Highly integrated modular robot head

Abstract

The invention belongs to the technical field of robots, and provides a highly-integrated modular robot head which comprises a shell, an eyelid moving module, an eyeball moving module, a mouth corner moving module, a jaw moving module and a neck moving module, the shell comprises a front shell, a rear cover and a middle frame, the front shell and the rear cover are oppositely arranged, the middle frame is arranged between the front shell and the rear cover, the front shell is detachably connected with the rear cover, the middle frame is detachably connected with the front shell and / or the rear cover, the eyelid moving module, the eyeball moving module, the mouth corner moving module and the jaw moving module are all installed on the front shell, and the neck moving module is installed on the middle frame. According to the highly-integrated modular robot head, the eyeball movement modules, the mouth corner movement modules, the jaw movement module and the neck movement module which are installed on the shell are all in independent modular design, installation and maintenance are convenient, layout is reasonable, the space of the shell is fully utilized, the structure of the robot head is more compact, and the robot head is more compact in structure. And the expressions are richer and more natural.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a highly integrated modular robot head. Background Technology

[0002] Currently, in the fields of humanoid robots, service robots, and entertainment robots, achieving realistic facial expressions is a key technology that can greatly enhance the naturalness and friendliness of human-computer interaction. Existing solutions for realizing robot facial expressions generally suffer from unreasonable structural layouts. The drive units for moving parts such as the eyes and mouth are loosely arranged and lack a unified, modular fixed structure, resulting in messy internal wiring, difficult assembly and maintenance, and poor overall structural strength and stability.

[0003] The technical problem to be solved by this application is: how to solve the problem of unreasonable structural layout of the head of existing humanoid robots. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a highly integrated modular robot head, which has the characteristics of high integration and reasonable structural layout.

[0005] The technical solution adopted in this invention is as follows: a highly integrated modular robot head, including a shell, an eyelid motion module, an eyeball motion module, a mouth corner motion module, a chin motion module and a neck motion module respectively installed on the shell, the shell including a front shell and a rear cover arranged opposite to each other, and an intermediate frame disposed between the front shell and the rear cover, the front shell and the rear cover being detachably connected, the intermediate frame being detachably connected to the front shell and / or the rear cover, the eyelid motion module, the eyeball motion module, the mouth corner motion module and the chin motion module are all installed on the front shell, and the neck motion module is installed on the intermediate frame.

[0006] This application presents a highly integrated modular robot head. The shell is composed of an independent front shell, rear cover, and intermediate frame, which are detachable for easy installation and maintenance. The eyelid, eyeball, mouth, and chin motion modules are sequentially mounted on the front shell from top to bottom, while the neck motion module is mounted on the intermediate frame. Each module is an independent modular design, facilitating installation and maintenance. The layout is also rational, making full use of the shell space and resulting in a more compact robot head structure. Furthermore, because the eyelid, eyeball, mouth, and chin motion modules are all independent modules, they can be individually controlled to perform specific actions or work together to form combined expressions, making the robot's expressions richer and more realistic.

[0007] In some embodiments, the eyelid motion module includes a first servo, a second servo, a left eyelid component, and a right eyelid component. The first and second servos are mounted on the side of the front housing near the center frame. An eyelid servo mounting plate is provided on the side of the first and second servos near the center frame. The eyelid servo mounting plate is detachably connected to the front housing. The left and right eyelid components are hinged to the side of the front housing away from the center frame. The left eyelid component is connected to the first servo via a left eyelid linkage, and the right eyelid component is connected to the second servo via a right eyelid linkage.

[0008] Using the above technical solution, the symmetrically designed first and second servos are fixedly installed on the inner side of the front shell through the eyelid servo mounting plate, which increases the contact area between the first and second servos and the front shell, making the installation of the first and second servos more secure and reliable. The first servo drives the left eyelid component to rotate up and down through the left eyelid connecting rod, and the second servo drives the right eyelid component to rotate up and down through the right eyelid connecting rod, thereby simulating the blinking action. Moreover, the left and right eyelids can be controlled separately, making the expression more flexible and realistic.

[0009] In some embodiments, the eye movement module includes a third servo, a left eyeball, a right eyeball, and a synchronizing rod. The third servo is mounted on the side of the front housing near the center frame and is located below the first and second servos. An eyeball servo mounting plate is provided on the side of the third servo near the center frame. The eyeball servo mounting plate is detachably connected to the front housing. The left and right eyeballs are hinged on the side of the front housing away from the center frame. The left eyeball is located inside the left eyelid and the right eyeball is located inside the right eyelid. The synchronizing rod is drivenly connected to the third servo. The synchronizing rod is connected to the left eyeball via a left eyeball connecting rod and to the right eyeball via a right eyeball connecting rod.

[0010] Using the above technical solution, the third servo is fixed to the inside of the front shell through the eyeball servo mounting plate, making the third servo more secure and reliable; and the third servo drives the two eyeballs to rotate synchronously left and right through the synchronizing rod, making the movement of the eyeballs more similar to the movement of a real person, making the expression more natural and realistic.

[0011] In some embodiments, the mouth corner movement module includes a fourth servo, a fifth servo, a left mouth corner piece, and a right mouth corner piece. The front housing has a mounting slot on the side away from the center frame for accommodating the fourth and fifth servos. The fourth and fifth servos are detachably connected to the front housing. The left and right mouth corner pieces are located on the side of the front housing away from the center frame, with the left mouth corner piece connected to the fourth servo and the right mouth corner piece connected to the fifth servo.

[0012] Using the above technical solution, the fourth and fifth servos are installed in the mounting slot, which makes the positioning more accurate and facilitates the installation of the fourth and fifth servos. Moreover, the fourth and fifth servos drive the left and right corner pieces of the mouth to swing, respectively, which can simulate a smiling expression.

[0013] In some embodiments, the chin movement module includes a sixth servo, a chin piece, and a chin linkage. The sixth servo is located on the side of the front housing near the center frame and is situated on the side of the third servo. A chin servo mounting plate is provided on the side of the sixth servo near the center frame. The chin servo mounting plate is detachably connected to the front housing. The chin piece is hinged to the bottom of the front housing. The chin linkage connects the sixth servo and the chin piece.

[0014] Using the above technical solution, the sixth servo is fixed to the inside of the front shell through the chin servo mounting plate, which also increases the stability and reliability of the chin servo installation. The sixth servo is set on one side of the third servo, which can make the center of gravity of the robot head closer to the center and more reasonable. The sixth servo drives the chin frame to swing up and down through the chin linkage. In conjunction with the left and right swing of the left and right mouth parts, it can simulate expressions such as smiling, and can make the expressions richer and more realistic.

[0015] In some embodiments, the neck movement module includes a seventh servo, a transmission rod, and a connector. The intermediate frame includes a horizontal plate and a vertical plate. The horizontal plate is located at the bottom of the front shell and the rear cover, and is detachably connected to the front shell and / or the rear cover. The vertical plate is connected to the top of the horizontal plate. The seventh servo is mounted on the side of the vertical plate near the front shell. One end of the transmission rod is connected to the seventh servo, and the other end passes through the horizontal plate and is connected to the connector. The connector is detachably connected to the transmission rod.

[0016] Using the above technical solution, the seventh servo motor can drive the entire robot head to rotate by driving the transmission rod, which can simulate the action of a human turning his head. Moreover, the transmission rod is detachably connected with a connector, and the corresponding connector can be selected according to the structure of the body, making it more versatile.

[0017] In some embodiments, a control element is also included, which is located on the side of the upright plate away from the seventh servo motor, and the control element is detachably connected to the upright plate.

[0018] By adopting the above technical solution, the control component and the vertical plate can be detachably connected, which facilitates installation and subsequent replacement and maintenance. Moreover, by placing the control component and the seventh servo on opposite sides of the vertical plate, the heat transfer from the seventh servo to the control component can be reduced, thus protecting the control component.

[0019] In some embodiments, the upright plate divides the interior of the housing into a front chamber and a rear chamber, which are connected. A heat dissipation chamber is provided on the inner side of the rear cover, and a heat dissipation hole communicating with the heat dissipation chamber is provided on the side of the rear cover away from the front housing. The heat dissipation chamber is connected to the front chamber and the rear chamber.

[0020] By adopting the above technical solution, the vertical plate divides the internal space of the front shell and the rear cover of the housing into relatively independent front chambers and rear chambers, which facilitates the layout of each module, avoids messy internal wiring, facilitates assembly and later maintenance, and can also form an orderly heat dissipation channel with the heat dissipation chamber, thereby improving heat dissipation efficiency.

[0021] In some embodiments, a battery compartment is provided on the top of the front housing, the battery compartment is located on the top of the upright plate, the battery compartment is in communication with the heat dissipation chamber, the front chamber and the rear chamber, the top of the battery compartment is provided with an opening, and the housing also includes a top cover covering the opening of the battery compartment, the top cover being detachably connected to the front housing and / or the rear cover.

[0022] By adopting the above technical solution, a battery compartment is set on the top of the front cover, and a top cover is set on the opening of the battery compartment. When the battery needs to be replaced or repaired, only the top cover needs to be opened, making the operation more convenient. Moreover, the battery and the seventh servo motor, which account for a large proportion of the weight of the entire robot head, are both set on the central axis of the robot head, making the weight distribution of the robot more balanced and making the structure of the robot head more stable.

[0023] In some implementations, the heat dissipation chamber is located on top of the rear cover.

[0024] By adopting the above technical solution, the heat dissipation chamber is located at the top of the back cover, which facilitates the dissipation of heat from inside the casing.

[0025] Compared with existing technologies, the highly integrated modular robot head of this application has the following significant advantages:

[0026] Rich and lifelike expressions: Seven or more servo motors independently control eye movement, eyelid opening and closing, chin movement and mouth corner movement, providing a high degree of freedom of motion combination, which can accurately simulate a variety of complex and natural human facial expressions such as blinking, staring, opening the mouth, and smiling, greatly enhancing the robot's expressiveness and anthropomorphism.

[0027] Compact structure and high integration: The innovative design of a highly integrated modular mounting structure (such as various special fixing holes and mounting plates) on the front shell allows all drive units, transmission mechanisms and electronic components to be rationally and stably arranged in the limited head space. The compact structure avoids messy internal wiring and improves the stability and reliability of the overall structure.

[0028] Precise control and good coordination: The eye mechanism (eyelid movement module and eyeball movement module) and the mouth mechanism (mouth corner movement module and chin movement module) are both independent modules. They can be controlled individually to complete specific actions, or they can work together to form combined expressions (such as squinting when smiling). The mechanical linkage transmission method has clear motion relationships, high control precision, and rapid response.

[0029] Easy to assemble and maintain: The modular design makes the assembly process of each component clear and simple, facilitating production and manufacturing. At the same time, if a component (such as a single servo motor) fails, it is easy to locate and replace, reducing subsequent maintenance costs. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of a highly integrated modular robot head according to a preferred embodiment of the present invention;

[0031] Figure 2 for Figure 1 A structural schematic diagram of the highly integrated modular robot head from another perspective;

[0032] Figure 3 for Figure 1 The diagram shows a highly integrated modular robot head cut along its central axis.

[0033] Figure 4 for Figure 1 The diagram shows an exploded view of the highly integrated modular robot head.

[0034] Figure 5 for Figure 4 Another perspective view of the structural breakdown of the highly integrated modular robot head shown;

[0035] Figure 6 for Figure 4 The diagram shows the structure of the anterior shell and the eyelid movement module, eyeball movement module, mouth corner movement module and chin movement module.

[0036] Figure 7 for Figure 6 The diagram shows the structure of the eyelid movement module and the eyeball movement module.

[0037] Figure 8 for Figure 6 The diagram shown is a structural schematic of the corner of the mouth movement module;

[0038] Figure 9 for Figure 6 The diagram shown is a structural schematic of the chin movement module.

[0039] Figure 10 for Figure 5 The diagram shows the structure of the intermediate frame and the neck movable module.

[0040] Figure 11 for Figure 4 The diagram shows the structure of the intermediate frame and control components.

[0041] In the diagram: 100. Highly integrated modular robot head; 10. Shell; 11. Front shell; 111. Mounting slot; 112. Slot; 113. Card slot; 12. Rear cover; 121. Heat dissipation hole; 13. Intermediate frame; 131. Horizontal plate; 132. Vertical plate; 133. Insert block; 134. Slide; 14. Top cover; 15. Front chamber; 16. Rear chamber; 17. Heat dissipation chamber; 18. Battery compartment; 20. Eyelid motion module; 21. First servo motor; 211. First positioning plate; 212. Second positioning plate; 22. Second servo motor; 221. Third positioning plate; 222. Fourth positioning plate; 23. Left eyelid component; 24. Right eyelid component; 25. Eyelid servo motor mounting plate; 26. Left eyelid connecting rod; 27. Right eyelid connecting rod; 30. Eyeball motion module; 31. Third servo motor; 32. 1. Fifth positioning plate; 312. Sixth positioning plate; 32. Left eyeball component; 33. Right eyeball component; 34. Synchronization rod; 35. Eyeball servo mounting plate; 36. Left eyeball connecting rod; 37. Right eyeball connecting rod; 40. Mouth corner movement module; 41. Fourth servo; 42. Fifth servo; 43. Left mouth corner component; 44. Right mouth corner component; 50. Chin movement module; 51. Sixth servo; 511. Seventh positioning plate; 512. Eighth positioning plate; 52. Chin component; 53. Chin connecting rod; 54. Chin servo mounting plate; 60. Neck movement module; 61. Seventh servo; 62. Transmission rod; 63. Connector; 70. Control component; 71. Bracket; 72. PCB board; 80. Battery; 90. Power switch; 91. Main switch; 92. Type-C interface; 93. Microphone. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. When the number of elements is referred to as "multiple," it can be any number of two or more. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0045] Please see Figure 1 and Figure 11 A highly integrated modular robot head 100 according to a preferred embodiment of the present invention includes a housing 10, an eyelid motion module 20, an eyeball motion module 30, a mouth corner motion module 40, a chin motion module 50, and a neck motion module 60 respectively mounted on the housing 10. The housing 10 includes a front shell 11 and a rear cover 12 disposed opposite to each other, and an intermediate frame 13 disposed between the front shell 11 and the rear cover 12. The front shell 11 and the rear cover 12 are detachably connected, and the intermediate frame 13 is detachably connected to the front shell 11 and / or the rear cover 12. The eyelid motion module 20, the eyeball motion module 30, the mouth corner motion module 40, and the chin motion module 50 are all mounted on the front shell 11, and the neck motion module 60 is mounted on the intermediate frame 13. The highly integrated modular robot head 100 of this application is designed with the housing 10 consisting of an independent front shell 11, a rear cover 12, and a middle frame 13, which are detachably connected for easy installation and maintenance. The eyelid motion module 20, eyeball motion module 30, mouth corner motion module 40, and chin motion module 50 are sequentially mounted on the front shell 11 from top to bottom, while the neck motion module 60 is mounted on the middle frame 13. Each motion module is an independent modular design, facilitating installation and maintenance, and the layout is reasonable, making full use of the space in the housing 10 and resulting in a more compact robot head structure. Furthermore, since the eyelid motion module 20, eyeball motion module 30, mouth corner motion module 40, and chin motion module 50 are all independent modules, they can be individually controlled to complete specific actions or work together to form combined expressions, making the robot's expressions richer and more realistic.

[0046] like Figure 1 , Figure 6 and Figure 7As shown, the eyelid motion module 20 includes a first servo motor 21, a second servo motor 22, a left eyelid component 23, and a right eyelid component 24. The first servo motor 21 and the second servo motor 22 are mounted on the side of the front housing 11 near the middle frame 13. An eyelid servo motor mounting plate 25 is provided on the side of the first servo motor 21 and the second servo motor 22 near the middle frame 13. The eyelid servo motor mounting plate 25 is detachably connected to the front housing 11. The left eyelid component 23 and the right eyelid component 24 are hinged on the side of the front housing 11 away from the middle frame 13. The left eyelid component 23 is connected to the first servo motor 21 through a left eyelid connecting rod 26, and the right eyelid component 24 is connected to the second servo motor 22 through a right eyelid connecting rod 27. The symmetrically designed first servo 21 and second servo 22 are fixedly mounted on the inner side of the front shell 11 via the eyelid servo mounting plate 25, which increases the contact area between the first servo 21 and the second servo 22 and the front shell 11, making the installation of the first servo 21 and the second servo 22 more secure and reliable. The first servo 21 drives the left eyelid component 23 to rotate up and down through the left eyelid connecting rod 26, and the second servo 22 drives the right eyelid component 24 to rotate up and down through the right eyelid connecting rod 27, thereby simulating the action of blinking. Moreover, the left and right eyelids can be controlled separately, making the expression more flexible and realistic.

[0047] Furthermore, to improve the installation accuracy and reduce the installation difficulty of the first servo 21 and the second servo 22, a first positioning plate 211 and a second positioning plate 212 are provided on the surface of the first servo 21, and a third positioning plate 221 and a fourth positioning plate 222 are provided on the surface of the second servo 22. The front housing 11 has a first positioning groove corresponding to the first positioning plate 211 and a second positioning groove corresponding to the third positioning plate 221. The eyelid servo mounting plate 25 has a third positioning groove corresponding to the second positioning plate 212 and a fourth positioning groove corresponding to the fourth positioning plate 222. During installation, first, insert the positioning plates on the first servo 21 and the second servo 22 into the corresponding positioning grooves on the front housing 11, then align the positioning grooves on the eyelid servo mounting plate 25 with the positioning plates on the first servo 21 and the second servo 22, and finally fix the eyelid servo mounting plate 25 to the inside of the front housing 11 with screws, thus reducing the installation difficulty and improving the installation accuracy.

[0048] Please refer to the following: Figure 1 , Figure 6 and Figure 7The eye movement module 30 includes a third servo motor 31, a left eyeball component 32, a right eyeball component 33, and a synchronizing rod 34. The third servo motor 31 is installed on the side of the front housing 11 near the intermediate frame 13, and the third servo motor 31 is located below the first servo motor 21 and the second servo motor 22. An eyeball servo motor mounting plate 35 is provided on the side of the third servo motor 31 near the intermediate frame 13. The eyeball servo motor mounting plate 35 is detachably connected to the front housing 11. The left eyeball component 32 and the right eyeball component 33 are hinged on the side of the front housing 11 away from the intermediate frame 13. The left eyeball component 32 is located inside the left eyelid component 23, and the right eyeball component 33 is located inside the right eyelid component 24. The synchronizing rod 34 is connected to the third servo motor 31. The synchronizing rod 34 is connected to the left eyeball component 32 through the left eyeball connecting rod 36, and the synchronizing rod 34 is connected to the right eyeball component 33 through the right eyeball connecting rod 37. The third servo motor 31 is fixed to the inside of the front shell 11 by the eyeball servo motor mounting plate 35, making the third servo motor 31 more secure and reliable; and the third servo motor 31 drives the two eyeballs to rotate synchronously left and right by the synchronizing rod 34, making the movement of the eyeballs closer to the movement of a real person, making the expression more natural and realistic.

[0049] Similarly, in order to improve the installation accuracy of the third servo motor 31 and reduce the installation difficulty, the outer surface of the third servo motor 31 is provided with a fifth positioning plate 311 and a sixth positioning plate 312, the front shell 11 is provided with a fifth positioning groove corresponding to the fifth positioning plate 311, and the eyeball servo motor mounting plate 35 is provided with a sixth positioning groove corresponding to the sixth positioning plate 312.

[0050] like Figure 1 and Figure 8 As shown, the mouth corner movement module 40 includes a fourth servo motor 41, a fifth servo motor 42, a left mouth corner piece 43, and a right mouth corner piece 44. The front housing 11, on the side away from the intermediate frame 13, has a mounting slot 111 for accommodating the fourth servo motor 41 and the fifth servo motor 42. The fourth servo motor 41 and the fifth servo motor 42 are detachably connected to the front housing 11. The left mouth corner piece 43 and the right mouth corner piece 44 are located on the side of the front housing 11 away from the intermediate frame 13, with the left mouth corner piece 43 connected to the fourth servo motor 41 and the right mouth corner piece 44 connected to the fifth servo motor 42. The fourth servo motor 41 and the fifth servo motor 42 are installed in the mounting slot 111, allowing for more precise positioning and facilitating their installation. Furthermore, the fourth servo motor 41 and the fifth servo motor 42 respectively drive the left mouth corner piece 43 and the right mouth corner piece 44 to swing, simulating a smiling expression.

[0051] In this embodiment, the fourth servo motor 41 and the fifth servo motor 42 are fixed to the front housing 11 by screws.

[0052] In order to make the weight distribution of the fourth servo motor 41 and the fifth servo motor 42 more reasonable, the mounting slot 111 is preferably a through slot. This allows parts of the fourth servo motor 41 and the fifth servo motor 42 to pass through the mounting slot 111 and approach the intermediate frame 13, so that the weight distribution of the robot's head is on or near the central axis, thereby improving the rationality and reliability of the robot's head structure.

[0053] Please see Figure 1 , Figure 6 and Figure 9 The chin movement module 50 includes a sixth servo 51, a chin component 52, and a chin connecting rod 53. The sixth servo 51 is located on the side of the front housing 11 near the middle frame 13, and the sixth servo 51 is located on the side of the third servo 31. A chin servo mounting plate 54 is provided on the side of the sixth servo 51 near the middle frame 13. The chin servo mounting plate 54 is detachably connected to the front housing 11. The chin component 52 is hinged to the bottom of the front housing 11. The chin connecting rod 53 connects the sixth servo 51 and the chin component 52. The sixth servo motor 51 is fixed to the inside of the front shell 11 via the chin servo motor mounting plate 54, which also increases the stability and reliability of the chin servo motor installation. The sixth servo motor 51 is set on one side of the third servo motor 31, which can make the center of gravity of the robot head closer to the center and more reasonable. The sixth servo motor 51 drives the chin frame to swing up and down through the chin linkage 53, and coordinates with the left corner mouth piece 43 and the right corner mouth piece 44 to swing left and right, which can simulate expressions such as smiling, and can make the expressions richer and more realistic.

[0054] Preferably, similar to the structure of the first servo 21, the second servo 22 and the third servo 31, a seventh positioning plate 511 and an eighth positioning plate 512 are provided on the outer surface of the sixth servo 51, a seventh positioning groove corresponding to the seventh positioning plate 511 is provided on the front shell 11, and an eighth positioning groove corresponding to the eighth positioning plate 512 is provided on the servo mounting plate.

[0055] like Figure 3 , Figure 10 and Figure 11 As shown, the neck movement module 60 includes a seventh servo motor 61, a transmission rod 62, and a connector 63. The intermediate frame 13 includes a horizontal plate 131 and a vertical plate 132. The horizontal plate 131 is located at the bottom of the front shell 11 and the rear cover 12, and is detachably connected to the front shell 11 and / or the rear cover 12. The vertical plate 132 is connected to the top of the horizontal plate 131. The seventh servo motor 61 is installed on the side of the vertical plate 132 near the front shell 11. One end of the transmission rod 62 is connected to the seventh servo motor 61, and the other end passes through the horizontal plate 131 and is connected to the connector 63. The connector 63 is detachably connected to the transmission rod 62. The seventh servo motor 61 can drive the transmission rod 62 to rotate, thereby rotating the entire robot head and simulating the action of a human turning their head. Moreover, the transmission rod 62 is detachably connected to the connector 63, allowing for selection of the appropriate connector 63 based on the structure of the body, thus improving versatility.

[0056] In one embodiment, the highly integrated modular robot head 100 of this application further includes a control component 70, which is disposed on the side of the upright plate 132 away from the seventh servo motor 61, and is detachably connected to the upright plate 132. Detachably connecting the control component 70 to the upright plate 132 facilitates installation and subsequent replacement and maintenance. Furthermore, distributing the control component 70 and the seventh servo motor 61 on opposite sides of the upright plate 132 reduces heat transfer from the seventh servo motor 61 to the control component 70, thus protecting the control component 70.

[0057] Specifically, the control component 70 includes a bracket 71 and a PCB board 72 mounted on the bracket 71. The bracket 71 is frame-shaped, and the PCB board 72 is located inside the frame-shaped bracket 71. The bracket 71 can better protect the PCB board 72. In order to facilitate the fixing of the bracket 71, a sliding groove 134 is provided on the upright plate 132. The edge of the bracket 71 is engaged in the sliding groove 134. This arrangement makes the installation and disassembly of the control component 70 very convenient.

[0058] Furthermore, to facilitate the installation and fixing of the intermediate frame 13, in this application, the intermediate frame 13 is inserted into the front shell 11. An insert block 133 is provided on the horizontal plate 131, and a slot 112 corresponding to the insert block 133 is provided on the front shell 11. The intermediate frame 13 can be fixed to the front shell 11 by inserting the insert block 133 into the slot 112. Then, the front shell 11 and the rear cover 12 are fixed together by screws, thus fixing the front shell 11, the rear cover 12, and the intermediate frame 13 into a whole. In other embodiments, the intermediate frame 13 can also be detachably connected to the front shell 11 and / or the rear cover 12 through one or more methods such as snap-fit, fastener connection, or fastening.

[0059] like Figure 2 and 3 As shown, the vertical plate 132 divides the interior of the housing 10 into a front chamber 15 and a rear chamber 16, which are connected. A heat dissipation chamber 17 is provided inside the rear cover 12. A heat dissipation hole 121 communicating with the heat dissipation chamber 17 is provided on the side of the rear cover 12 away from the front housing 11. The heat dissipation chamber 17 is connected to both the front chamber 15 and the rear chamber 16. The vertical plate 132 divides the interior space of the front housing 11 and the rear cover 12 of the housing 10 into relatively independent front chambers 15 and 16, which facilitates the layout of various modules, avoids messy internal wiring, facilitates assembly and later maintenance, and also forms an orderly heat dissipation channel with the heat dissipation chamber 17, improving heat dissipation efficiency.

[0060] Preferably, the heat dissipation chamber 17 is located at the top of the rear cover 12. Since hot air rises, placing the heat dissipation chamber 17 at the top of the rear cover 12 facilitates the dissipation of hot air from the inside of the housing 10.

[0061] In one embodiment, a battery compartment 18 is provided on the top of the front shell 11. The battery compartment 18 is located on the top of the upright plate 132 and communicates with the heat dissipation chamber 17, the front chamber 15, and the rear chamber 16. The top of the battery compartment 18 is provided with an opening. The shell 10 also includes a top cover 14 covering the opening of the battery compartment 18. The top cover 14 is detachably connected to the front shell 11 and / or the rear cover 12. By providing the battery compartment 18 on the top of the front cover and providing the top cover 14 at the opening of the battery compartment 18, when the battery 80 needs to be replaced or repaired, only the top cover 14 needs to be opened, making the operation more convenient. Moreover, the battery 80 and the seventh servo motor 61, which account for a large proportion of the weight of the entire robot head, are both located on the central axis of the robot head, making the weight distribution of the robot more balanced and the structure of the robot head more stable. In addition, other servos are also located as close as possible to the upright plate 132 (central axis), so that the center of gravity of the robot head is concentrated near the central axis, making its overall weight distribution more reasonable and improving the stability of the robot head.

[0062] Preferably, a power switch 90, a main switch 91, and a Type-C interface 92 are also provided on the rear cover 12. The power switch 90, main switch 91, and Type-C interface 92 are all electrically connected to the battery 80 and the PCB board 72. For convenient audio recording, the highly integrated modular robot head 100 of this application also includes a microphone 93, which is mounted on opposite sides of the front shell 11. Optionally, a slot 113 for engaging the microphone 93 is provided on the inner side of the front shell 11. The highly integrated modular robot head 100 of this application is fully functional. Its overall design not only considers expression-driven operation but also takes into account functions such as heat dissipation, power supply, switch control, data interface (Type-C interface 92), and audio acquisition (microphone 93). It is a fully functional head solution that can be immediately applied to various humanoid robots.

[0063] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A highly integrated modular robot head, comprising a shell (10), an eyelid motion module (20), an eyeball motion module (30), a mouth corner motion module (40), a chin motion module (50), and a neck motion module (60) respectively mounted on the shell (10), characterized in that, The housing (10) includes a front shell (11) and a rear cover (12) disposed opposite to each other, and an intermediate frame (13) disposed between the front shell (11) and the rear cover (12). The front shell (11) and the rear cover (12) are detachably connected. The intermediate frame (13) is detachably connected to the front shell (11) and / or the rear cover (12). The eyelid movement module (20), the eyeball movement module (30), the corner of the mouth movement module (40) and the chin movement module (50) are all mounted on the front shell (11). The neck movement module (60) is mounted on the intermediate frame (13).

2. The highly integrated modular robot head according to claim 1, characterized in that, The eyelid movement module (20) includes a first servo (21), a second servo (22), a left eyelid component (23), and a right eyelid component (24). The first servo (21) and the second servo (22) are mounted on the side of the front shell (11) near the middle frame (13). An eyelid servo mounting plate (25) is provided on the side of the first servo (21) and the second servo (22) near the middle frame (13). The eyelid servo mounting plate (25) is detachably connected to the front shell (11). The left eyelid component (23) and the right eyelid component (24) are hinged on the side of the front shell (11) away from the middle frame (13). The left eyelid component (23) is connected to the first servo (21) through a left eyelid connecting rod (26). The right eyelid component (24) is connected to the second servo (22) through a right eyelid connecting rod (27).

3. The highly integrated modular robot head according to claim 2, characterized in that, The eye movement module (30) includes a third servo motor (31), a left eyeball component (32), a right eyeball component (33), and a synchronization rod (34). The third servo motor (31) is installed on the side of the front shell (11) near the intermediate frame (13), and the third servo motor (31) is located below the first servo motor (21) and the second servo motor (22). An eyeball servo motor mounting plate (35) is provided on the side of the third servo motor (31) near the intermediate frame (13). The eyeball servo motor mounting plate (35) is detachable from the front shell (11). The left eyeball (32) and the right eyeball (33) are hinged to the front shell (11) on the side away from the intermediate frame (13), and the left eyeball (32) is located inside the left eyelid (23), and the right eyeball (33) is located inside the right eyelid (24). The synchronizing rod (34) is connected to the third servo (31) for transmission. The synchronizing rod (34) and the left eyeball (32) are connected through the left eyeball connecting rod (36), and the synchronizing rod (34) and the right eyeball (33) are connected through the right eyeball connecting rod (37).

4. The highly integrated modular robot head according to claim 1, characterized in that, The mouth corner movement module (40) includes a fourth servo (41), a fifth servo (42), a left mouth corner piece (43), and a right mouth corner piece (44). The front shell (11) is provided with a mounting slot (111) for accommodating the fourth servo (41) and the fifth servo (42) on the side away from the intermediate frame (13). The fourth servo (41) and the fifth servo (42) are detachably connected to the front shell (11). The left mouth corner piece (43) and the right mouth corner piece (44) are located on the side of the front shell (11) away from the intermediate frame (13), and the left mouth corner piece (43) is connected to the fourth servo (41), and the right mouth corner piece (44) is connected to the fifth servo (42).

5. The highly integrated modular robot head according to claim 3, characterized in that, The chin movement module (50) includes a sixth servo (51), a chin piece (52), and a chin connecting rod (53). The sixth servo (51) is located on the side of the front shell (11) near the middle frame (13) and is located on the side of the third servo (31). A chin servo mounting plate (54) is provided on the side of the sixth servo (51) near the middle frame (13). The chin servo mounting plate (54) is detachably connected to the front shell (11). The chin piece (52) is hinged to the bottom of the front shell (11). The chin connecting rod (53) connects the sixth servo (51) and the chin piece (52).

6. The highly integrated modular robot head according to claim 1, characterized in that, The neck movement module (60) includes a seventh servo (61), a transmission rod (62), and a connector (63). The intermediate frame (13) includes a horizontal plate (131) and a vertical plate (132). The horizontal plate (131) is located at the bottom of the front shell (11) and the rear cover (12), and the horizontal plate (131) is detachably connected to the front shell (11) and / or the rear cover (12). The vertical plate (132) is connected to the top of the horizontal plate (131). The seventh servo (61) is installed on the side of the vertical plate (132) near the front shell (11). One end of the transmission rod (62) is connected to the seventh servo (61), and the other end passes through the horizontal plate (131) and is connected to the connector (63). The connector (63) is detachably connected to the transmission rod (62).

7. The highly integrated modular robot head according to claim 6, characterized in that, It also includes a control unit (70) disposed on the side of the upright plate (132) away from the seventh servo motor (61), and the control unit (70) is detachably connected to the upright plate (132).

8. The highly integrated modular robot head according to claim 6, characterized in that, The upright plate (132) divides the interior of the shell (10) into a front chamber (15) and a rear chamber (16). The front chamber (15) and the rear chamber (16) are connected. A heat dissipation chamber (17) is provided on the inner side of the rear cover (12). A heat dissipation hole (121) connected to the heat dissipation chamber (17) is provided on the side of the rear cover (12) away from the front shell (11). The heat dissipation chamber (17) is connected to the front chamber (15) and the rear chamber (16).

9. The highly integrated modular robot head according to claim 8, characterized in that, The front shell (11) has a battery compartment (18) on top. The battery compartment (18) is located on top of the upright plate (132). The battery compartment (18) is connected to the heat dissipation chamber (17), the front chamber (15) and the rear chamber (16). The top of the battery compartment (18) has an opening. The shell (10) also includes a top cover (14) covering the opening of the battery compartment (18). The top cover (14) is detachably connected to the front shell (11) and / or the rear cover (12).

10. The highly integrated modular robot head according to claim 8, characterized in that, The heat dissipation chamber (17) is located on top of the rear cover (12).

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