Head mechanism and robot

Abstract

The application discloses a head mechanism and a robot, which comprises a shell, an accommodating cavity is formed in the interior of the shell, a first support assembly is arranged in the accommodating cavity and connected with the shell, the first support assembly is formed with a hollow hole which is open in a first direction, a 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 first direction, the third connecting part is connected with the first connecting part and the second connecting part respectively, and the third connecting part is located in the hollow hole, and a first driving assembly is arranged in the third connecting part, a 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 lift the head or nod. The technical scheme of the application has a more compact structure of the head mechanism.

Description

Technical Field

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

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

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

[0004] Therefore, how to rationally allocate the internal space of leading institutions is a problem that needs to be solved. Summary of the Invention

[0005] One objective of this application is to provide a head mechanism and a robot.

[0006] According to a first aspect of the embodiments of this application, a head mechanism is provided, comprising: A housing, the interior of which is formed with a receiving cavity; A first support assembly is disposed in the receiving cavity and connected to the housing, and the first support assembly has a hollow hole that opens in a first direction; The second support assembly includes a first connecting part, a second connecting part, and a third connecting part. The first connecting part and the second connecting part are spaced apart along a first direction. The third connecting part is connected to the first connecting part and the second connecting part respectively. The third connecting part is located inside the hollow hole. A first driving component is disposed at the third connecting part, and the driving end of the first driving component is connected to the first bracket component. The first driving component is used to drive the housing and the first bracket component to raise or lower.

[0007] Optionally, the first support assembly includes a first support, a second support, a third support, and a fourth support. The first support and the third support are spaced apart along a second direction. The second support connects the first support and the third support. The fourth support connects the first support and the third support. The first support, the second support, the third support, and the fourth support form the hollow hole.

[0008] 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 a third direction; The fourth bracket is located above the third connecting part in the third direction, and the driving end of the first driving component is connected to the fourth bracket.

[0009] Optionally, the head mechanism further includes a fifth bracket, which is spaced apart from the fourth bracket along a third direction, with a gap between the fifth bracket and the fourth bracket, and the fifth bracket is connected to the fourth bracket and the third bracket respectively; The head mechanism also includes a main control module, which is located within the gap of the fifth bracket.

[0010] Optionally, the head mechanism further includes a first acquisition module and a second acquisition module, which are spaced apart on the first support along a third direction.

[0011] 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.

[0012] Optionally, the head mechanism further includes a third acquisition module, which is disposed on the third support.

[0013] Optionally, the head mechanism further includes a sound-emitting module, which is disposed on the third support.

[0014] Optionally, the head mechanism further includes a sound acquisition module, which is located on the side of the fifth bracket near the housing.

[0015] Optionally, the sound acquisition module includes multiple microphones arranged in a ring.

[0016] Optionally, the head mechanism further includes a sound-emitting module and a sound-collecting module, the sound-emitting module being disposed on the second bracket, and the sound-collecting module being disposed on the side of the fifth bracket near the housing.

[0017] Optionally, the head mechanism further includes an inertial measurement module, which is located on the fourth support.

[0018] Optionally, the fourth bracket is made of metal.

[0019] Optionally, the head mechanism further includes a sensing module disposed on the inner wall of the housing.

[0020] Optionally, the head mechanism further includes a second drive assembly, a first transmission member, and a second transmission member. The first transmission member is connected to the drive end of the second drive assembly, and the second transmission member is used to connect to the torso mechanism. The second drive assembly can drive the first transmission member to rotate around the second transmission member, so as to drive the housing and the first support assembly to perform head-shaking movements.

[0021] According to a second aspect of the embodiments of this application, a robot is provided, including the head mechanism as described above.

[0022] One technical advantage of this application embodiment is that by forming a hollow hole in the first support assembly, and the third connecting part of the second support assembly is located in the hollow hole, the first drive assembly is placed in the hollow hole, so as to make reasonable use of the internal space of the head mechanism housing, reduce the size of the head mechanism, and make the structure of the head mechanism more compact.

[0023] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0025] Figure 1 This is a schematic diagram of the head mechanism in the embodiments of this application; Figure 2 for Figure 1 Sectional view at point AA; Figure 3 This is a schematic diagram of the head mechanism in the embodiments of this application; Figure 4 This is a schematic diagram of the head mechanism in the embodiments of this application; Figure 5 This is a schematic diagram of the head mechanism in the embodiments of this application; Figure 6 This is a schematic diagram of the head mechanism in the embodiments of this application; Figure 7 This is a cross-sectional view of the head mechanism in an embodiment of this application; Figure 8 This is a schematic diagram of the head mechanism in the embodiments of this application; Figure 9 for Figure 8 Sectional view at BB in the middle; Figure 10 This is a schematic diagram of the robot structure in the embodiments of this application; Figure 11This is a schematic diagram of the robot in the embodiments of this application.

[0026] Explanation of reference numerals in the attached drawings: 1. Housing; 1a. Receiving cavity; 1b. Through hole; 1c. Clearance hole; 2. First support assembly; 21. First support; 22. Second support; 23. Third support; 24. Fourth support; 25. Fifth support; 26. Hollow hole; 3. Second support assembly; 31. First connecting part; 32. Second connecting part; 33. Third connecting part; 4. First drive assembly; 5. Second drive assembly; 51. First transmission component; 52. Second transmission component; 6. Main control module; 7. First acquisition module; 8. Second acquisition module; 9. Third acquisition module; 10. Inertial measurement module; 11. Screen module; 12. Sound generation module; 13. Sound acquisition module; 14. Sensing module; 100. Head mechanism; 200. Torso mechanism; 1000. Detailed Implementation

[0027] 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 arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0028] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0029] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0030] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0032] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0033] In the description of this invention, it should be understood that if the terms "axial", "radial", etc., are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0034] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] First, it should be noted that the first direction mentioned in the embodiments of this application is the left-right direction, the second direction is the front-back direction, and the third direction is the up-down direction. The first direction, the second direction, and the third direction refer to the state when the head mechanism is facing directly forward, that is, the state when facing the user.

[0036] Please refer to the first direction, second direction, and third direction in the embodiments of this application. Figure 1 , Figure 3 , Figure 8 , Figure 9 as well as Figure 11 Among them, the axis in the first direction, the axis in the second direction, and the axis in the third direction intersect each other in pairs.

[0037] like Figures 1-9 As shown, according to a first aspect of the embodiments of this application, a head mechanism 100 is provided, including a housing 1, a first support assembly 2, a second support assembly 3, and a first drive assembly 4; the housing 1 has a receiving cavity 1a formed inside; the first support assembly 2 is disposed in the receiving cavity 1a and connected to the housing 1, and the first support assembly 2 has a hollow hole 26 opening in a first direction; the second support assembly 3 includes a first connecting portion 31, a second connecting portion 32, and a third connecting portion 33, the first connecting portion 31 and the second connecting portion 32 being spaced apart along the first direction, the third connecting portion 33 being connected to the first connecting portion 31 and the second connecting portion 32 respectively, and the third connecting portion 33 being located within the hollow hole 26; the first drive assembly 4 is disposed in the third connecting portion 33, the drive end of the first drive assembly 4 being connected to the first support assembly 2, and the first drive assembly 4 being capable of driving the housing 1 and the first support assembly 2 to raise or lower their heads.

[0038] like Figure 2 As shown, the head mechanism 100 includes a housing 1, a first support assembly 2, a second support assembly 3, and a first drive assembly 4; wherein, the housing 1 forms a receiving cavity 1a inside, the first support assembly 2 is disposed inside the housing 1, and the first support assembly 2 is connected to the housing 1, thereby fixing the first support assembly 2 in the receiving cavity 1a; the first support assembly 2 forms a hollow hole 26 that opens in a first direction.

[0039] like Figures 1-6 As shown, the second support 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 a first direction. 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 located on both sides of the first support assembly 2, and the third connecting part 33 is located in the hollow hole 26. The first driving assembly 4 is disposed on the third connecting part 33. The driving end of the first driving assembly 4 is connected to the first support assembly 2. The first driving assembly 4 can drive the housing 1 and the first support assembly 2 to nod or raise their heads, thereby enabling the head mechanism 100 to perform the nodding or raising action.

[0040] The head mechanism 100 of this application forms a hollow hole 26 in the first support assembly 2, and the third connecting part 33 of the second support assembly 3 is located in the hollow hole 26. The first drive assembly 4 is placed in the hollow hole 26. Other functional devices are set on the first support assembly 2, so as to make reasonable use of the internal space of the housing 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.

[0041] like Figures 2-6As shown, in an optional embodiment, the first support assembly 2 includes a first support 21, a second support 22, a third support 23, and a fourth support 24. The first support 21 and the third support 23 are spaced apart along a second direction. The second support 22 connects the first support 21 and the third support 23. The fourth support 24 connects the first support 21 and the third support 23. The first support 21, the second support 22, the third support 23, and the fourth support 24 form the hollow hole 26. Specifically, the first support assembly 2 includes a first support 21, a second support 22, a third support 23, a fourth support 24, and a fifth support 25. The first support 21 and the third support 23 are spaced apart along a second direction; that is, the first support 21 is closer to the front of the head mechanism 100 than the third support 23, and the third support 23 is closer to the rear of the head mechanism 100 than the first support 21, with a certain distance between them. The second support 22 connects the first support 21 and the third support 23, and the fourth support 24 connects the first support 21 and the third support 23. The second support 22 is located below the fourth support 24 in a third direction (either directly below or diagonally below), with a certain distance between them. Alternatively, the first support... The first bracket 21, the second bracket 22, the third bracket 23, and the fourth bracket 24 are connected in sequence, and after being connected, they 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 receiving cavity 1a, the first bracket 21, the second bracket 22, the third bracket 23, and the fourth bracket 24 can be installed separately, which can reduce the installation difficulty of the first bracket assembly 2 and make it easier to install it into the receiving cavity 1a. Furthermore, 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, making inspection and maintenance more convenient.

[0042] like Figures 2-6 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.

[0043] like Figures 2-6 As shown, in an optional embodiment, the head mechanism 100 further includes a fifth bracket 25, which is spaced apart from the fourth bracket 24 in a third direction, forming a gap between the fifth bracket 25 and the fourth bracket 24. The fifth bracket 25 is connected to the fourth bracket 24 and the third bracket 23 respectively. Specifically, the fifth bracket 25 is located above the fourth bracket 24 in a third direction, and there is a certain gap between the fifth bracket 25 and the fourth bracket in a third direction. The fifth bracket 25 is closer to the inner wall of the housing 1 than the fourth bracket 24. The fifth bracket 25 is connected to the third bracket 23 and the fourth bracket 24 respectively to improve the installation stability of the fifth bracket 25.

[0044] like Figures 2-6 As shown, the head mechanism 100 further includes a main control module 6, which is disposed on the fifth support 25 within the gap. Specifically, the main control module 6 is disposed on the fifth support 25, located on the side of the fifth support 25 closer to the fourth support 24. Since there is a certain gap between the fifth support 25 and the fourth support 24, the main control module 6 is accommodated within this gap. In this embodiment, the compact structure of the head mechanism 100 is improved through the reasonable layout between the fifth support 25 and the fourth support 24.

[0045] like Figures 2-6 As shown, in an optional embodiment, the head mechanism 100 further includes a first acquisition module 7 and a second acquisition module 8, which are spaced apart along a third direction on the first support 21. Specifically, both the first acquisition module 7 and the second acquisition module 8 are mounted on the first support 21, spaced apart along a third direction. The first acquisition module 7 faces the front of the head mechanism 100, while the second acquisition module 8 is tilted and faces the front and lower part of the head mechanism 100. The first acquisition module 7 and the second acquisition module 8 cooperate to acquire environmental information around the robot 1000. In this embodiment, the first support 21 provides mounting support for the first acquisition module 7 and the second acquisition module 8.

[0046] The first acquisition module 7 may include one or two camera modules, and the second acquisition module 8 may include one, two, or one depth camera module.

[0047] like Figures 2-6As shown, in an optional embodiment, the head mechanism 100 further includes a screen module 11, which is disposed on the first bracket 21 and located between the first acquisition module 7 and the second acquisition module 8. Specifically, the first bracket 21 provides mounting 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 assembly. When the first acquisition module 7, the second acquisition module 8, or the screen module 11 malfunctions, only the first bracket 21 needs to be removed, without having to remove the second bracket 22, the third bracket 23, the fourth bracket 24, and the fifth bracket 25, thus facilitating subsequent inspection and maintenance.

[0048] like Figures 2-6 As shown, in an optional embodiment, the head mechanism 100 further includes a third acquisition module 9, which is disposed on the third support 23. Specifically, since the third support 23 is relatively close to the rear of the head mechanism 100, the third acquisition module 9 is disposed on the third support 23, facing the rear of the head mechanism 100, and the third acquisition module 9 acquires environmental information behind the robot 1000. In this embodiment, the third support 23 provides mounting 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 acquire environmental information around the robot 1000, so as to provide navigation and obstacle avoidance for the robot 1000.

[0049] The third acquisition module 9 may include one camera module, two camera modules, or one depth camera module.

[0050] like Figures 2-6 As shown, in an optional embodiment, the head mechanism 100 further includes a sound-emitting module 12, which is disposed on the third bracket 23; the third bracket 23 provides mounting support for the sound-emitting module 12.

[0051] Furthermore, the third acquisition module 9 and the sound-emitting module 12 are integrated on the third bracket 23 to form a modular design. When the third acquisition module 9 or the sound-emitting module 12 malfunctions, only the third bracket 23 needs to be removed. It is not necessary to remove the first bracket 21, the second bracket 22, the fourth bracket 24, and the fifth bracket 25, which facilitates subsequent inspection and maintenance.

[0052] The sound-generating module 12 includes one or two speakers. When two speakers are included, the two speakers are located on both sides of the third bracket 23 in the first direction. The housing 1 has a sound outlet on the side facing the speaker so that the sound can be transmitted in the receiving cavity 1a.

[0053] like Figure 7 and Figure 10 As shown, in an optional embodiment, the head mechanism 100 further includes a sound acquisition module 13, which is located on the side of the fifth support 25 near the housing 1. The sound acquisition module 13 is used to acquire sound. Specifically, the sound acquisition module 13 is located on the side of the fifth support 25 near the housing 1, which can be understood as being located on the side of the fifth support 25 away from the fourth support 24. The sound acquisition module 13 is close to the top of the housing 1, and the top of the housing 1 is located above the fifth support 25 in a third-order direction. In this embodiment, the obstruction of sound by the robot 1000's own structure (such as upper or lower limbs) can be avoided, thereby improving the sound acquisition effect. It can also reduce reflected sound from the surface of the robot 1000 itself, reduce reflection interference, and thus improve the purity of the sound signal.

[0054] A through hole 1b is provided on the top of the housing 1, and the through hole 1b corresponds to the sound acquisition module 13.

[0055] In one alternative embodiment, the sound acquisition module 13 includes a plurality of microphones arranged in a ring; specifically, the plurality of microphones are arranged in a ring array, and the location of the sound source can be calculated based on the time difference of the sound source arriving at each microphone, so as to improve the sound reception effect.

[0056] The sound acquisition module 13 may include six or eight microphones.

[0057] In one optional embodiment, the head mechanism 100 further includes a sound-emitting module 12 and a sound-collecting module 13. The sound-emitting module 12 is disposed on the second bracket 22, and the sound-collecting module 13 is disposed on the side of the fifth bracket 25 near the housing 1. Specifically, the second bracket 22 is located below the third connecting portion 33 in a third-dimensional direction, which can be understood as the second bracket 22 being located near the bottom of the housing 1. The sound-collecting module is disposed on the side of the fifth bracket 25 near the housing 1, which can be understood as being located on the side of the fifth bracket 25 away from the fourth bracket 24. The sound-collecting module 13 is located near the housing 1. The sound acquisition module 13 is located on the side of the fifth bracket 25 above the housing 1 in a third-direction upward direction. It can be understood that it is located on the side of the fifth bracket 25 away from the fourth bracket 24, with the sound acquisition module 13 close to the top of the housing 1. The top of the housing 1 is located above the fifth bracket 25 in a third-direction upward direction. In this embodiment, the placement of the sound-emitting module 12 and the sound acquisition module 13 can increase the distance between the sound-emitting module 12 and the sound acquisition module 13, thereby avoiding mutual interference between the sound-emitting module 12 and the sound acquisition module 13.

[0058] like Figure 3 , Figure 5 and Figure 6 As shown, in an optional embodiment, the head mechanism 100 further includes an inertial measurement module 10, which is disposed on the fourth support 24. Specifically, since the driving end of the first driving component 4 is connected to the fourth support 24, the inertial measurement module 10 is disposed on the fourth support 24 so that the inertial measurement module 10 can be electrically connected to the first driving component 4, and the internal layout of its housing 1 is more reasonable, so that the structure of the head mechanism 100 is more compact.

[0059] In an alternative embodiment, the fourth support 24 is made of metal to improve the structural strength of the fourth support 24, and its inertial measurement module 10 is mounted on the fourth support 24, thereby improving the stability of the inertial measurement module 10.

[0060] 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 housing 1. Specifically, when a user touches the position of the housing 1 where the sensing module 14 is disposed, the robot 1000 can make corresponding interactive feedback, such as changes in facial expression, voice, or actions, to improve the user experience.

[0061] Preferably, the sensing module 14 can be arranged on 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 housing 1 to simulate human touch.

[0062] The sensing module 14 can employ capacitive sensing, ultrasonic sensing, infrared sensing, etc.

[0063] 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 is disposed on the first connecting portion 31. The first transmission member 51 is connected to the drive end of the second drive assembly 5. The second transmission member 52 is used to connect to the torso mechanism 200. The second drive assembly 5 can drive the first transmission member 51 to rotate around the second transmission member 52, thereby driving the housing 1 and the first support assembly 2 to perform a head-shaking motion. Specifically, the torso mechanism 200 is provided with the first transmission member 51, and the second drive assembly 5 is disposed on the first connecting portion 31. The second drive assembly 5 can drive the first transmission member 51 to rotate around the second transmission member 52, thereby causing the housing 1, the first support assembly 2, and the components disposed on the first support assembly 2 to rotate together, thereby realizing the head-shaking motion of the head mechanism 100.

[0064] Both the first transmission component 51 and the second transmission component 52 can be gears.

[0065] The housing 1 has a clearance hole 1c, which is connected to the receiving cavity 1a. The first connecting part 31 and the second connecting part 32 pass through the receiving cavity 1a in the clearance hole 1c.

[0066] like Figure 11 As shown, according to a first aspect of the embodiments of this application, a robot 1000 is provided, including the head mechanism 100 described above; specifically, the robot 1000 also includes a torso mechanism 200, and a second transmission member 52 of the head mechanism 100 is disposed on the torso mechanism, and its second support assembly 3 is connected to the second transmission member 52 via a bearing.

[0067] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A head mechanism, characterized in that, include: A housing, the interior of which is formed with a receiving cavity; A first support assembly is disposed in the receiving cavity and connected to the housing, and the first support assembly has a hollow hole that opens in a first direction; The second support assembly includes a first connecting part, a second connecting part, and a third connecting part. The first connecting part and the second connecting part are spaced apart along a first direction. The third connecting part is connected to the first connecting part and the second connecting part respectively. The third connecting part is located inside the hollow hole. A first driving component is disposed at the third connecting part, and the driving end of the first driving component is connected to the first bracket component. The first driving component is used to drive the housing and the first bracket component to raise or lower. The first support assembly includes a first support, a second support, a third support, and a fourth support. The first support and the third support are spaced apart along a second direction. The second support connects the first support and the third support. The fourth support connects the first support and the third support. The first support, the second support, the third support, and the fourth support form the hollow hole. The head mechanism also includes a fifth bracket and a main control module. The fifth bracket and the fourth bracket are spaced apart along a third direction, and a gap is formed between the fifth bracket and the fourth bracket. The fifth bracket is connected to the fourth bracket and the third bracket respectively, and the main control module is located in the gap of the fifth bracket.

2. The head mechanism according to claim 1, 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 a third direction; The fourth bracket is located above the third connecting part in the third direction, and the driving end of the first driving component is connected to the fourth bracket.

3. The head mechanism according to claim 1, characterized in that, The head mechanism further includes a first acquisition module and a second acquisition module, which are spaced apart on the first support along a third direction.

4. The head mechanism according to claim 3, characterized in that, The head mechanism also includes a screen module, which is disposed on the first bracket and located between the first acquisition module and the second acquisition module.

5. The head mechanism according to claim 1, characterized in that, The head mechanism also includes a third acquisition module, which is mounted on the third support.

6. The head mechanism according to claim 1, characterized in that, The head mechanism also includes a sound-emitting module, which is disposed on the third support.

7. The head mechanism according to claim 1, characterized in that, The head mechanism also includes a sound acquisition module, which is located on the side of the fifth bracket near the housing.

8. The head mechanism according to claim 7, characterized in that, The sound acquisition module includes multiple microphones arranged in a ring.

9. The head mechanism according to claim 1, characterized in that, The head mechanism also includes a sound-emitting module and a sound-collecting module. The sound-emitting module is located on the second bracket, and the sound-collecting module is located on the side of the fifth bracket near the housing.

10. The head mechanism according to claim 1, characterized in that, The head mechanism also includes an inertial measurement module, which is located on the fourth support.

11. The head mechanism according to claim 1, characterized in that, The fourth bracket is made of metal.

12. The head mechanism according to claim 1, characterized in that, The head mechanism also includes a sensing module, which is located on the inner wall of the housing.

13. The head mechanism according to claim 1, characterized in that, The head mechanism further includes a second drive assembly, a first transmission member, and a second transmission member. The first transmission member is connected to the drive end of the second drive assembly, and the second transmission member is used to connect to the torso mechanism. The second drive assembly can drive the first transmission member to rotate around the second transmission member, so as to drive the housing and the first support assembly to perform head-shaking movements.

14. A robot, characterized in that, Includes the head mechanism as described in any one of claims 1-13.

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