Head mechanism and robot

Abstract

The invention discloses a head mechanism and a robot, and the head mechanism comprises: a housing, the interior of which is provided with an accommodating cavity; the first support assembly is arranged in the containing cavity and connected with the shell, and a hollow hole with an opening in the first direction is formed in the first support assembly; the second support assembly comprises a first connecting part, a second connecting part and a third connecting part, the first connecting part and the second connecting part are arranged in a spaced mode in the first direction, the third connecting part is connected with the first connecting part and the second connecting part, and the third connecting part is located in the hollow hole; and the first driving assembly is arranged on the third connecting part, the driving end of the first driving assembly is connected with the first support assembly, and the first driving assembly is used for driving the shell and the first support assembly to rise or nodding. According to the technical scheme, the structure of the head mechanism is more compact.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to a head mechanism and a robot. Background Art

[0002] With the development of artificial intelligence technology, intelligent robots are being used more and more widely in people's lives.

[0003] In the related art, due to the limited internal space of the robot's head, the motor that drives the robot's head to rotate is usually set outside the shell of the head, which will result in a larger size of the robot's head mechanism.

[0004] Therefore, how to reasonably layout the internal space of the head mechanism is a problem that needs to be solved at present. Summary of the Invention

[0005] One purpose of embodiments of the present application is to provide a head mechanism and a robot.

[0006] According to a first aspect of an embodiment of the present application, a head mechanism is provided, comprising:

[0007] a housing, wherein a receiving cavity is formed inside the housing;

[0008] a first bracket assembly, the first bracket assembly being disposed in the accommodating cavity and connected to the housing, the first bracket assembly being formed with a hollow hole opening in a first direction;

[0009] a second bracket assembly, the second bracket assembly comprising a first connecting portion, a second connecting portion, and a third connecting portion, the first connecting portion and the second connecting portion being spaced apart along a first direction, the third connecting portion being connected to the first connecting portion and the second connecting portion, respectively, and the third connecting portion being located within the hollow hole;

[0010] The first driving component is arranged on the third connecting portion, the driving end of the first driving component is connected to the first bracket component, and the first driving component is used to drive the shell and the first bracket component to raise or nod.

[0011] Optionally, the first bracket assembly includes a first bracket, a second bracket, a third bracket and a fourth bracket, the first bracket and the third bracket are spaced apart along the second direction, the second bracket connects the first bracket and the third bracket, the fourth bracket connects the first bracket and the third bracket, and the hollow hole is formed between the first bracket, the second bracket, the third bracket and the fourth bracket.

[0012] Optionally, the second bracket is located between the first connecting portion and the second connecting portion, and is located below the third connecting portion in the third direction;

[0013] The fourth bracket is located above the third connecting portion in the third direction, and the driving end of the first driving assembly is connected to the fourth bracket.

[0014] Optionally, the head mechanism further includes a fifth bracket, the fifth bracket is spaced apart from the fourth bracket in the third direction, a gap is formed between the fifth bracket and the fourth bracket, and the fifth bracket is respectively aligned with the fourth bracket and the third bracket;

[0015] The head mechanism further includes a main control module, which is arranged on the fifth bracket and located in the gap.

[0016] Optionally, the head mechanism further includes a first collecting module and a second collecting module, and the first collecting module and the second collecting module are spaced apart on the first bracket along the third direction.

[0017] Optionally, the head mechanism further includes a screen module, which is disposed on the first bracket and located between the first acquisition module and the second acquisition module.

[0018] Optionally, the head mechanism further includes a third collection module, and the third collection module is arranged on the third bracket.

[0019] Optionally, the head mechanism further includes a sound module, and the sound module is arranged on the third bracket.

[0020] Optionally, the head mechanism further includes a sound collection module, and the sound collection module is arranged on a side of the fifth bracket close to the shell.

[0021] Optionally, the sound collection module includes a plurality of microphones arranged in a ring shape.

[0022] Optionally, the head mechanism further includes a sound-generating module and a sound-collecting module, the sound-generating module is arranged on the second bracket, and the sound-collecting module is arranged on a side of the fifth bracket close to the shell.

[0023] Optionally, the head mechanism further includes an inertial measurement module, and the inertial measurement module is disposed on the fourth bracket.

[0024] Optionally, the fourth bracket is made of metal.

[0025] Optionally, the head mechanism further includes a sensing module, and the sensing module is arranged on the inner wall of the shell.

[0026] Optionally, the head mechanism also includes a second drive component, a first transmission member and a second transmission member, the first transmission member is connected to the drive end of the second drive component, the second transmission member is used to be arranged on the torso mechanism, and the second drive component can drive the first transmission member to rotate around the second transmission member to drive the shell and the first bracket assembly to perform a shaking movement.

[0027] According to a second aspect of an embodiment of the present application, a robot is provided, comprising the head mechanism as described above.

[0028] One technical effect of an embodiment of the present application is that a hollow hole is formed in the first bracket assembly, the third connecting portion of the second bracket assembly is located in the hollow hole, and the first drive assembly is placed in the hollow hole to rationally utilize the internal space of the shell of the head mechanism, reduce the size of the head mechanism, and make the structure of the head mechanism more compact.

[0029] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0031] Figure 1 Schematic diagram of the structure of the head mechanism in the embodiment of the present application;

[0032] Figure 2 for Figure 1 The cross-sectional view at AA in FIG;

[0033] Figure 3 Schematic diagram of the structure of the head mechanism in the embodiment of the present application;

[0034] Figure 4 Schematic diagram of the structure of the head mechanism in the embodiment of the present application;

[0035] Figure 5 Schematic diagram of the structure of the head mechanism in the embodiment of the present application;

[0036] Figure 6 Schematic diagram of the structure of the head mechanism in the embodiment of the present application;

[0037] Figure 7 is a cross-sectional view of the head mechanism in an embodiment of the present application;

[0038] Figure 8 Schematic diagram of the structure of the head mechanism in the embodiment of the present application;

[0039] Figure 9 for Figure 8 Cross-sectional view at BB in FIG;

[0040] Figure 10 Schematic diagram of the structure of the robot in the embodiment of the present application;

[0041] Figure 11 Schematic diagram of the structure of the robot in the embodiment of the present application.

[0042] Explanation of the accompanying drawings: shell 1; accommodating cavity 1a; through hole 1b; avoidance hole 1c; first bracket assembly 2; first bracket 21; second bracket 22; third bracket 23; fourth bracket 24; fifth bracket 25; hollow hole 26; second bracket assembly 3; first connecting part 31; second connecting part 32; third connecting part 33; first driving assembly 4; second driving assembly 5; first transmission member 51; second transmission member 52; main control module 6; first acquisition module 7; second acquisition module 8; third acquisition module 9; inertial measurement module 10; screen module 11; sound module 12; sound acquisition module 13; perception module 14; head mechanism 100; torso mechanism 200; robot 1000. DETAILED DESCRIPTION

[0043] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0044] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0045] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0046] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0047] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0048] In the specification and claims of the present invention, references to features using the terms "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. Furthermore, in the specification and claims, "and / or" refers to at least one of the connected entities, and the character " / " generally indicates an "or" relationship between the connected entities.

[0049] In the description of the present invention, it should be understood that the terms "axial", "radial", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0050] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, these terms may refer to fixed, removable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0051] First of all, it should be noted that the first direction mentioned in the embodiment of this application is the left and right direction, the second direction is the front and back direction, and the third direction is the up and down direction. Among them, the first direction, the second direction and the third direction are the states when the head mechanism is facing straight forward, that is, the state when facing the user.

[0052] For the first direction, the second direction and the third direction in the embodiment of the present application, please refer to Figure 1 、 Figure 3 、 Figure 8 、 Figure 9 as well as Figure 11 . Among them, the axis of the first direction, the axis of the second direction and the axis of the third direction intersect with each other.

[0053] like Figures 1-9As shown, according to the first aspect of an embodiment of the present application, a head mechanism 100 is provided, comprising a shell 1, a first bracket assembly 2, a second bracket assembly 3 and a first drive assembly 4; a accommodating cavity 1a is formed inside the shell 1; the first bracket assembly 2 is arranged in the accommodating cavity 1a and is connected to the shell 1, and the first bracket assembly 2 is formed with a hollow hole 26 opening in a first direction; the second bracket assembly 3 comprises a first connecting part 31, a second connecting part 32 and a third connecting part 33, the first connecting part 31 and the second connecting part 32 are spaced apart along the first direction, the third connecting part 33 is respectively connected to the first connecting part 31 and the second connecting part 32, and the third connecting part 33 is located in the hollow hole 26; the first drive assembly 4 is arranged in the third connecting part 33, and the driving end of the first drive assembly 4 is connected to the first bracket assembly 2, and the first drive assembly 4 can drive the shell 1 and the first bracket assembly 2 to raise their heads or nod.

[0054] like Figure 2 As shown, the head mechanism 100 includes a shell 1, a first bracket assembly 2, a second bracket assembly 3 and a first drive assembly 4; wherein, a accommodating cavity 1a is formed inside the shell 1, the first bracket assembly 2 is arranged inside the shell 1, and the first bracket assembly 2 is connected to the shell 1, thereby fixing the first bracket assembly 2 in the accommodating cavity 1a; the first bracket assembly 2 is formed with a hollow hole 26 opening in a first direction.

[0055] like Figures 1-6 As shown, it is further explained that the second bracket assembly 3 includes a first connecting part 31, a second connecting part 32 and a third connecting part 33. The first connecting part 31 and the second connecting part 32 are spaced apart along the first direction, and the third connecting part 33 is connected to the first connecting part 31 and the second connecting part 32 respectively. The first connecting part 31 and the second connecting part 32 are respectively located on both sides of the first bracket assembly 2, and the third connecting part 33 is located in the hollow hole 26; the first driving assembly 4 is arranged on the third connecting part 33, and the driving end of the first driving assembly 4 is connected to the first bracket assembly 2. The first driving assembly 4 can drive the shell 1 and the first bracket assembly 2 to nod or raise their heads, thereby enabling the head mechanism 100 to realize the action of nodding or raising their heads.

[0056] The head mechanism 100 of the present application forms a hollow hole 26 in the first bracket assembly 2, the third connecting portion 33 of the second bracket assembly 3 is located in the hollow hole 26, and the first drive assembly 4 is placed in the hollow hole 26. The first bracket assembly 2 is used to set other functional devices to rationally utilize the internal space of the shell 1 of the head mechanism 100, reduce the size of the head mechanism 100, and make the structure of the head mechanism 100 more compact.

[0057] like Figure 2-Figure 6As shown, in an optional embodiment, the first bracket assembly 2 includes a first bracket 21, a second bracket 22, a third bracket 23 and a fourth bracket 24, the first bracket 21 and the third bracket 23 are spaced apart along the second direction, the second bracket 22 connects the first bracket 21 and the third bracket 23, the fourth bracket 24 connects the first bracket 21 and the third bracket 23, and the hollow hole 26 is formed between the first bracket 21, the second bracket 22, the third bracket 23 and the fourth bracket 24. Specifically, the first bracket assembly 2 includes a first bracket 21, a second bracket 22, a third bracket 23, a fourth bracket 24 and a fifth bracket 25; wherein the first bracket 21 and the third bracket 23 are spaced apart along the second direction, that is, the first bracket 21 is closer to the front of the head mechanism 100 than the third bracket 23, and the third bracket 23 is closer to the rear of the head mechanism 100 than the first bracket 21, and there is a certain distance between the first bracket 21 and the third bracket 23; the second bracket 22 connects the first bracket 21 and the third bracket 23, and the fourth bracket 24 connects the first bracket 21 and the third bracket 23. The second bracket 22 is located below the fourth bracket 24 in the third direction (can be directly below or obliquely below), and there is a certain distance between the second bracket 22 and the fourth bracket 24; it can also be understood that the first bracket The bracket 21, the second bracket 22, the third bracket 23 and the fourth bracket 24 are connected in sequence, and the first bracket 21, the second bracket 22, the third bracket 23 and the fourth bracket 24 are connected to form a hollow hole 26; in this embodiment, the first bracket assembly 2 includes the first bracket 21, the second bracket 22, the third bracket 23 and the fourth bracket 24. When the first bracket assembly 2 is installed into the accommodating cavity 1a, the first bracket 21, the second bracket 22, the third bracket 23 and the fourth bracket 24 can be installed respectively, which can reduce the installation difficulty of the first bracket assembly 2, thereby facilitating its installation into the accommodating cavity 1a; and different components can be installed on the first bracket 21, the second bracket 22, the third bracket 23 and the fourth bracket 24. When inspection or maintenance is required, the corresponding bracket can be removed, and its inspection and maintenance are more convenient.

[0058] like Figure 2-Figure 6 As shown, in an optional embodiment, the second bracket 22 is located between the first connecting portion 31 and the second connecting portion 32, and is located below the third connecting portion 33 in the third direction; the fourth bracket 24 is located above the third connecting portion 33 in the third direction, and the driving end of the first driving assembly 4 is connected to the fourth bracket 24; specifically, the third connecting portion 33 is located between the second bracket 22 and the fourth bracket 24 in the third direction, and the second bracket 22 is located between the first connecting portion 31 and the second connecting portion 32 in the first direction, so that the layout between the second bracket assembly 3 and the first bracket assembly 2 is more compact.

[0059] like Figure 2-Figure 6 As shown, in an optional embodiment, the head mechanism 100 further includes a fifth bracket 25, the fifth bracket 25 and the fourth bracket 24 are spaced apart in the third direction, a gap is formed between the fifth bracket 25 and the fourth bracket 24, and the fifth bracket 25 is respectively connected to the fourth bracket 24 and the third bracket 23; specifically, the fifth bracket 25 is located above the fourth bracket 24 in the third direction, and there is a certain distance between the fifth bracket 25 and the fourth in the third direction. Compared with the fourth bracket 24, the fifth bracket 25 is closer to the inner wall of the shell 1, and the fifth bracket 25 is respectively connected to the third bracket 23 and the fourth bracket 24 to improve the installation stability of the fifth bracket 25.

[0060] like Figure 2-Figure 6 As shown, it is further explained that the head mechanism 100 also includes a main control module 6, and the main control module 6 is arranged on the fifth bracket 25 and is located in the gap; specifically, the main control module 6 is arranged on the fifth bracket 25, and is located on the side of the fifth bracket 25 close to the fourth bracket 24. Since there is a certain distance between the fifth bracket 25 and the fourth bracket 24, the main control module 6 is accommodated in the distance; in this embodiment, the reasonable layout between the fifth bracket 25 and the fourth bracket 24 is used to improve the compactness of the structure of the head mechanism 100.

[0061] like Figure 2-Figure 6 As shown, in an optional embodiment, the head mechanism 100 further includes a first acquisition module 7 and a second acquisition module 8, and the first acquisition module 7 and the second acquisition module 8 are arranged on the first bracket 21 at intervals along the third direction; specifically, the first acquisition module 7 and the second acquisition module 8 are both arranged on the first bracket 21, and the first acquisition module 7 and the second acquisition module 8 are arranged at intervals along the third direction, the first acquisition module 7 faces the front of the head mechanism 100, and the second acquisition module 8 is inclined, and the second acquisition module 8 faces the front and bottom of the head mechanism 100, and the first acquisition module 7 and the second acquisition module 8 cooperate to collect environmental information around the robot 1000; in this embodiment, the first bracket 21 provides installation support for the first acquisition module 7 and the second acquisition module 8.

[0062] Among them, the first acquisition module 7 may include one camera module or two camera modules, and the second acquisition module 8 may include one camera module, two camera modules or one depth camera module.

[0063] like Figure 2-Figure 6As shown, in an optional embodiment, the head mechanism 100 also includes a screen module 11, and the screen module 11 is arranged on the first bracket 21, and the screen module 11 is located between the first acquisition module 7 and the second acquisition module 8; specifically, the first bracket 21 provides installation support for the screen module 11, and the first acquisition module 7, the second acquisition module 8 and the screen module 11 are integrated on the first bracket 21 to form a modular system. When a problem occurs with the first acquisition module 7, the second acquisition module 8 or the screen module 11, it is only necessary to remove the first bracket 21, and there is no need to remove the second bracket 22, the third bracket 23, the fourth bracket 24 and the fifth bracket 25, thereby facilitating subsequent inspection and maintenance.

[0064] like Figure 2-Figure 6 As shown, in an optional embodiment, the head mechanism 100 also includes a third acquisition module 9, and the third acquisition module 9 is arranged on the third bracket 23; specifically, since the third bracket 23 is relatively close to the rear of the head mechanism 100, the third acquisition module 9 is arranged on the third bracket 23, and the third acquisition module 9 is facing the rear of the head mechanism 100, and the third acquisition module 9 is used to collect environmental information from the rear of the robot 1000; in this embodiment, the third bracket 23 provides installation support for the third acquisition module 9, and the third acquisition module 9 works together with the first acquisition module 7 and the second acquisition module 8 to collect environmental information around the robot 1000 to provide navigation and obstacle avoidance for the robot 1000.

[0065] Among them, the third acquisition module 9 can include one camera module, two camera modules or one depth camera module.

[0066] like Figure 2-Figure 6 As shown, in an optional embodiment, the head mechanism 100 further includes a sound module 12 , and the sound module 12 is disposed on the third bracket 23 ; the third bracket 23 provides installation support for the sound module 12 .

[0067] In addition, the third acquisition module 9 and the sound module 12 are integrated on the third bracket 23 to form a modular system. When a problem occurs with the third acquisition module 9 or the sound module 12, it is only necessary to remove the third bracket 23. There is no need to remove the first bracket 21, the second bracket 22, the fourth bracket 24 and the fifth bracket 25, thereby facilitating subsequent inspection and maintenance.

[0068] Among them, the sound module 12 includes one speaker or two speakers. When it includes two speakers, the two speakers are located on both sides of the third bracket 23 in the first direction, and a sound hole is opened on the side of the shell 1 facing the speaker to facilitate the sound to be transmitted in the accommodating cavity 1a.

[0069] like Figure 7 and Figure 10 As shown, in an optional embodiment, the head mechanism 100 further includes a sound collection module 13, which is provided on a side of the fifth bracket 25 close to the shell 1, and the sound collection module 13 is used to collect sound; specifically, the sound collection module 13 is provided on a side of the fifth bracket 25 close to the shell 1, which can be understood as being located on the side of the fifth bracket 25 away from the fourth bracket 24, and the sound collection module 13 is close to the top of the shell 1, and the top of the shell 1 is located above the fifth bracket 25 in the third direction; in this embodiment, the robot 1000's own structure (such as upper limbs or lower limbs, etc.) can be avoided from blocking the sound, so as to improve the sound collection effect, and can also reduce the reflected sound from the surface of the robot 1000 itself, reduce reflection interference, and thus improve the purity of the sound signal.

[0070] A through hole 1 b is provided on the top of the housing 1 , and the through hole 1 b corresponds to the sound collection module 13 .

[0071] In an optional embodiment, the sound collection module 13 includes multiple microphones arranged in a ring shape; specifically, the multiple microphones are arranged in a ring array, and the sound source position can be calculated based on the time difference between the sound source reaching each microphone to improve the sound collection effect.

[0072] The sound collection module 13 may include six microphones or eight microphones.

[0073] In an optional embodiment, the head mechanism 100 further includes a sound module 12 and a sound collection module 13, the sound module 12 is provided on the second bracket 22, and the sound collection module 13 is provided on the side of the fifth bracket 25 close to the side of the shell 1; specifically, the second bracket 22 is located below the third connecting portion 33 in the third direction, which can be understood as the position of the second bracket 22 close to the bottom of the shell 1, and the sound collection module is provided on the side of the fifth bracket 25 close to the shell 1, which can be understood as being located on the side of the fifth bracket 25 away from the fourth bracket 24, and the sound collection module 13 close to the shell 1 The top of the shell 1 is located above the fifth bracket 25 in the third direction, and the sound collection module 13 is arranged on the side of the fifth bracket 25 close to the shell 1. It can be understood that the sound collection module 13 is located on the side of the fifth bracket 25 away from the fourth bracket 24, close to the top of the shell 1, and the top of the shell 1 is located above the fifth bracket 25 in the third direction; in this embodiment, the setting position of the sound module 12 and the sound collection module 13 can increase the distance between the sound module 12 and the sound collection module 13, thereby avoiding mutual influence between the sound module 12 and the sound collection module 13.

[0074] like Figure 3 、 Figure 5 and Figure 6 As shown, in an optional embodiment, the head mechanism 100 also includes an inertial measurement module 10, and the inertial measurement module 10 is arranged on the fourth bracket 24; specifically, since the driving end of the first driving component 4 is connected to the fourth bracket 24, the inertial measurement module 10 is arranged on the fourth bracket 24 to facilitate the electrical connection between the inertial measurement module 10 and the first driving component 4, and the internal layout of the shell 1 is more reasonable, so that the structure of the head mechanism 100 is more compact.

[0075] In an optional embodiment, the fourth bracket 24 is made of metal to improve the structural strength of the fourth bracket 24 . The inertial measurement module 10 is disposed on the fourth bracket 24 , thereby improving the stability of the inertial measurement module 10 .

[0076] like Figure 6 As shown, in an optional embodiment, the head mechanism 100 further includes a sensing module 14, which is disposed on the inner wall of the shell 1; specifically, when the user touches the position of the shell 1 corresponding to the position where the sensing module 14 is disposed, the robot 1000 can make corresponding interactive feedback, such as changes in expression, voice, and movement, so as to improve the user experience.

[0077] Preferably, the sensing module 14 can be arranged at the top (which can be understood as the top of the head), the back (which can be understood as the back of the head) and / or the bottom (which can be understood as the chin) of the shell 1 to simulate human touch.

[0078] The sensing module 14 may adopt capacitive sensing, ultrasonic sensing, infrared sensing, etc.

[0079] like Figure 9 As shown, in an optional embodiment, the head mechanism 100 further includes a second drive assembly 5, a first transmission member 51 and a second transmission member 52, the second drive assembly 5 being provided on the first connecting portion 31, the first transmission member 51 being connected to the driving end of the second drive assembly 5, the second transmission member 52 being used to be provided on the trunk mechanism 200, and the second drive assembly 5 being capable of driving the first transmission member 51 to rotate around the second transmission member 52, so as to drive the shell 1 and the first bracket assembly 2 to perform a shaking motion. Specifically, a first transmission member 51 is provided on the trunk mechanism 200, and the second drive assembly 5 is provided on the first connecting portion 31, and the second drive assembly 5 is capable of driving the first transmission member 51 to rotate around the second transmission member 52, so as to drive the shell 1 and the first bracket assembly 2 and the components provided on the first bracket assembly 2 to rotate together, so as to realize the shaking motion of the head mechanism 100.

[0080] The first transmission member 51 and the second transmission member 52 may both be gears.

[0081] The housing 1 is provided with an avoidance hole 1c, which is communicated with the accommodating cavity 1a. The first connecting portion 31 and the second connecting portion 32 pass through the accommodating cavity 1a in the avoidance hole 1c.

[0082] like Figure 11 As shown, according to the first aspect of an embodiment of the present application, a robot 1000 is provided, comprising the above-mentioned head mechanism 100; specifically, the robot 1000 also includes a torso mechanism 200, and the second transmission member 52 of the head mechanism 100 is arranged on the torso mechanism, and its second bracket assembly 3 is connected to the second transmission member 52 through a bearing.

[0083] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A head mechanism, characterized in that: include: a housing, wherein a receiving cavity is formed inside the housing; a first bracket assembly, the first bracket assembly being disposed in the accommodating cavity and connected to the housing, the first bracket assembly being formed with a hollow hole opening in a first direction; a second bracket assembly, the second bracket assembly comprising a first connecting portion, a second connecting portion, and a third connecting portion, the first connecting portion and the second connecting portion being spaced apart along a first direction, the third connecting portion being connected to the first connecting portion and the second connecting portion, respectively, and the third connecting portion being located within the hollow hole; The first driving component is arranged on the third connecting portion, the driving end of the first driving component is connected to the first bracket component, and the first driving component is used to drive the shell and the first bracket component to raise or nod.

2. The head mechanism according to claim 1, characterized in that: The first bracket assembly includes a first bracket, a second bracket, a third bracket and a fourth bracket. The first bracket and the third bracket are spaced apart along the second direction. The second bracket connects the first bracket and the third bracket. The fourth bracket connects the first bracket and the third bracket. The hollow hole is formed between the first bracket, the second bracket, the third bracket and the fourth bracket.

3. The head mechanism according to claim 2, characterized in that: The second bracket is located between the first connecting portion and the second connecting portion, and is located below the third connecting portion in the third direction; The fourth bracket is located above the third connecting portion in the third direction, and the driving end of the first driving assembly is connected to the fourth bracket.

4. The head mechanism according to claim 3, characterized in that: The head mechanism further includes a fifth bracket, the fifth bracket being spaced apart from the fourth bracket in the third direction, with a gap formed between the fifth bracket and the fourth bracket, and the fifth bracket being respectively aligned with the fourth bracket and the third bracket; The head mechanism further includes a main control module, which is arranged on the fifth bracket and located in the gap.

5. The head mechanism according to claim 2, characterized in that: The head mechanism further includes a first collecting module and a second collecting module, and the first collecting module and the second collecting module are spaced apart and arranged on the first bracket along the third direction.

6. The head mechanism according to claim 5, characterized in that: The head mechanism further includes a screen module, which is disposed on the first bracket and is located between the first acquisition module and the second acquisition module.

7. The head mechanism according to claim 2, characterized in that: The head mechanism further includes a third collection module, and the third collection module is arranged on the third bracket.

8. The head mechanism according to claim 2, characterized in that: The head mechanism further includes a sound module, which is arranged on the third bracket.

9. The head mechanism according to claim 4, characterized in that: The head mechanism further includes a sound collection module, which is arranged on a side of the fifth bracket close to the shell.

10. The head mechanism according to claim 9, characterized in that: The sound collection module includes a plurality of microphones arranged in a ring shape.

11. The head mechanism according to claim 4, characterized in that: The head mechanism further includes a sound-generating module and a sound-collecting module. The sound-generating module is arranged on the second bracket, and the sound-collecting module is arranged on a side of the fifth bracket close to the shell.

12. The head mechanism according to claim 2, characterized in that: The head mechanism further includes an inertial measurement module, and the inertial measurement module is disposed on the fourth bracket.

13. The head mechanism according to claim 2, characterized in that: The fourth bracket is made of metal.

14. The head mechanism according to claim 2, characterized in that The head mechanism further includes a sensing module, which is arranged on the inner wall of the shell.

15. The head mechanism according to claim 1, wherein: The head mechanism also includes a second drive component, a first transmission member and a second transmission member. The first transmission member is connected to the drive end of the second drive component. The second transmission member is used to be arranged on the torso mechanism. The second drive component can drive the first transmission member to rotate around the second transmission member to drive the shell and the first bracket assembly to perform a shaking movement.

16. A robot, characterized in that: Comprising the head mechanism according to any one of claims 1-15.

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