Robot head device

Abstract

The invention discloses a robot head device which comprises a neck fixing frame, a motor support, a mounting frame, a lower head shell, an upper head shell and a sound pick-up, the motor support is fixed relative to the neck fixing frame, and a rotating flange face of a motor protrudes out of the upper side of the motor support; the mounting frame is connected to the rotating flange face and connected with a camera, a screen, loudspeakers, an audio control panel and a voltage reduction module, the camera and the screen are located in front of the motor support, the loudspeakers are located on the left side and the right side of the motor support, the audio control panel is located above the motor support, and the voltage reduction module is located behind the audio control panel; the lower head shell is connected to the mounting frame, and an opening is formed in the lower part of the lower head shell; the upper head shell is detachably connected to the lower head shell, the front side of the upper head shell is provided with a first installation opening used for installing a camera and a second installation opening used for installing a screen, the upper head shell and the lower head shell define a containing cavity, and the problems that an existing robot is insufficient in head space utilization and inconvenient to maintain can be solved.

Description

Technical Field

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

[0002] With the continuous advancement of artificial intelligence and robotics, humanoid robots have experienced rapid development. The head of a humanoid robot, as a key component, integrates multiple functional modules, such as lidar and depth cameras for environmental perception, a head-mounted screen for human-machine interaction, microphones, speakers, and an audio control panel for voice interaction.

[0003] However, existing humanoid robot heads have several design issues. The layout of the functional modules is illogical, resulting in inadequate head space utilization and a bloated overall structure. This not only increases the robot's production cost and energy consumption, but also affects its flexibility and stability. Furthermore, this irrational layout complicates assembly and repair, reducing production and maintenance efficiency.

[0004] Therefore, how to improve the problem of insufficient head space utilization and inconvenient maintenance of existing robots is a technical problem that technical personnel in this field currently need to solve. Summary of the Invention

[0005] The purpose of the present invention is to provide a robot head device that can improve the problems of insufficient head space utilization and inconvenient maintenance of existing robots.

[0006] To achieve the above objectives, the present invention provides a robot head device, comprising:

[0007] Neck brace;

[0008] The motor bracket is fixed relative to the neck fixing frame, the motor is installed in the motor bracket, and the rotating flange surface of the motor protrudes from the upper side of the motor bracket;

[0009] A mounting bracket is connected to the rotating flange surface. The mounting bracket is connected to a camera, a screen, a speaker, an audio control board, and a step-down module. The camera and the screen are located in front of the motor bracket, the speakers are located on the left and right sides of the motor bracket, the audio control board is located above the motor bracket, and the step-down module is located behind the audio control board.

[0010] The lower head shell is connected to the mounting frame, and an opening is provided at the lower portion of the lower head shell for allowing the neck fixing frame to pass through the lower head shell;

[0011] The upper head shell is detachably connected to the lower head shell. The front side of the upper head shell is provided with a first mounting port for mounting a camera and a second mounting port for mounting a screen. The upper head shell and the lower head shell together form an accommodating cavity for accommodating a motor bracket, a mounting bracket, a camera, a screen, a speaker, an audio control board, and a step-down module.

[0012] The pickup is connected to the upper part of the upper head shell and is located in the accommodating cavity.

[0013] In a possible embodiment, the lower part of the motor bracket is connected to the upper part of the neck fixing frame through the radar fixing plate, an installation cavity is provided between the left and right sides of the radar fixing plate, the middle part of the neck fixing frame is a hollow structure, and the upper part of the neck fixing frame is provided with a mounting hole connecting the mounting cavity and the hollow structure, the mounting cavity is used for the installation of the laser radar, and the lower part of the laser radar extends into the hollow structure along the mounting hole.

[0014] In a possible embodiment, the mounting bracket includes a camera bracket, which includes a first mounting plate connected to the rotating flange surface, and a second mounting plate connected to the first mounting plate and extending upward, wherein the second mounting plate is used to connect the camera.

[0015] In a possible embodiment, the left and right sides of the first mounting plate are provided with extension sections located outside the motor bracket;

[0016] The mounting frame also includes two screen brackets, and both screen brackets include a first connecting plate connected to the lower side of the extension section, and a second connecting plate connected to the first connecting plate and extending downward, and the two second connecting plates are used to fix the screen.

[0017] In a possible embodiment, the mounting bracket also includes a speaker bracket, which includes a bracket body, a first fixing portion located on the upper side of the bracket body, and a second fixing portion located on the front side of the bracket body, the first fixing portion being connected to the lower side of the extension section, the second fixing portion being connected to the rear side of the second connecting plate, and the side of the bracket body facing away from the motor bracket is used to install the speaker.

[0018] In a possible implementation, the audio control board is connected to a fixing member that extends downward, and a lower portion of the fixing member is connected to an upper side of the first mounting board, so that a gap exists between the audio control board and the first mounting board to form a cavity.

[0019] In a possible embodiment, the mounting frame also includes a head bracket, the head bracket includes a first fixing plate whose front end extends into the cavity to connect to the upper side of the first mounting plate, and a second fixing plate connected to the rear end of the first fixing plate and extending downward, the second fixing plate is used to connect to the lower head shell so that the lower head shell is fixed relative to the first mounting plate.

[0020] In a possible implementation, the depressurization module is connected to the upper side of the first fixing plate, so that the depressurization module is located above the first fixing plate.

[0021] In one possible embodiment, the lower head shell includes a first docking end for docking with the upper head shell, the first docking end is provided with a first connecting hole, the upper head shell includes a second docking end for docking with the lower head shell, the second docking end is provided with a second connecting hole corresponding one to one with the first connecting hole, and a connecting piece is passed through the first connecting hole and the second connecting hole to connect the lower head shell and the upper head shell. A decorative strip is also provided between the lower head shell and the upper head shell, and the decorative strip is provided at the connection between the lower head shell and the upper head shell to cover the connecting piece.

[0022] In a possible implementation, voice holes are further provided on the left and right sides of the upper head shell, and the voice holes correspond to the speakers.

[0023] Compared with the prior art, the technical solution provided by the present invention has at least the following beneficial effects: the upper head shell and the lower head shell are enclosed to form an accommodating cavity with an accommodating space, the lower part of the lower head shell is provided with an opening for the neck fixing frame to pass through the lower head shell, the motor bracket fixed relative to the neck fixing frame is arranged in the accommodating cavity, the motor bracket is installed with a motor, the rotating flange surface of the motor protrudes from the upper side of the motor bracket, and by connecting the mounting bracket to the rotating flange surface of the motor, the mounting bracket is driven to rotate by the motor, and drives the camera, screen, speaker, audio control board, step-down module, lower head shell, upper head shell connected to the lower head shell, and pickup connected to the upper head shell to rotate synchronously. The camera and screen are located in front of the motor bracket, the speakers are located on the left and right sides of the motor bracket, the audio control board is located above the motor bracket, and the step-down module is located behind the audio control board; the compact layout of each component effectively utilizes the space of the accommodating cavity, and the outer shell of the robot head device adopts an upper head shell and a lower head shell divided into upper and lower parts. When the upper part of the robot head device needs to be repaired, the upper head shell can be removed to expose most of the components of the robot head device. When the lower part of the robot head device needs to be repaired, the lower head shell can be removed from the mounting bracket, and then the lower head shell can be slid to the bottom of the neck fixing bracket, thereby facilitating the maintenance work of the robot head device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0025] Figure 1A schematic structural diagram of a robot head device provided by an embodiment of the present invention;

[0026] Figure 2 An exploded view of a robot head device provided by an embodiment of the present invention;

[0027] Figure 3 This is a schematic structural diagram of the robot head device provided by an embodiment of the present invention when the neck fixing frame is not installed;

[0028] Figure 4 An exploded view of the robot head device provided by an embodiment of the present invention without the neck fixing frame installed;

[0029] Figure 5 A schematic diagram of the structure of the assembly of the neck fixing frame and the motor bracket provided in an embodiment of the present invention;

[0030] Figure 6 A schematic structural diagram of the assembly of the lower head shell and the head support provided in an embodiment of the present invention.

[0031] in:

[0032] 1-Screen cover, 2-Upper head shell, 3-Pickup, 4-Screen, 5-Screen bracket, 6-Speaker, 7-Speaker bracket, 8-Camera, 9-Camera bracket, 10-Audio control board, 11-First fixing plate, 12-Step-down module, 13-Second fixing plate, 14-Decorative strip, 15-Lower head shell, 16-Motor, 17-Motor bracket, 18-Radar fixing plate, 19-LiDAR, 20-Neck fixing bracket, 21-Fixer, 22-Connector. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] In order to enable those skilled in the art to better understand the solutions of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0035] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left" and "right" indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limitations of the present invention.

[0036] The purpose of the present invention is to provide a robot head device that can improve the problems of insufficient head space utilization and inconvenient maintenance of existing robots.

[0037] See also Figure 1 To achieve the above-mentioned purpose, the present invention provides a robot head device, including a neck fixing frame 20, a motor bracket 17, a mounting frame, a lower head shell 15, an upper head shell 2 and a pickup 3, the neck fixing frame 20 is used to connect with the torso of the robot to assemble into a movable robot; the motor bracket 17 is fixed relative to the neck fixing frame 20, and a motor 16 is installed in the motor bracket 17, and the rotating flange surface of the motor 16 protrudes from the upper side of the motor bracket 17; the motor bracket 17 can be but is not limited to an aluminum alloy material, and the interior of the motor bracket 17 is hollowed out to reduce weight. The shape and size of the motor 16 fixing bracket must match the motor 16 to ensure that the motor 16 can be firmly installed inside the bracket, and the rotating flange surface of the motor 16 faces upward and protrudes from the motor bracket 17. The installation of the motor 16 must ensure that its axis is perpendicular to the mounting plane of the motor bracket 17, and ensure that the motor 16 is firmly fixed to effectively prevent the motor 16 from shaking or displacement during operation, and ensure that the following mounting frame can rotate normally under the drive of the motor 16.

[0038] The mounting bracket is connected to the rotating flange surface, and the mounting bracket is connected to the camera 8, screen 4, speaker 6, audio control board 10 and step-down module 12. The camera 8 and screen 4 are located in front of the motor bracket 17, the speaker 6 is located on the left and right sides of the motor bracket 17, the audio control board 10 is located above the motor bracket 17, and the step-down module 12 is located behind the audio control board 10; the lower head shell 15 is connected to the mounting bracket, and the lower part of the lower head shell 15 is provided with an opening, and the opening is used for the neck fixing bracket 20 to pass through the lower head shell 15; the upper head shell 2 is detachably connected to the lower head shell 15, and the front side of the upper head shell 2 is provided with a first mounting port for installing the camera 8 and a second mounting port for installing the screen 4. The upper head shell 2 and the lower head shell 15 are enclosed to form an accommodating cavity, which is used to accommodate the motor bracket 17, the mounting bracket, camera 8, screen 4, speaker 6, audio control board 10 and step-down module 12; the pickup 3 is connected to the upper part of the upper head shell 2 and is located in the accommodating cavity. The microphone 3 is fixed at the top position inside the upper head shell 2. A special mounting structure is designed at the top inside the upper head shell 2 to fix the microphone 3, so as to effectively ensure that the pickup direction of the microphone 3 is correct and can clearly collect the sound signals in the surrounding environment. In addition, certain sound insulation and shielding measures can be taken according to actual needs to reduce the impact of external interference on the pickup effect.

[0039] The upper head shell 2 and the lower head shell 15 are enclosed to form an accommodating cavity with an accommodating space. The lower part of the lower head shell 15 is provided with an opening for the neck fixing frame 20 to pass through the lower head shell 15. The motor bracket 17 fixed relative to the neck fixing frame 20 is arranged in the accommodating cavity. The motor bracket 17 is installed with a motor 16. The rotating flange surface of the motor 16 protrudes from the upper side of the motor bracket 17. By connecting the mounting bracket to the rotating flange surface of the motor 16, the mounting bracket is driven by the motor 16 to rotate, and drives the camera 8, screen 4, speaker 6, audio control board 10, step-down module 12, lower head shell 15, upper head shell 2 connected to the lower head shell 15, and pickup 3 connected to the upper head shell 2 to rotate synchronously, and the camera 8 and screen 4 are in the same position. In front of the motor bracket 17, the speakers 6 are located on the left and right sides of the motor bracket 17, the audio control board 10 is located above the motor bracket 17, and the step-down module 12 is located behind the audio control board 10; the compact layout of each component effectively utilizes the space of the accommodating cavity, and the outer shell of the robot head device adopts an upper head shell 2 and a lower head shell 15 divided into upper and lower parts. When the upper part of the robot head device needs to be repaired, the upper head shell 2 can be removed to expose most of the components of the robot head device. When the lower part of the robot head device needs to be repaired, the lower head shell 15 is removed from the mounting bracket, and then the lower head shell 15 is slid to the bottom of the neck fixing bracket 20, thereby facilitating the maintenance work of the robot head device.

[0040] See also Figures 2 to 5 In a possible embodiment, the lower part of the motor bracket 17 is connected to the upper part of the neck fixing frame 20 through the radar fixing plate 18. A mounting cavity is provided between the left and right sides of the radar fixing plate 18. The middle part of the neck fixing frame 20 is a hollow structure, and the upper part of the neck fixing frame 20 is provided with a mounting hole connecting the mounting cavity and the hollow structure. The mounting cavity is used for installing the laser radar 19, and the lower part of the laser radar 19 extends into the hollow structure along the mounting hole; the neck fixing frame 20 can be, but is not limited to, made of 7075 aluminum alloy, so that the neck fixing frame 20 has high strength and light weight, and is suitable for use in The support of the robot's head, the neck fixing frame 20 is hollowed out in the middle to reduce weight and effectively avoid blocking the FOV area of ​​the laser radar 19. The front end of the neck fixing frame 20 only retains two 3mm thick and vertically extending strip supports. While effectively ensuring that it can support the weight of the robot's head, it will not cause a significant impact on the field of view of the laser radar 19. The neck fixing frame 20 is installed at the neck connection part of the humanoid robot. During the installation process, ensure that the position of the neck fixing frame 20 is accurate and the connection with the robot's neck is firm and stable to ensure the stability of the entire head structure.

[0041] The radar fixing plate 18 is an "n"-shaped structure. The radar fixing plate 18 includes a horizontal plate for connecting to the lower part of the motor bracket 17, and two vertical plates connected to the horizontal plate. A mounting cavity is formed between the two vertical plates for mounting the laser radar 19. The radar fixing plate 18 is made of high-strength aluminum alloy. The shape and size of the radar fixing plate 18 can be customized according to the appearance and mounting interface of the laser radar 19. During installation, the lower part of the vertical plate of the radar fixing plate 18 is connected to the upper part of the neck fixing frame 20. The connection method can be, but is not limited to, screw fastening to ensure a firm and reliable connection. The light exit window of the laser radar 19 must be accurately placed downward in the hollow structure in the middle of the neck fixing frame 20 to ensure that the laser radar 19 can scan the environment below without obstruction and obtain accurate environmental information.

[0042] In one possible embodiment, the mounting frame includes a camera bracket 9, which includes a first mounting plate connected to the rotating flange surface and a second mounting plate connected to the first mounting plate and extending upward. The second mounting plate is used to connect to the camera 8. The camera 8 can be, but is not limited to, a depth camera, and the camera bracket 9 can be, but is not limited to, an aluminum alloy plate. The bending angle between the first and second mounting plates can be adjusted according to the specific position of the camera 8. Specifically, the aluminum alloy plate camera bracket 9 is bent into a suitable shape and the camera 8 is secured to the aluminum alloy plate camera bracket 9 by bolts or welding. The aluminum alloy plate camera bracket 9, with the camera 8 secured thereto, is then mounted on the rotating flange surface of the motor 16. The mounting position ensures that the camera 8 can capture environmental image information at an appropriate angle to meet the humanoid robot's environmental perception requirements.

[0043] In one possible embodiment, the left and right sides of the first mounting plate are provided with extension sections located outside the motor bracket 17; the mounting frame also includes a screen bracket 5, there are two screen brackets 5, and both screen brackets 5 include a first connecting plate connected to the lower side of the extension section, and a second connecting plate connected to the first connecting plate and extending downward, and the two second connecting plates are used to fix the screen 4. The screen 4 can be, but is not limited to, an interactive screen, and the screen bracket 5 can be, but is not limited to, an aluminum alloy plate. The screen bracket 5 can be bent into a suitable shape according to the specific position of the screen 4, that is, the angle between the first connecting plate and the second connecting plate can be adjusted according to the specific position of the screen 4, so that the orientation and angle of the screen 4 after installation are convenient for user viewing and interactive operation. It should be noted that the upper head shell 2 is also connected to a screen cover 1, which is used to close the outside of the second mounting port to provide protection for the screen 4.

[0044] In a possible embodiment, the mounting bracket also includes a speaker bracket 7, which includes a bracket body, a first fixing portion located on the upper side of the bracket body, and a second fixing portion located on the front side of the bracket body, the first fixing portion being connected to the lower side of the extension section, and the second fixing portion being connected to the rear side of the second connecting plate. The side of the bracket body facing away from the motor bracket 17 is used to install the speaker 6, and voice holes are also provided on the left and right sides of the upper head shell 2, which correspond to the speakers 6; the bracket body corresponds one-to-one to the extension section and the second connecting plate, and is connected to the lower side of the extension section and the rear side of the bracket body and the second connecting plate through the bracket body, so that the bracket body is located on the left and right sides of the motor bracket 17, the speaker 6 corresponds one-to-one to the bracket body, and is located on the side of the bracket body facing away from the motor bracket 17, so that the speaker 6 is respectively located on the left and right sides of the motor bracket 17, and the speaker 6 corresponds to the left and right ear positions of the upper head shell 2 where the voice holes are provided. Before installing the speaker 6, reserve a voice hole at the corresponding position of the upper head shell 2. The size and shape of the voice hole are designed according to the acoustics to ensure the external voice quality of the speaker 6. Fix the speaker 6 to the bracket body by screws or clips to ensure that the speaker 6 is firmly installed and the sound direction is correct.

[0045] In one possible embodiment, the audio control board 10 is connected to a fixing member 21. The fixing member 21 extends downward, and the lower portion of the fixing member 21 is connected to the upper side of the first mounting plate, thereby creating a space between the audio control board 10 and the first mounting plate to form a cavity. The audio control board 10 can also be fixed and mounted using an aluminum alloy plate. The audio control board 10 is positioned above the first mounting plate to facilitate wiring connections between the audio control board 10, the microphone 3, the speaker 6, and the robot's main control system, ensuring smooth processing and transmission of voice signals.

[0046] See also Figure 6In one possible embodiment, the mounting frame further includes a head bracket, which includes a first fixing plate 11 whose front end extends into the cavity to connect to the upper side of the first mounting plate, and a second fixing plate 13 connected to the rear end of the first fixing plate 11 and extending downward. The first fixing plate 11 and the second fixing plate 13 can be detachably connected via a fixing member 21. The fixing member 21 can be, but is not limited to, an M4 screw. The second fixing plate 13 is used to connect to the lower head shell 15 so that the lower head shell 15 is fixed relative to the first mounting plate. The step-down module 12 is connected to the upper side of the first fixing plate 11 so that the step-down module 12 is located above the first fixing plate 11. The head bracket can be, but is not limited to, an aluminum sheet metal part. The lower head shell 15 is fixed to the first mounting plate via the head bracket of the aluminum sheet metal part, so that the lower head shell 15 is indirectly connected to the rotating flange surface of the motor 16. The head bracket of the aluminum sheet metal part can be made by precision machining, and the shape and size of the aluminum sheet metal part match the lower head shell 15. The lower head shell 15 is fixed together with the head bracket of the aluminum profile sheet metal by welding or bolting, and then the head bracket of the aluminum profile sheet metal is installed on the first mounting plate to be connected to the rotating flange surface of the motor 16, so that the lower head shell 15 can rotate along with the rotating flange surface of the motor 16, driving the internal pickup 3 to move synchronously.

[0047] It should be noted that the middle parts of the above-mentioned motor bracket 17, camera bracket 9, screen bracket 5, speaker bracket 7, and head bracket all adopt a hollow design. On the one hand, it ensures the strength of each structural member. Through a reasonable structural layout, each component can withstand the corresponding external force while being lightweight; on the other hand, it reduces the overall weight of the robot head device and reduces the energy consumption of the robot. At the same time, due to the reduction in material usage, processing costs are also saved.

[0048] After all components are installed, the wiring is connected. The wiring for components such as the camera 8, screen 4, audio control board 10, speaker 6, and microphone 3 is connected to the robot's main control system, ensuring correct and secure connections and stable signal transmission. Simultaneously, the entire robot head assembly is debugged to check the proper functioning of each component, the smooth rotation of the motor 16, the sound pickup quality of the microphone 3, the audio quality of the speaker 6, and the display quality of the camera 8 and screen 4, to ensure the proper functioning of the humanoid robot head.

[0049] In a possible embodiment, the lower head shell 15 includes a first docking end for docking with the upper head shell 2, and the first docking end is provided with a first connecting hole. The upper head shell 2 includes a second docking end for docking with the lower head shell 15, and the second docking end is provided with a second connecting hole corresponding to the first connecting hole. There are four first connecting holes and they are evenly distributed in the circumference of the first docking end. There are four second connecting holes and they are evenly distributed in the circumference of the second docking end. The connecting member 22 is passed through the first connecting hole and the second connecting hole. On the basis of the lower head shell 15 being fixed by the head bracket, the connection between the lower head shell 15 and the upper head shell 2 is realized by the connecting member 22 to fix the upper head shell 2. The connecting member 22 can adopt an M2.5 countersunk screw. After the first docking end and the second docking end are docked, the overall structure is an annular groove. A decorative strip 14 that is inserted into the groove structure is also provided between the lower head shell 15 and the upper head shell 2, so that the decorative strip 14 is sleeved at the connection between the lower head shell 15 and the upper head shell 2 to cover the connecting member 22. The decorative strip 14 can be made of silicone material, which has a certain elasticity to facilitate assembly. The decorative strip 14 completely covers the connecting piece 22, making the overall appearance of the robot head device more beautiful.

[0050] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0051] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0052] The principles and implementation methods of the present invention are described herein using specific examples. The description of the above examples is only intended to help understand the method and core concept of the present invention. It should be noted that those skilled in the art may make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A robot head device, characterized in that: include: Neck mount (20); a motor bracket (17) fixed relative to the neck fixing bracket (20), a motor (16) being installed in the motor bracket (17), and a rotating flange surface of the motor (16) protruding from an upper side of the motor bracket (17); A mounting frame is connected to the rotating flange surface, and the mounting frame is connected to a camera (8), a screen (4), a speaker (6), an audio control board (10) and a step-down module (12), wherein the camera (8) and the screen (4) are located in front of the motor bracket (17), the speaker (6) is located on the left and right sides of the motor bracket (17), the audio control board (10) is located above the motor bracket (17), and the step-down module (12) is located behind the audio control board (10); A lower head shell (15) is connected to the mounting frame, and an opening is provided at the lower portion of the lower head shell (15), and the opening is used for allowing the neck fixing frame (20) to pass through the lower head shell (15); An upper head shell (2) is detachably connected to the lower head shell (15), and a first mounting port for mounting the camera (8) and a second mounting port for mounting the screen (4) are provided on the front side of the upper head shell (2). The upper head shell (2) and the lower head shell (15) together form a receiving cavity, and the receiving cavity is used to accommodate the motor bracket (17), the mounting bracket, the camera (8), the screen (4), the speaker (6), the audio control board (10) and the step-down module (12); The pickup (3) is connected to the upper portion of the upper head shell (2) and is located in the accommodating cavity.

2. The robot head device according to claim 1, characterized in that: The lower portion of the motor bracket (17) is connected to the upper portion of the neck fixing frame (20) through a radar fixing plate (18); a mounting cavity is provided between the left and right sides of the radar fixing plate (18); the middle portion of the neck fixing frame (20) is a hollow structure; and the upper portion of the neck fixing frame (20) is provided with a mounting hole connecting the mounting cavity and the hollow structure; the mounting cavity is used for installing a laser radar (19), and the lower portion of the laser radar (19) extends into the hollow structure along the mounting hole.

3. The robot head device according to claim 1, characterized in that: The mounting frame includes a camera bracket (9), the camera bracket (9) includes a first mounting plate connected to the rotating flange surface, and a second mounting plate connected to the first mounting plate and extending upward, the second mounting plate being used to connect the camera (8).

4. The robot head device according to claim 3, characterized in that: Extension sections located outside the motor bracket (17) are provided on the left and right sides of the first mounting plate; The mounting frame further comprises a screen bracket (5), wherein there are two screen brackets (5), and both of the two screen brackets (5) comprise a first connecting plate connected to the lower side of the extension section, and a second connecting plate connected to the first connecting plate and extending downward, wherein the two second connecting plates are used to fix the screen (4).

5. The robot head device according to claim 4, characterized in that: The mounting frame further comprises a speaker bracket (7), the speaker bracket (7) comprising a bracket body, a first fixing portion located on the upper side of the bracket body, and a second fixing portion located on the front side of the bracket body, the first fixing portion being connected to the lower side of the extension section, the second fixing portion being connected to the rear side of the second connecting plate, and the side of the bracket body facing away from the motor bracket (17) being used for mounting the speaker (6).

6. The robot head device according to claim 4, characterized in that: The audio control board (10) is connected to a fixing piece, the fixing piece extends downward, and the lower part of the fixing piece is connected to the upper side of the first mounting board, so that a gap exists between the audio control board (10) and the first mounting board to form a cavity.

7. The robot head device according to claim 6, characterized in that: The mounting frame also includes a head bracket, which includes a first fixing plate (11) whose front end extends into the cavity to connect to the upper side of the first mounting plate, and a second fixing plate (13) connected to the rear end of the first fixing plate (11) and extending downward, and the second fixing plate (13) is used to connect to the lower head shell (15) so that the lower head shell (15) is fixed relative to the first mounting plate.

8. The robot head device according to claim 7, characterized in that: The depressurization module (12) is connected to the upper side of the first fixing plate (11), so that the depressurization module (12) is located above the first fixing plate (11).

9. The robot head device according to any one of claims 1 to 8, characterized in that: The lower head shell (15) includes a first docking end for docking with the upper head shell (2), and the first docking end is provided with a first connecting hole. The upper head shell (2) includes a second docking end for docking with the lower head shell (15), and the second docking end is provided with a second connecting hole corresponding to the first connecting hole. A connecting member (22) is passed through the first connecting hole and the second connecting hole to connect the lower head shell (15) and the upper head shell (2). A decorative strip (14) is also provided between the lower head shell (15) and the upper head shell (2), and the decorative strip (14) is sleeved at the connection between the lower head shell (15) and the upper head shell (2) to cover the connecting member (22).

10. The robot head device according to any one of claims 1 to 8, characterized in that: Voice holes are also provided on the left and right sides of the upper head shell (2), and the voice holes correspond to the speakers (6).

Images