Head assembly and humanoid robot

Abstract

A head assembly and a humanoid robot, the head assembly comprising a head shell, a partition, a head driving element, a top cover and an electrical module, the head shell enclosing a receiving space, the head shell having a first opening at the bottom and a second opening at the top, in the orthographic projection in the front-rear direction of the humanoid robot, the contour line of the second opening is U-shaped; the partition is received in the receiving space and connected with the head shell, the partition divides the receiving space into a first space and a second space, the first opening is in communication with the first space, and the second opening is in communication with the second space; the head driving element is arranged through the first opening and partially received in the first space, and the head driving element is connected with the partition; the top cover is detachably connected with the head shell at the second opening; and the electrical module is received in the second space and connected with the top cover. The regular structure of the top cover and the head shell simplifies the structure and installation steps when the two are detached and connected, and improves the appearance integrity and installation efficiency of the head assembly.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a head assembly and a humanoid robot. Background Technology

[0002] In the existing field of upright humanoid robot technology, the robot's head shell is usually a single structure or connected by a complex fixing method. The robot's head integrates a large number of electronic components, and even for detachable head shells, the irregular shape makes the assembly process quite complicated. Summary of the Invention

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

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

[0005] The head shell encloses a storage space. The bottom of the head shell has a first opening and the top has a second opening. In the orthographic projection of the humanoid robot in the front-back direction, the outline of the second opening is U-shaped.

[0006] A partition is housed in the containment space and connected to the head shell. The partition divides the containment space into a first space and a second space. The first opening communicates with the first space, and the second opening communicates with the second space.

[0007] A head drive component is inserted through the first opening and partially housed in the first space; the head drive component is connected to the partition.

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

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

[0010] The head assembly's outer shell has a first opening and a second opening, with a top cover detachably connected to the head shell at the second opening. In the orthographic projection of the humanoid robot in the front-back direction, the outline of the second opening is U-shaped, and correspondingly, the outline of the top cover is inverted U-shaped. The regular structure of the top cover and head shell simplifies the structure and installation steps during disassembly and connection, improving the installation efficiency of the head assembly. Furthermore, this structure not only provides a larger secondary space for the installation and operation of electrical modules, but also allows the components within the head assembly, such as the head drive unit and electrical modules, to directly or indirectly connect with the external environment through the U-shaped second opening, facilitating heat dissipation and improving the operational stability of the components inside the head assembly.

[0011] In some feasible implementations, the head shell is symmetrical with respect to the centerline in the left-right direction of the humanoid robot's orthographic projection. Both the shape and actual structure of the head shell are symmetrical with respect to the centerline in the left-right direction; that is, the weight distribution of the actual structure of the head shell is also symmetrical with respect to the centerline in the left-right direction. This ensures the stability of the head assembly's center of gravity when the humanoid robot is upright, reducing swaying or instability caused by a shift in the head's center of gravity. This is especially beneficial when the humanoid robot performs actions such as rapid head turns, improving the smoothness and precision of its movements.

[0012] In some feasible implementations, in the orthographic projection of the humanoid robot in the forward and backward direction, the head shell has connected top and side contour lines, both of which are curves. The two ends of the contour line of the second opening connect to the top contour line, and the intersection of the second opening's contour line with the top contour line is spaced apart from the side contour line. The second opening is located at the top of the head shell, specifically in the central region of the top of the head shell—a position least likely to be obstructed by the head assembly itself. This allows electrical modules placed in the head assembly, such as cameras, radar, laser scanners, and antennas, to obtain the widest field of view and the least signal interference. This is crucial for robots requiring omnidirectional environmental perception or long-distance communication, significantly enhancing the robot's perception and interaction capabilities.

[0013] In some feasible implementations, the outline of the second opening is a rounded rectangle in the vertical projection of the humanoid robot. The smooth, rounded rectangular shape of the second opening provides a regular and sufficiently large opening area for the head assembly, thereby providing a large second space for 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 shell, which extends vertically along the humanoid robot. The electrical module is mounted on the top cover in the central region of the top cover, which is also located on the centerline of the head shell in the front-back and left-right directions. This ensures more even force distribution on the head assembly, reduces structural stress caused by installation position offset, and allows the humanoid robot to maintain its balance in an upright position without requiring additional force from the head drive components.

[0015] In some feasible implementations, the top cover has a snap-fit ​​element at its edge, and the head housing and / or partition have a slot near the second opening for the snap-fit ​​element to engage. A gap exists between the top cover and the second opening. This gap creates a channel for airflow, allowing cooler external air to more easily enter the head assembly, while warmer internal air, such as that generated by the head drive unit or electrical module, can rise and escape. The gap effectively increases the air contact area between the lower surface of the top cover and the partition and head housing, enhancing the efficiency of heat dissipation through conduction and radiation. This natural or assisted air convection helps remove heat, ensuring the stable operation of the components inside the head assembly.

[0016] In some feasible implementations, the top cover has multiple mounting holes for locking components to extend into, which are used for the detachable connection between the partition and the top cover. Based on the snap-fit ​​positioning and initial fixation using snap-fit ​​components, the addition of locking components ensures that the top cover and partition will not easily separate under robot movement or external impact, thus improving the overall structural reliability.

[0017] In some feasible implementations, the partition has a first slope and a second slope. The first slope is near the gap between the top cover and the front side of the second opening, and the second slope is near the gap between the top cover and the rear side of the second opening. When air from outside the head assembly enters through the front gap, the first slope guides the incoming airflow more smoothly toward internal areas requiring heat dissipation, such as around electrical modules, rather than directly impacting the partition to create vortices or rapidly dissipating upwards / downwards. As hot air rises due to its reduced density and attempts to exit through the rear gap, the second slope provides a smoother exit path, reducing resistance during air exhaust and improving the efficiency of natural convection.

[0018] In some feasible implementations, the electrical module includes a cooling fan, multiple vents spaced apart on the partition, and the cooling fan is spaced apart from the partition. Multiple ventilation holes are located on the rear side of the top cover. The cooling fan, vents, and ventilation holes work together to form a complete forced convection cooling circuit driven by the cooling fan. Cool air is drawn in from the fan, passes through the vents on the partition, reaches the head drive component, absorbs heat, and becomes hot air. Part of the hot air is discharged through the ventilation holes at the rear of the top cover, and part is discharged from the first opening at the bottom. This effectively removes the heat generated by the head drive component, preventing overheating and ensuring the stability and reliability of the head drive component, thus extending its service life.

[0019] In some feasible implementations, the electrical module includes an information acquisition component. A boss protrudes from the outer surface of the top cover and has a through-hole for the information acquisition component to collect information from the outside of the humanoid robot. The extended boss allows the information acquisition component to obtain a wider field of view, reducing the obstruction of the view by the top cover itself. This is particularly beneficial for sensors located on the top, as the through-hole ensures that there are no physical obstructions in front of the sensors, allowing for unobstructed information acquisition.

[0020] Secondly, this application provides a humanoid robot, including a waist device, an arm device, a torso device, and the head assembly described in the first aspect. The humanoid robot in this application embodiment, by setting a unique head assembly, achieves a better humanoid effect, is easier to assemble, and has high heat dissipation efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0022] Figure 1 A perspective view of the header component provided for this application;

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

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

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

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

[0027] Figure 6 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 This is a schematic diagram of the internal structure of the header component provided in this application;

[0030] Figure 9 Rear view of the header component provided for this application;

[0031] Figure 10 A perspective view of the top cover provided in this application from another direction.

[0032] Attached image captions:

[0033] 1000-Head assembly, 100-Head housing, 101-First opening, 102-Second opening, 103-Top outline, 104-Side outline, 200-Block, 201-First slope, 202-Second slope, 203-Ventilation hole, 300-Head drive unit, 400-Top cover, 401-Snap-fit ​​component, 402-Slot, 403-Boss, 404-Through hole, 405-Heat dissipation hole, 406-Hole, 407-Mounting hole, 500-Electrical module. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] 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 it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0036] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0037] Please see Figure 1 This application provides a head assembly 1000 for a humanoid robot, including a waist device (not shown), an arm device (not shown), a torso device (not shown), and the head assembly 1000 provided in this application. The head assembly 1000, waist device, and arm device are all connected to the torso device. The specific structure of the head assembly 1000, waist device, and arm device is not limited, and they can all be configured in a humanoid shape. The head assembly 1000 is connected to the torso device and can rotate relative to it, achieving a function similar to the head and neck of a human body. The torso device is connected to the waist device and can rotate relative to it, achieving a function similar to the waist and abdomen of a human body. The arm device is connected to the torso device and can rotate relative to it, achieving a function similar to the shoulder and arm of a human body.

[0038] Please see Figure 2 and Figure 3The head assembly 1000 includes: a head shell 100 enclosing a receiving space, the head shell 100 having a first opening 101 at the bottom and a second opening 102 at the top, the outline of the second opening 102 being U-shaped in the orthographic projection of the humanoid robot in the front-back direction; a partition 200, received 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 drive 300, passing through the first opening 101 and partially received in the first space, the head drive 300 being connected to the partition 200; a top cover 400, detachably connected to the head shell 100 at the second opening 102; and an electrical module 500, received 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 shell 100 is the side of the head shell 100 closest to the humanoid robot's body, and the top of the head shell 100 is the side of the head shell 100 closest to the top of the humanoid robot's head. Optionally, the head drive component can be a multi-degree-of-freedom motor, used to control the head assembly's free left-right rotation and forward-backward pitching motion.

[0039] In some feasible implementations, the forward-backward direction of the humanoid robot is the Y-axis direction. The front side of the humanoid robot is the side where its face faces forward when it is upright, and the rear side is the side where the back of its head faces backward when it is upright. The partition 200 clearly divides the receiving space enclosed by the head shell 100 into a first space and a second space. The head drive unit 300 is located in the bottom first space and is connected to the outside through the first opening 101 to achieve rotation. Optionally, the head drive unit 300 can be a motor or actuator that controls the rotation of the head assembly 1000. The head drive unit 300 may also include multiple motors or actuators rotating in different directions. The partition 200 and the relatively enclosed first space can protect the head drive unit 300 from accidental impacts or contamination from above to a certain extent. The electrical module 500 is located in the second space. Optionally, the electrical module 500 includes sensors, computing units, cooling fans, and other devices. This partitioned design improves the utilization rate of the internal space of the robot head assembly 1000. The top cover 400 and the head shell 100 are detachably connected, and the outline of the second opening 102 is U-shaped. The two sides of the outline of the second opening 102 slope outwards and extend upwards relative to the center line of the head shell 100 in the left-right direction. Projected onto the humanoid robot in the left-right direction, the two sides of the outline of the second opening 102 slope outwards and extend downwards relative to the center line of the head shell 100 in the front-back direction. In a fully enclosed connection, additional locating pins or guide slots are usually required to ensure accurate alignment of the top cover 400 and the head shell 100. The U-shaped design provides a natural guiding effect, and the upwardly extending outward-expanding design of the second opening 102 also provides a larger opening area, facilitating the 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 first, and then slid or pushed in, using the edges of the U-shape for automatic positioning, instead of the complex operation requiring rotation, prying, or simultaneous pressing of multiple points. This reduces the alignment difficulty during installation, reduces installation steps, and improves efficiency. Furthermore, when the electrical module 500 needs to be replaced, repaired, or upgraded, only the top cover 400 needs to be removed, without touching the head drive component 300 at the bottom. The electrical module 500 usually generates a lot 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] Please see Figure 3In the orthographic projection of the humanoid robot in the front-back direction, the head shell 100 is symmetrical with respect to the center line in the left-right direction. 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 shell 100 are symmetrical with respect to the center line in the left-right direction. That is, the weight distribution of the actual structure of the head shell 100 is also symmetrical with respect to the center line in the left-right direction. This ensures the stability of the center of gravity of the head assembly 1000 when the humanoid robot is upright, reduces the swaying or instability caused by the shift of the head's center of gravity, and improves the smoothness and accuracy of its movements, especially when the humanoid robot performs actions such as rapid head turning.

[0041] Please see Figure 3 In the front-back projection of the humanoid robot, the head shell 100 has a connected top contour line 103 and a side contour line 104. Both the top contour line 103 and the side contour line 104 are curved. 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. In the front-back projection of the humanoid robot, the side contour line 104 has parts that protrude to the left and right in the left and right directions, and the parts of the side contour line 104 near the top contour line 103 are concave in the left and right directions. The parts of the top contour line 103 near the side contour line 104 protrude upwards. The top contour line 103 and the side contour line 104 together form a humanoid head. The second opening 102 is located at the top of the head shell 100, and in the central region of the top of the head shell 100, a position least likely to be obstructed by its own structure within the head assembly 1000. This allows the electrical modules 500 housed within the head assembly 1000, such as cameras, radar, laser scanners, and antennas, to obtain the widest possible field of view and the least signal interference. This is crucial for robots requiring omnidirectional environmental perception or long-distance communication, significantly enhancing their perception and interaction capabilities. When the humanoid robot is working, the hot air generated by the operation of the components inside the head assembly 1000 is rapidly expelled through the second opening 102 located in the center of the top, helping to maintain the head drive unit 300 and electrical modules 500 within the head assembly 1000 at suitable temperatures, thus extending the robot's lifespan. When the electrical module 500 inside the head assembly 1000 needs to be inspected, only the top cover 400 located at the second opening 102 needs to be removed. Compared to openings on the side or edge of the head housing 100, the second opening 102, located in the middle of the top, has less impact on the strength of the main structure of the head housing 100 and makes it easier to ensure the overall rigidity of the head housing 100.

[0042] Please see Figure 4In the vertical projection of the humanoid robot, the outline of the second opening 102 is a rounded rectangle. In some feasible implementations, the vertical direction of the humanoid robot is the Z-axis. The long side of the rounded rectangle is positioned relative to the left and right direction of the humanoid robot, i.e., the X-axis, while the short side of the rounded rectangle is an arc and is positioned relative to the front and back direction of the humanoid robot. The smooth, rounded rectangular shape of the second opening 102 provides a regular and sufficiently large opening area for the head assembly 1000, thereby providing a larger second space for the head assembly 1000, so that there is enough space within the head assembly 1000 to accommodate electrical components connected to the top cover 400.

[0043] Please see Figure 5 The electrical module 500 intersects the centerline of the head shell 100, which extends along the vertical direction of the humanoid robot. See also... Figure 6 The top cover 400 has a hole 406, through which the electrical module is detachably connected to the top cover 400 via screws extending into the hole 406. The electrical module 500 has a pluggable interface; when the top cover 400 is connected to or detached from the head shell 100, the electrical module 500 connects to other components within the head assembly 1000 via the pluggable interface. The electrical module 500 is mounted on the top cover 400 at its central location, which is also located on the centerline of the head shell 100 extending vertically along the humanoid robot. This ensures more even force distribution on the head assembly 1000, reduces structural stress caused by installation position offset, and allows the humanoid robot to maintain its balance in an upright position without requiring additional force from the head drive component 300. In some feasible implementations, the center of gravity of the electrical module coincides with the center of gravity of the head drive component 300 in the vertical projection of the humanoid robot.

[0044] Please see Figure 7 and Figure 8The top cover 400 has a snap-fit ​​element 401 on its edge. The head cover 100 and / or partition 200 have a slot 402 near the second opening 102 for the snap-fit ​​element 401 to engage. There is 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 cover 100 near the second opening 102, or it can be located on the partition 200 near the second opening 102. Alternatively, the slot 402 can be partially located on the head cover 100 and partially on the partition 200. In some feasible implementations, the snap-fit ​​element 401 can be a buckle, with an outwardly protruding hook 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, then inserted into the slot 402, achieving fixation through the elastic recovery force of the material. The snap-fit ​​element 401 can also be wedge-shaped; when installing the top cover 400, the snap-fit ​​element 401 is tilted and inserted into the slot 402, after which the snap-fit ​​element 401 automatically locks itself in the slot 402; the snap-fit ​​element 401 can also be a flexible metal or plastic sheet that can be bent and snapped into the slot 402. There can be one snap-fit ​​element 401, located in the middle of the front edge of the top cover 400; or there can be multiple snap-fit ​​elements 401, symmetrically located on the front or rear edges of the top cover 400. The top cover 400 is detachably connected to the head housing 100 via the snap-fit ​​element 401, improving the installation efficiency of the top cover 400 and the head housing 100. It is worth noting that the gap between the top cover 400 and the second opening 102 is located at the junction of the top cover 400 and the second opening 102 and is evenly distributed. This gap forms a channel that facilitates airflow, allowing cooler external air to more easily enter the head assembly 1000, while warmer internal air, such as that generated by the head drive unit 300 or the electrical module, can rise and escape. The gap effectively increases the air contact area between the lower surface of the top cover 400 and the partition 200 and the head housing 100, enhancing the efficiency of heat dissipation through conduction and radiation. This natural or assisted air convection helps to remove heat, ensuring the stable operation of the components inside the head assembly 1000.

[0045] Please see Figure 7The top cover 400 has multiple mounting holes 407 for locking components to extend into. These locking components are used for the detachable connection between the partition 200 and the top cover 400. In some feasible implementations, the locking component can be a countersunk screw. After tightening the countersunk screw, the screw head sinks into the mounting hole 407, and the screw engages with the corresponding threaded hole on the partition 200. The screw is then rotated to secure it. Alternatively, the locking component can be a screw and a nut. After the top cover 400 is snapped onto the second opening 102 of the head housing 100, the screw is passed through the mounting hole 407 of the top cover 400 and screwed into the nut fixed to the partition 200. This nut can be an external nut, a self-tapping screw screwed into a pre-drilled hole in the partition 200, or an embedded nut. Based on the snap-fit ​​positioning and initial fixation by the snap-fit ​​component 401, the addition of the locking component ensures that the top cover 400 and the partition 200 will not easily separate under robot movement or external impact, improving the overall structural reliability.

[0046] Please see Figure 5 The partition 200 has a first inclined surface 201 and a second inclined surface 202. The first inclined surface 201 is located near the gap between the top cover 400 and the front side of the second opening 102, and the second inclined surface 202 is located near the gap between the top cover 400 and the rear side of the second opening 102. When air from outside the head assembly 1000 enters through the front gap, the first inclined surface 201 guides the incoming airflow more smoothly to the internal areas requiring heat dissipation, such as around the electrical module 500, rather than directly impacting the partition 200 to form vortices or rapidly dissipating upwards / downwards. As hot air rises due to its reduced density and attempts to exit through the rear gap, the second inclined surface 202 provides a smoother exit channel, reducing air resistance during exhaust and improving the efficiency of natural convection. The first and second inclined surfaces 201 and 202 work together to form a more efficient channel for guiding cool air in and hot air out, thereby significantly improving the heat dissipation efficiency through the front and rear gaps. This produces a more optimized flow field than a completely flat partition 200.

[0047] Please see Figure 8 and Figure 9The electrical module 500 includes a cooling fan, and a partition 200 has multiple vents 203 spaced apart. The cooling fan is spaced apart from the partition 200, and the rear side of the top cover 400 has multiple heat dissipation holes 405. The cooling fan blows cool air directly onto the partition 200 with vents 203, allowing the cool air to be concentrated and enter the first space through the vents 203 on the partition 200, flow through the head drive component 300, and then exit from the first opening 101. This achieves vertical airflow inside the head assembly 1000 to dissipate heat from the head drive component 300. When the cool air cools the head drive component 300 and the heat it generates, the density of the hot air decreases, causing it to rise and attempt to escape. The heat dissipation holes 405 on the rear side of the top cover 400 provide such an outlet. The multiple heat dissipation holes 405 increase the exhaust area and reduce exhaust resistance, allowing hot air to escape more smoothly. The cooling fan, vents 203, and heat dissipation holes 405 work together to form a complete forced convection cooling circuit driven by the cooling fan. Cool air is drawn in from the fan and reaches the head drive unit 300 through the vent 203 on the partition 200. After absorbing heat, it becomes hot air. Part of the hot air is discharged through the heat dissipation vent 405 at the rear of the top cover 400, and part of the hot air is discharged through the first opening 101 at the bottom. This effectively removes the heat generated by the head drive unit 300, preventing overheating and ensuring the stability and reliability of the head drive unit 300, thus extending its service life.

[0048] Please see Figure 10 The electrical module 500 includes an information acquisition component. A boss 403 protrudes from the outer surface of the top cover 400 on its front side. The boss 403 has a through hole 404 for the information acquisition component to collect information from the outside of the humanoid robot. In some feasible implementations, the information acquisition component can be a camera for visual information acquisition, including environmental perception, face recognition, object recognition, and navigation positioning. It can also be an infrared sensor or thermal imager for detecting the heat distribution of objects, enabling night vision, obstacle detection, and vital sign detection. Alternatively, it can be a distance sensor for accurately measuring the distance to objects, enabling obstacle avoidance, environmental modeling, and gesture recognition. The extension of the boss 403 allows the information acquisition component to obtain a wider field of view, reducing the obstruction of the view by the top cover 400 itself. Especially for sensors located on the top, the through hole 404 ensures that there is no physical obstruction in front of the sensor, allowing for unobstructed information acquisition. The through hole 404 of the boss 403 is also covered with a glass cover plate, which effectively prevents dust, moisture and small particles from directly entering the through hole 404 and contacting the information acquisition device.

[0049] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0050] Furthermore, the use of terms such as "first," "second," etc., in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0051] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0052] Furthermore, the technical solutions of the various embodiments of this application can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this application.

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

Claims

1. A head assembly (1000), characterized in that, For a humanoid robot, the head assembly (1000) includes: The head shell (100) 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 orthographic projection of the humanoid robot in the front-back direction, the outline of the second opening (102) is U-shaped. A partition (200) is housed in the receiving space and connected to the head shell (100). The partition (200) divides the receiving space into a first space and a second space. The first opening (101) communicates with the first space, and the second opening (102) communicates with the second space. A head drive unit (300) is provided through the first opening (101) and partially housed in the first space, and the head drive unit (300) is connected to the partition (200); The top cover (400) is 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); In the orthographic projection of the humanoid robot in the front-back direction, the head shell (100) has a connected top contour line (103) and a side contour line (104), both of which are curves. The two 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).

2. The head assembly (1000) as claimed in claim 1, characterized in that, In the front-back orthographic projection of the humanoid robot, 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) as claimed in claim 1, characterized in that, In the vertical projection of the humanoid robot, the outline of the second opening (102) is a rounded rectangle.

4. The head assembly (1000) as claimed in claim 3, characterized in that, The electrical module (500) intersects the centerline of the head shell (100) extending in the vertical direction of the humanoid robot.

5. The head assembly (1000) as claimed in claim 1, characterized in that, The top cover (400) has a snap-fit ​​member (401) on its edge, and the head shell (100) and / or the partition (200) have a slot (402) near the second opening (102) for the snap-fit ​​member (401) to snap into, and there is a gap between the top cover (400) and the second opening (102).

6. The head assembly (1000) as claimed in claim 5, characterized in that, The top cover (400) is provided with a plurality of mounting holes (407) for inserting locking elements, which are used to detachably connect the partition (200) and the top cover (400).

7. The head assembly (1000) as claimed in claim 5, characterized in that, The partition (200) has a first inclined surface (201) and a second inclined surface (202), the first inclined surface (201) being close to the gap between the top cover (400) and the front side of the second opening (102), and the second inclined surface (202) being close to the gap between the top cover (400) and the rear side of the second opening (102).

8. The head assembly (1000) as claimed in claim 1, characterized in that, The electrical module (500) includes a cooling fan, and 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 heat dissipation holes (405) are provided on the rear side of the top cover (400).

9. The head assembly (1000) as claimed in claim 1, characterized in that, The electrical module (500) includes an information acquisition 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). The boss (403) is provided with a through hole (404). The through hole (404) is used for the information acquisition component to acquire information from the outside of the humanoid robot.

10. A humanoid robot, characterized in that, It includes a waist device, an arm device, a torso device, and a head assembly (1000) as described in any one of claims 1-9.

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