipation, such as around the electrical module, rather than directly impacting the partition to form a vortex or quickly dispersing upward / downward. When the hot air rises due to reduced density and attempts to exit through the rear gap, the second inclined surface provides a smoother exit channel, reducing resistance during air discharge and improving the efficiency of natural convection.

[0018] In some feasible implementations, the electrical module includes a cooling fan, a plurality of air vents are spaced apart on the partition, the cooling fan is spaced apart from the partition, and a plurality of heat dissipation holes are provided on the rear side of the top cover. The cooling fan, the air vents, and the heat dissipation holes cooperate to form a complete forced convection heat dissipation circuit driven by the cooling fan. Cold air is sucked in from the fan and reaches the head drive component through the air vents on the partition, where it absorbs heat and becomes hot air. Part of the hot air is discharged through the heat dissipation holes at the rear of the top cover, and part of the hot air is discharged from the first opening at the bottom. This effectively removes the heat generated by the head drive component, prevents overheating, and thus ensures the stability and reliability of the head drive component and extends its service life.

[0019] In some possible implementations, the electrical module includes an information collection component. A boss is provided on the front side of the top cover, protruding from the outer surface of the top cover. The boss is provided with a through-hole for the information collection component to collect information from the exterior of the humanoid robot. The extension of the boss provides the information collection component with a wider field of view, reducing obstruction by the top cover itself. In particular, for sensors located at the top, the through-hole ensures that there is no physical obstruction in front of the sensor, allowing unimpeded information collection.

[0020] In a second aspect, the present application provides a humanoid robot comprising a waist assembly, an arm assembly, a torso assembly, and the head assembly described in the first aspect. The humanoid robot in the embodiment of the present application has a unique head assembly, which enhances the humanoid effect of the head, facilitates assembly, and improves heat dissipation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0022] Figure 1 A perspective view of the head assembly provided for this application;

[0023] Figure 2 A cross-sectional view of the head assembly provided for this application;

[0024] Figure 3 A front view of the head housing provided for this application;

[0025] Figure 4 A top view of the head housing provided for this application;

[0026] Figure 5 A cross-sectional view of the head housing provided for this application;

[0027] Figure 6 A top view of the top cover provided for this application;

[0028] Figure 7 A perspective view of the top cover provided for this application;

[0029] Figure 8 A schematic diagram of the interior of the head assembly provided for this application;

[0030] Figure 9 A rear view of the head assembly provided for this application;

[0031] Figure 10 This is a three-dimensional view of the top cover provided in this application from another direction.

[0032] Figure annotation:

[0033] 1000-head assembly, 100-head shell, 101-first opening, 102-second opening, 103-top contour line, 104-side contour line, 200-partition, 201-first slope, 202-second slope, 203-vent, 300-head drive member, 400-top cover, 401-clamping member, 402-slot, 403-boss, 404-through hole, 405-heat dissipation hole, 406-hole, 407-mounting hole, 500-electrical module. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of this application clearer, the following will be combined with the accompanying drawings, and the following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0035] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be an intermediate component. When a component is referred to as being "connected to" another component, it may be directly connected to the other component or there may be an intermediate component.

[0036] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used in this application includes any and all combinations of one or more of the relevant listed items.

[0037] See Figure 1 The present application provides a head assembly 1000 for a humanoid robot, comprising a waist device (not shown), an arm device (not shown), a torso device (not shown) and the head assembly 1000 provided by the present application, wherein the head assembly 1000, the waist device and the arm device are all connected to the torso device. The specific structures of the head assembly 1000, the waist device and the arm device are not limited, and they can all be set to a humanoid shape. The head assembly 1000 is connected to the torso device and can rotate relative to each other, realizing functions similar to the head and neck of the human body structure. The torso device is connected to the waist device and can rotate relative to each other, realizing functions similar to the waist and abdomen of the human body structure. The arm device is connected to the torso device and can rotate relative to each other, realizing functions similar to the shoulders and arms of the human body structure.

[0038] See Figure 2 and Figure 3The head assembly 1000 includes: a head shell 100, which encloses a receiving space, the bottom of the head shell 100 has a first opening 101, and the top has a second opening 102. In the front-to-back projection of the humanoid robot, the outline of the second opening 102 is U-shaped; a partition 200, which is accommodated in the receiving space and connected to the head shell 100, and the partition 200 separates the receiving space into a first space and a second space, the first opening 101 is connected to the first space, and the second opening 102 is connected to the second space; a head driving member 300, which is passed through the first opening 101 and partially accommodated in the first space, and the head driving member 300 is connected to the partition 200; a top cover 400, which is detachably connected to the head shell 100 at the second opening 102; an electrical module 500, which is accommodated in the second space and connected to the top cover 400. When the humanoid robot is in an upright position, the bottom of the head housing 100 of the humanoid robot is the side of the head housing 100 close to the body of the humanoid robot, and the top of the head housing 100 is the side of the head housing 100 close to the top of the humanoid robot's head. Optionally, the head drive element can be a multi-degree-of-freedom motor for controlling the left and right free rotation and forward and backward pitch movement of the head assembly.

[0039] In some feasible embodiments, the front-to-back direction of the humanoid robot is the Y-axis direction. The front side of the humanoid robot is the side of the humanoid robot's face facing forward when the humanoid robot is in an upright position, and the back side of the humanoid robot is the side of the back of the head facing backward when the humanoid robot is in an upright position. A partition 200 clearly divides the housing space enclosed by the head shell 100 into a first space and a second space. The head driver 300 is located in the first space at the bottom and is connected to the outside through a first opening 101 to enable rotation. Optionally, the head driver 300 can be a motor or actuator that controls the rotation of the head assembly 1000, or it can include multiple motors or actuators that rotate in different directions. The partition 200 and the relatively enclosed first space can, to a certain extent, protect the head driver 300 from accidental impact or contamination from the top. The electrical module 500 is located in the second space and optionally includes components such as sensors, a computing unit, and a cooling fan. This partitioning design improves the utilization of the internal space of the robot head assembly 1000. The top cover 400 and the head shell 100 are removably connected, and the second opening 102 has a U-shaped outline. The sides of the second opening 102's outline are tilted outward and extend upward relative to the left-right centerline of the head shell 100. In the left-right projection of the humanoid robot, the sides of the second opening 102's outline are tilted outward and extend downward relative to the front-back centerline of the head shell 100. In a fully enclosed connection, additional locating pins or guide slots are typically required to ensure accurate alignment between the top cover 400 and the head shell 100. The U-shaped design provides a natural guide, and the upwardly extending, outward-flared design of the second opening 102 also provides a larger opening area, facilitating installation of the electrical module 500. When installing the top cover 400, it can be aligned along the U-shaped end of the second opening 102 and then slid or pushed in, automatically positioning itself using the edges of the U-shaped edge, rather than requiring complex rotation, prying, or simultaneous pressure at multiple points. This reduces the difficulty of alignment during installation, reduces the number of steps required, and improves efficiency. And when the electrical module 500 needs to be replaced, repaired or upgraded, it is only necessary to remove the top cover 400 without touching the head drive component 300 at the bottom. The electrical module 500 usually generates a large amount of heat, and the second space at the top is directly or indirectly connected to the external environment through the U-shaped second opening 102, which helps to dissipate heat.

[0040] See Figure 3In the orthographic projection of the humanoid robot in the front-to-back direction, the head housing 100 is symmetrical with respect to the left-right centerline of the head housing 100. In some feasible implementations, the left-right direction of the humanoid robot is the X-axis direction, and the shape and actual structure of the head housing 100 are symmetrical with respect to the left-right centerline of the head housing 100. That is, the weight distribution of the actual structure of the head housing 100 is also symmetrical with respect to the left-right centerline of the head housing 100. This ensures the stability of the center of gravity of the head assembly 1000 when the humanoid robot is in an upright position, reduces shaking or instability of the humanoid robot caused by the shift of the center of gravity of the head, and improves the smoothness and precision of the movement, especially when the humanoid robot performs actions such as rapid head turning.

[0041] See Figure 3 In the front-to-back projection of the humanoid robot, the head housing 100 has a connected top outline 103 and side outlines 104. Both the top outline 103 and the side outlines 104 are curved. Both ends of the outline of the second opening 102 are connected to the top outline 103, and the intersection of the outline of the second opening 102 and the top outline 103 is spaced apart from the side outline 104. In the front-to-back projection of the humanoid robot, portions of the side outline 104 in the left and right directions protrude to the left and right, portions of the side outline 104 near the top outline 103 are concave inward in the left and right directions, and portions of the top outline 103 near the side outline 104 protrude upward. The top outline 103 and the side outline 104 form an anthropomorphic head. The second opening 102 is provided at the top of the head shell 100, and the second opening 102 is located in the central area of ​​the top of the head shell 100, which is the position in the head assembly 1000 that is least likely to be blocked by its own structure. For the electrical modules 500 placed in the head assembly 1000, such as cameras, radars, laser scanners and antennas, the widest field of view and the least signal interference can be obtained. This is crucial for robots that need to perceive the environment in all directions or conduct long-distance communications, and significantly improves the robot's perception and interaction capabilities. When the humanoid robot is working, the hot air generated by the operation of the internal components of the head assembly 1000 is quickly discharged through the second opening 102 located in the middle of the top, which helps to keep the head drive 300 and the electrical module 500 in the head assembly 1000 working at a suitable temperature, thereby increasing the service life of the robot. When the electrical module 500 inside the head assembly 1000 needs to be inspected, it is only necessary to remove the top cover 400 located at the second opening 102. Compared with the opening on the side or edge of the head shell 100, the second opening 102 is located in the middle of the top, which has less impact on the strength of the main structure of the head shell 100 and is easier to ensure the overall rigidity of the head shell 100.

[0042] See Figure 4, in the orthographic projection of the humanoid robot in the up-down direction, the outline of the second opening 102 is a rounded rectangle. In some feasible implementations, the up-down direction of the humanoid robot is the Z-axis direction. The long sides of the rounded rectangle are relatively arranged along the left-right direction of the humanoid robot, that is, the X-axis direction, and the short sides of the rounded rectangle are arc-shaped and relatively arranged along the front-back direction of the humanoid robot. The outline of the second opening 102 is a smooth rounded rectangle shape, which provides a regular and sufficiently large opening area for the head assembly 1000, and further provides a second space with a larger space for the head assembly 1000, so that there is enough space in the head assembly 1000 to accommodate electrical components connected to the top cover 400.

[0043] See Figure 5 , the electrical module 500 intersects with the center line of the head housing 100 extending in the vertical direction of the humanoid robot. Figure 6 The top cover 400 is provided with a hole 406, and the electrical module is detachably connected to the top cover 400 by means of a screw inserted into the hole 406. The electrical module 500 is provided with a pluggable interface. When the top cover 400 is connected to or removed from the head shell 100, the electrical module 500 is connected to the remaining components in the head assembly 1000 through the pluggable interface. The installation position of the electrical module 500 and the top cover 400 is located in the central area of ​​the top cover 400. The installation position is also located on the center line of the head shell 100 extending in the vertical direction of the humanoid robot, so that the head assembly 1000 is subjected to more uniform force, reducing the structural stress caused by the offset of the installation position, and thus, when the humanoid robot is in an upright state, there is no need for the head drive 300 to provide additional force to maintain the balance of the head assembly 1000. In some feasible implementations, in the vertical projection of the humanoid robot, the center of gravity of the electrical module and the center of gravity of the head drive 300 coincide.

[0044] See Figure 7 and Figure 8A snap-fitting member 401 is provided on the edge of the top cover 400, and a slot 402 for the snap-fitting member 401 to be inserted into is provided near the second opening 102 of the head shell 100 and / or the partition 200, with a gap between the top cover 400 and the second opening 102. The slot 402 can be located on the inner wall of the head shell 100 near the second opening 102, or on the partition 200 near the second opening 102, or partially on the head shell 100 and partially on the partition 200. In some feasible implementations, the snap-fitting member 401 can be a buckle, and an outwardly protruding hook is provided on the edge of the top cover 400. A slot 402 matching the hook is provided between the interior of the second opening 102 and the partition 200. When the top cover 400 is installed, the hook is pressed and deformed and then spread into the slot 402, and is fixed by the elastic restoring force of the material. The clip 401 can also be wedge-shaped; when the top cover 400 is installed, the clip 401 is tilted and inserted into the slot 402, where it automatically locks into place. The clip 401 can also be a flexible metal or plastic sheet that bends and snaps into the slot 402. There can be one clip 401, located in the middle of the front edge of the top cover 400, or there can be multiple clips 401, symmetrically located on the front or rear edges of the top cover 400. The removable connection between the top cover 400 and the head shell 100 via the clip 401 improves installation efficiency. It is worth noting that the gap between the top cover 400 and the second opening 102 is evenly distributed at the connection between the top cover 400 and the second opening 102. The gap between the top cover 400 and the second opening 102 forms a channel that facilitates air circulation, allowing the cooler air outside to more easily enter the interior of the head assembly 1000, while the hotter air inside, such as the hot air generated by the operation of the head drive 300 or the electrical module, can rise and be discharged. The existence of the gap actually increases the air contact area between the lower surface of the top cover 400 and the partition 200 and the head shell 100, thereby enhancing the efficiency of heat dissipation through air conduction and radiation. This natural or auxiliary air convection helps to carry away heat and ensure the stable operation of the internal components of the head assembly 1000.

[0045] See Figure 7The top cover 400 is provided with a plurality of mounting holes 407 for the locking members to extend into, and the locking members are used to detachably connect the partition 200 and the top cover 400. In some feasible implementations, the locking members can be countersunk screws. After the countersunk screws are tightened, the screw heads sink into the mounting holes 407, and the screws are threadedly engaged with the corresponding threaded holes on the partition 200, and are fixed by rotating the screws. The locking members can also be screws and nuts. After the top cover 400 is first clamped to the second opening 102 of the head shell 100, the screws are passed through the mounting holes 407 of the top cover 400 and screwed into the nuts fixed on the partition 200. The nuts can be external nuts, or self-tapping screws screwed into the pre-punched partition 200, or embedded nuts can be used. On the basis of the clamping positioning and preliminary fixation by the clamping member 401, the locking members are added for connection to ensure that the top cover 400 and the partition 200 will not be easily separated under the movement of the robot or external impact, thereby improving the reliability of the overall structure.

[0046] See Figure 5 The baffle 200 has a first sloped surface 201 and a second sloped surface 202. The first sloped surface 201 is located near the gap between the top cover 400 and the front of the second opening 102, while the second sloped surface 202 is located near the gap between the top cover 400 and the rear of the second opening 102. When air from outside the head assembly 1000 enters through the front gap, the first sloped surface 201 guides the incoming airflow more smoothly toward areas within the head assembly where heat dissipation is required, such as around the electrical module 500, rather than directly impacting the baffle 200, forming vortices or rapidly dispersing upward or downward. As hot air rises due to its decreased density and attempts to exit through the rear gap, the second sloped surface 202 provides a smoother exit path, reducing resistance during air discharge and improving the efficiency of natural convection. The first and second slopes 201, 202 work together to form a more efficient channel for guiding cool air in and hot air out, significantly improving heat dissipation efficiency through the front and rear gaps. This produces a more optimized flow field than a completely flat baffle 200.

[0047] See Figure 8 and Figure 9The electrical module 500 includes a cooling fan. Multiple vents 203 are spaced apart on the partition 200. The cooling fan is spaced apart from the partition 200. Multiple cooling holes 405 are provided on the rear side of the top cover 400. The cooling fan blows cool air directly onto the partition 200 with the vents 203. This allows the cool air to enter the first space through the vents 203 on the partition 200, flow through the head drive 300, and then be discharged through the first opening 101. This creates an upward and downward flow of air within the head assembly 1000 to dissipate heat from the head drive 300. As the cool air cools the head drive 300 and the heat it generates, the density of the hot air decreases, causing it to naturally rise and attempt to exit. The cooling holes 405 on the rear side of the top cover 400 provide just such an outlet. The multiple cooling holes 405 increase the exhaust area and reduce exhaust resistance, allowing the hot air to be discharged more smoothly. The cooling fan, vents 203, and cooling holes 405 work together to form a complete, fan-driven forced convection cooling circuit. Cool air is drawn in by the fan and reaches the head drive unit 300 through the vents 203 on the partition 200. After absorbing heat, it becomes hot air. Some of the hot air is discharged through the heat dissipation holes 405 on the rear of the top cover 400, while some is discharged through the first opening 101 at the bottom. This effectively removes the heat generated by the head drive unit 300, preventing overheating, thereby ensuring the stability and reliability of the head drive unit 300 and extending its service life.

[0048] See Figure 10 The electrical module 500 includes an information collection component. A boss 403 is provided on the front side of the top cover 400. The boss 403 protrudes from the outer surface of the top cover 400 and is provided with a through-hole 404. Through-hole 404 allows the information collection component to collect information from the humanoid robot's exterior. In some feasible implementations, the information collection component can be a camera for visual information collection, including environmental perception, facial recognition, object recognition, navigation and positioning. Alternatively, the information collection component can be an infrared sensor or thermal imager for detecting the heat distribution of objects, enabling night vision, obstacle detection, and vital sign detection. Alternatively, the information collection component can be a distance sensor for accurately measuring the distance to an object, enabling obstacle avoidance, environmental modeling, and gesture recognition. The extension of boss 403 allows the information collection component to obtain a wider field of view, reducing obstruction by the top cover 400 itself. In particular, for sensors located at the top, through-hole 404 ensures that there is no physical obstruction in front of the sensor, allowing for unimpeded information collection. The through hole 404 of the boss 403 is also covered with a glass cover to effectively prevent dust, moisture, and small particles from directly entering the through hole 404 and contacting the information collection component.

[0049] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0050] In addition, the terms "first," "second," and so on, used in this application are for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0051] In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] In addition, the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0053] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A head assembly (1000), characterized in that: For a humanoid robot, the head assembly (1000) comprises: A head shell (100) encloses a receiving space, wherein the bottom of the head shell (100) has a first opening (101) and the top has a second opening (102), and in an orthographic projection in the front-back direction of the humanoid robot, the outline of the second opening (102) is U-shaped; a partition (200) housed in the receiving space and connected to the head shell (100), the partition (200) dividing the receiving space into a first space and a second space, the first opening (101) communicating with the first space, and the second opening (102) communicating with the second space; a head driving member (300) passing through the first opening (101) and partially accommodated in the first space, the head driving member (300) being connected to the partition (200); a top cover (400) detachably connected to the head shell (100) at the second opening (102); An electrical module (500) is housed in the second space and connected to the top cover (400).

2. The head assembly (1000) according to claim 1, characterized in that In the orthographic projection of the humanoid robot in the front-back direction, the head shell (100) is symmetrical with respect to the center line of the head shell (100) in the left-right direction.

3. The head assembly (1000) according to claim 2, characterized in that In the front-to-back projection of the humanoid robot, the head shell (100) has a connected top contour line (103) and a side contour line (104), the top contour line (103) and the side contour line (104) are both curves, both ends of the contour line of the second opening (102) are connected to the top contour line (103), and the intersection of the contour line of the second opening (102) and the top contour line (103) is spaced apart from the side contour line (104).

4. The head assembly (1000) according to claim 1, characterized in that In the vertical projection of the humanoid robot, the outline of the second opening (102) is a rounded rectangle.

5. The head assembly (1000) according to claim 4, characterized in that The electrical module (500) intersects with a center line of the head housing (100) extending in the up-down direction of the humanoid robot.

6. The head assembly (1000) according to claim 1, characterized in that A snap-fitting piece (401) is provided on the edge of the top cover (400), and a slot (402) for the snap-fitting piece (401) to be snapped into is provided on the head shell (100) and / or the partition (200) adjacent to the second opening (102), and a gap is provided between the top cover (400) and the second opening (102).

7. The head assembly (1000) according to claim 6, characterized in that The top cover (400) is provided with a plurality of mounting holes (407) for locking members to extend into, and the locking members are used to detachably connect the partition (200) and the top cover (400).

8. The head assembly (1000) according to claim 6, characterized in that The partition (200) has a first inclined surface (201) and a second inclined surface (202), wherein the first inclined surface (201) is close to the gap between the top cover (400) and the front side of the second opening (102), and the second inclined surface (202) is close to the gap between the top cover (400) and the rear side of the second opening (102).

9. The head assembly (1000) according to claim 1, characterized in that The electrical module (500) includes a cooling fan, a plurality of ventilation holes (203) are arranged at intervals on the partition (200), the cooling fan is spaced apart from the partition (200), and a plurality of cooling holes (405) are provided on the rear side of the top cover (400).

10. The head assembly (1000) according to claim 1, characterized in that The electrical module (500) includes an information collection component. The front side of the top cover (400) is provided with a boss (403), the boss (403) protrudes from the outer surface of the top cover (400), and the boss (403) is provided with a through hole (404). The through hole (404) is used for the information collection component to collect information outside the humanoid robot.

11. A humanoid robot, characterized in that: The utility model comprises a waist device, an arm device, a torso device and a head assembly (1000) as claimed in any one of claims 1 to 10.

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