Head module for humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, in particular to a head module for a humanoid robot, which comprises a front shell, a rear shell, a head shell bottom ring, side ear covers and a head shell framework which are modularly spliced to form a mounting cavity, and the side ear covers are buckled to seal side ear through grooves and hide connecting rod screws. Three sets of symmetrical connecting bases and positioning columns are arranged on the inner wall of the front shell, the head shell framework is in an inverted L shape, functional parts are installed firstly, then the head shell framework is accurately assembled with the front shell, framework connection is achieved only through the front shell, the framework integrates a multifunctional part installation position, and the driving support stretches out of the bottom ring to be connected with the driving module. The head shell part is made of engineering plastics, the framework is made of aluminum alloy, and rigidity is strengthened through cross connection of connecting rods. According to the module, the problems of loose connection, exposed screws, large multi-shell splicing positioning deviation and tedious assembly in the prior art are solved, accurate positioning, reliable connection, efficient assembly and anthropomorphic appearance are achieved, modular replacement and maintenance can be achieved, maintenance convenience and dynamic stability are both considered, and the module is suitable for a multi-scene humanoid robot.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and more particularly to a head module for humanoid robots. Background Technology

[0002] Humanoid robots, as intelligent devices with humanoid appearances and autonomous operation capabilities, rely heavily on their head modules for structural support, functional load-bearing, and anthropomorphic interaction. These modules must simultaneously meet requirements such as rigid connection, precise assembly, a clean appearance, and ease of maintenance. The head skeleton, as the core internal load-bearing structure, plays a crucial role in supporting the external head shell, securing precision components, balancing the center of gravity, and adapting to the drive module; the head shell, in turn, is responsible for encapsulating and protecting internal components, optimizing sensory interaction, and shaping the anthropomorphic appearance. However, existing head shell connection mechanisms suffer from several core defects: Firstly, there is a lack of reliable rigid connection structures. Some solutions rely solely on edge contact to achieve detachable connections. In dynamic scenarios such as robot walking, turning, and working, vibration can easily cause the shell to loosen, making it unsuitable for complex motion requirements. Secondly, in the screw connection scheme, the screws are all exposed, which not only makes them susceptible to corrosion from moisture and dust, causing them to rust and fail, affecting the reliability of the connection, but also damages the cleanliness and anthropomorphic effect of the head shell, reducing the human-computer interaction experience. Third, the head shell is mostly composed of multiple shells spliced ​​together, which need to be connected to the frame separately to achieve overall fixation. Moreover, the connection and positioning design is crude, mostly using simple two-point or three-point bolt connections, lacking a precise pre-positioning structure. This results in large positioning deviations when assembling the shell and the frame, which in turn causes misalignment between the camera lens and the shell through hole, and between the screen and the shell display area, affecting the use of functions. At the same time, the splicing of multiple shells and the crude connection method make the assembly process cumbersome and inefficient.

[0003] In addition, the existing head shell and skeleton assembly process is cumbersome and lacks modular design, resulting in low production and maintenance efficiency and making it difficult to adapt to the needs of rapid iteration.

[0004] Therefore, a new technical solution is urgently needed to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems of the prior art and provide a head module for humanoid robots. This module addresses the technical problems of insufficient connection reliability, exposed screws affecting protection and appearance, large assembly deviations due to multi-shell splicing and rough positioning, functional misalignment, cumbersome assembly, and low maintenance efficiency due to lack of modular design in existing humanoid robot head modules. Specifically, it includes: 1. In dynamic scenarios, the connection structure lacks rigidity, making the shell prone to loosening due to vibration; 2. Exposed connecting screws are prone to rust and failure, and also damage the anthropomorphic appearance; 3. The head shell is made of multiple shells and needs to be connected to the frame separately. It also lacks a precise pre-positioning structure, resulting in large assembly positioning deviations and causing misalignment of functional components. 4. The assembly process is complicated due to the splicing of multiple shells and the rough connection method. The modularity is low and the production and maintenance costs are high.

[0006] The above objectives are achieved through the following technical solutions: A head module for a humanoid robot includes a front shell, a rear skull shell, a head shell bottom ring, and a head shell skeleton. The front shell, rear skull shell, and head shell bottom ring are spliced ​​together to form symmetrical side ear slots on both sides. Side ear covers are connected and sealed to the side ear slots via snap-fit ​​connections. The four components together form a head shell skeleton mounting cavity. A head shell skeleton mounting mechanism is provided on the inner wall of the front shell. The head shell skeleton is U-shaped, with a skeleton face frame on the side facing the front shell. The skeleton face frame is detachably connected to the head shell skeleton mounting mechanism. A head shell drive bracket is provided on the side of the head shell skeleton facing the head shell bottom ring. The head shell drive bracket extends out of the head shell bottom ring and connects to a head shell drive module. A second functional component mounting position and a third functional component mounting position are provided on the outer side of the skeleton face frame. A first functional component mounting position is provided on the top of the head shell skeleton. The front shell, rear skull shell, and head shell bottom ring are screwed together by connecting rod screws, and the side ear covers conceal the connecting rod screws for a hidden design.

[0007] Preferably, the head shell frame mounting mechanism includes three sets of symmetrical cylindrical connecting seats disposed on the inner wall of the front shell cavity of the front shell, including: two first face frame connecting seats corresponding to the human eyebrow position, two second face frame connecting seats corresponding to the human cheekbone position, and two third face frame connecting seats corresponding to the human coronoid process position. The tops of the three are located on the same horizontal plane and are provided with connecting seat threaded holes. The skeleton face frame is provided with face frame threaded holes.

[0008] Preferably, a face frame positioning post is provided near the first face frame connecting seat, and a face frame positioning hole is provided correspondingly for the skeleton face frame. The face frame positioning post and the face frame positioning hole are adapted to achieve precise pre-positioning.

[0009] Preferably, the front shell has a first connecting edge and two symmetrical second connecting edges connected at an angle, and the posterior shell has a first connecting edge and two symmetrical second connecting edges connected at an angle; the first connecting edge of the posterior shell is C-shaped with its opening facing downward, and includes a front shell connecting portion that fits into the first connecting edge of the front shell, and a side ear cover supporting portion that fits into the side ear cover; the second connecting edge of the front shell, the side ear cover supporting portion, the second connecting edge of the posterior shell, and the side ear cover connecting portion of the bottom ring of the head shell together form the side ear passage.

[0010] Preferably, both the second connecting edge of the front shell and the second connecting edge of the rear shell are provided with ear cover slots, the ear cover is provided with a matching ear cover foot, and the ear cover is detachably snapped together with the ear cover slot through the ear cover foot.

[0011] Preferably, the inner wall corresponding to the second connecting edge of the front shell is provided with a first upper connecting rod and a first lower connecting rod extending into the side ear passage groove, and the extended ends of the first upper connecting rod and the first lower connecting rod are respectively provided with a first upper connecting rod screw hole and a first lower connecting rod screw hole; the inner wall corresponding to the second connecting edge of the rear shell is provided with a second upper connecting rod and a second lower connecting rod extending into the side ear passage groove, and the extended ends of the second upper connecting rod and the second lower connecting rod are respectively provided with a second upper connecting rod screw hole and a second lower connecting rod screw hole; the first upper connecting rod and the second upper connecting rod intersect and the first... The upper connecting rod screw hole is coaxial with the second upper connecting rod screw hole and is screwed together by an upper connecting rod screw; the inner wall of the side ear cover connecting part of the head shell bottom ring is provided with a lower connecting rod connecting seat, and the lower connecting rod connecting seat is provided with a first connecting seat screw hole and a second connecting seat screw hole. The first lower connecting rod and the second lower connecting rod respectively abut against the lower connecting rod connecting seat, and the first lower connecting rod screw hole is coaxial with the first connecting seat screw hole and is screwed together by a lower connecting rod first screw; the second lower connecting rod screw hole is coaxial with the second connecting seat screw hole and is screwed together by a lower connecting rod second screw.

[0012] Preferably, the angle formed by the intersection of the first upper connecting rod and the second upper connecting rod is 120° to 160°, and the first upper connecting rod is located outside the second upper connecting rod.

[0013] Preferably, the angle between the first connecting edge of the front shell and the second connecting edge of the front shell is 120° to 160°, and the angle between the first connecting edge of the posterior shell and the second connecting edge of the posterior shell is 120° to 160°.

[0014] Preferably, the first connecting edge of the front shell is C-shaped with the opening facing downwards, the front shell cavity is an arc-shaped structure adapted to the skeleton face frame, the face frame positioning post is integrally formed with the first face frame connecting seat and its height is higher than the top plane of the first face frame connecting seat, to ensure that the skeleton face frame is accurately inserted with the face frame positioning post when pre-positioned.

[0015] Preferably, the front shell, the back shell, the bottom ring of the head shell, and the side ear covers are all made of high-strength engineering plastics, and the head shell skeleton is made of aluminum alloy.

[0016] The present invention provides a head module for a humanoid robot. Through modular splicing and hidden linkage connections, the head module achieves rigidity, stability, and a clean appearance. Three sets of symmetrical connecting seats combined with a precise pre-positioning structure enable accurate assembly of the faceplate and skeleton. Integrated installation of functional components and optimized assembly processes achieve efficient assembly. Modular design and ergonomic structure ensure convenient maintenance and human-like adaptation. Specific beneficial effects are as follows: 1. Reliable connection and strong protection: The rigid frame is formed by the cross connection of the connecting rods and fixed with multiple screws, which greatly improves the connection stability in dynamic scenarios and prevents the shell from loosening; the side ear cover hides all the connecting screws, isolates moisture and dust corrosion, extends service life, and keeps the appearance clean.

[0017] 2. Highly efficient assembly and precise positioning: The modular splicing design simplifies the assembly process. The pre-positioning of the positioning posts and positioning holes ensures precise docking between the frame and the front shell, avoiding assembly deviations caused by splicing multiple shells and rough positioning, and solving the problem of misalignment of functional components such as cameras and screens. The functional components are assembled first, followed by the frame and front shell, avoiding subsequent assembly interference, further improving assembly efficiency and reducing production costs.

[0018] 3. Balancing Functional Integration and Human-like Design: The skeleton frame integrates multiple functional component mounting positions, enabling precise assembly of the camera module, screen module, and head posture detection sensor to ensure perception and interaction functions; the biomimetic head shell structure and hidden connections enhance the human-like appearance and improve the human-computer interaction experience.

[0019] 4. Easy maintenance and wide adaptability: The detachable buckles and screws facilitate the replacement and maintenance of functional components; the modular design adapts to different specifications of head shells and functional components, enabling modular replacement and assembly of the head, improving product versatility and reducing production and maintenance costs.

[0020] 5. Material optimization and performance balance: The combination of engineering plastics and aluminum alloys balances lightweight and structural rigidity. The U-shaped frame design balances the center of gravity of the head, adapts to the multi-degree-of-freedom movement of the neck, and improves the dynamic stability of the whole machine. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a head module for a humanoid robot according to the present invention; Figure 2 This is an exploded view of a head module for a humanoid robot according to the present invention; Figure 3 This is a schematic diagram of the first-view structure of the head module for a humanoid robot according to the present invention after removing the side ear covers; Figure 4This is a schematic diagram of the second-view structure of the head module for a humanoid robot according to the present invention after removing the side ear covers; Figure 5 This is a schematic diagram of the head shell skeleton in the head module of a humanoid robot according to the present invention; Figure 6 This is a schematic diagram of the structure in which the skeleton panel, camera module, and screen module of the head module for a humanoid robot are assembled with the front shell through a head shell skeleton mounting mechanism, as described in this invention. Figure 7 This is a schematic diagram of the front shell structure in the head module of a humanoid robot according to the present invention; Figure 8 This is a schematic diagram of the posterior skull structure in the head module of a humanoid robot according to the present invention; Figure 9 This is a schematic diagram of the head shell bottom ring in the head module of a humanoid robot according to the present invention.

[0022] Illustration markings: 1-Front shell, 101-First connecting edge of front shell, 102-Second connecting edge of front shell, 103-Front shell cavity, 104-First face frame connecting seat, 105-Second face frame connecting seat, 106-Third face frame connecting seat, 107-Threaded hole of connecting seat, 108-Camera hole, 109-First upper connecting rod, 110-First lower connecting rod, 111-Threaded hole of first upper connecting rod, 112-Threaded hole of first lower connecting rod, 113-Front frame positioning post; 2-Posterior shell, 201-First connecting edge of posterior shell, 202-Second connecting edge of posterior shell, 203-Cranial cavity of posterior shell, 204-Anterior shell connecting part, 205-Side ear cover support part, 206-Second upper connecting rod, 207-Second lower connecting rod, 208-Second upper connecting rod screw hole, 209-Second lower connecting rod screw hole; 3-Head shell bottom ring, 301-Front shell connecting part, 302-Rear skull shell connecting part, 303-Side ear cover connecting part, 304-Lower connecting rod connecting seat, 305-Connecting seat first screw hole, 306-Connecting seat second screw hole; 4-Side ear passage; 5-Head shell skeleton mounting cavity; 6-Head shell frame mounting mechanism; 7-Head shell frame, 701-Frame panel, 702-Head shell drive bracket, 703-Frame body, 704-First functional component mounting position, 705-Face frame threaded hole, 706-Second functional component mounting position, 707-Third functional component mounting position, 708-Face frame positioning hole; 8-Head shell driver module; 9-Side ear cover, 901-Side ear cover clip; 10-Side ear cover slot; 11-Head posture detection sensor; 12-Camera module; 13-Screen module; 14 - Upper connecting rod screw; 15 - First screw of lower connecting rod; 16 - Second screw of lower connecting rod. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. The described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0024] like Figure 1 and Figure 2 As shown, this solution provides a head module for humanoid robots. Through a composite design of "modular assembly + hidden rigid connection + precise pre-positioning + functional integration," it achieves the technical goals of reliable connection, efficient assembly, neat appearance, and convenient maintenance. The head module adopts a four-part modular assembly design: front shell 1, rear skull shell 2, head shell bottom ring 3, and side ear covers 9. Each component has a clear division of labor and is tightly connected, enabling rapid assembly of the head shell and quick replacement and maintenance of parts. like Figure 6 and Figure 7 As shown, in this embodiment, the front shell 1 is designed to resemble a human face. On the side facing the rear shell, there is a first connecting edge 101 and two symmetrical second connecting edges 102 connected at an angle, as well as a front shell cavity 103 for accommodating the head shell skeleton mounting mechanism 6. The first connecting edge 101 is C-shaped with its opening facing downwards. The two second connecting edges 102 are symmetrically arranged at its lower end and connected to the first connecting edge 101, with an included angle of 120° to 160°, adapting to the side profile of a human face. The inner wall corresponding to the second connecting edge 102 has a first upper connecting rod 109 and a first lower connecting rod 110 extending into the side ear groove 4. The extended ends are respectively provided with a first upper connecting rod screw hole 111 and a first lower connecting rod screw hole 112 for rigid connection with the rear skull shell 2 and the head shell bottom ring 3. A camera hole 108 is also provided on the front shell 1 for external detection by the camera module 12. The head shell frame 7 is connected only through the front shell 1, which reduces the complicated assembly between the head shell frame 7 and other components that make up the head shell, and also takes into account the subsequent installation of head functional components.

[0025] like Figure 8As shown, in this embodiment, the posterior skull shell 2 is biomimetic to the posterior skull of a human. On the side facing the anterior shell 1, there is a first connecting edge 201 of the posterior skull shell connected at an angle, and two symmetrical second connecting edges 202 of the posterior skull shell, as well as a posterior skull shell cavity 203 for partially accommodating the skull skeleton 7. The first connecting edge 201 of the posterior skull shell is C-shaped with its opening facing downwards, including an anterior shell connecting portion 204 adapted to the first connecting edge 101 of the anterior shell, and a side ear cover support portion 205 adapted to the side ear covers 9. The two second connecting edges 202 of the posterior skull shell are symmetrically arranged at the lower end of the first connecting edge 201 of the posterior skull shell and connected to the first connecting edge 201 of the posterior skull shell, with an included angle of 120° to 160°, matching the corresponding structure of the anterior shell 1. The inner wall corresponding to the second connecting edge 202 of the posterior shell is provided with a second upper connecting rod 206 and a second lower connecting rod 207 extending into the lateral ear groove 4. The extended ends are respectively provided with a second upper connecting rod screw hole 208 and a second lower connecting rod screw hole 209, which cooperate with the connecting rod structure of the front shell 1 to achieve a rigid connection.

[0026] like Figure 9 As shown, in this embodiment, the head shell bottom ring 3 includes a front shell connecting part 301 adapted to the bottom edge of the front shell 1, a rear shell connecting part 302 adapted to the bottom edge of the rear shell 2, and a side ear cover connecting part 303 adapted to the bottom edge of the side ear cover 9. The inner walls of the two side ear cover connecting parts 303 of the head shell bottom ring 3 are symmetrically provided with lower connecting rod connecting seats 304. The lower connecting rod connecting seats 304 have a first connecting seat screw hole 305 and a second connecting seat screw hole 306. The first connecting seat screw hole 305 can be screwed to the first lower connecting rod screw hole 112 on the first lower connecting rod 110 of the front shell 1 via a first lower connecting rod screw 15. The second connecting seat screw hole 306 can be screwed to the second lower connecting rod screw hole 209 on the second lower connecting rod 207 of the rear shell 2 via a second lower connecting rod screw 16.

[0027] like Figures 2-4 As shown, in this embodiment, the ear cover 9 is used to seal the ear passage 4 and hide the internal connecting screws. Its edge is provided with ear cover latches 901, corresponding to the ear cover slots 10 provided on the second connecting edge 102 of the front shell and the second connecting edge 202 of the rear shell. The ear cover latches 901 and the ear cover slots 10 are connected by a snap-fit, enabling detachable fixing. Assembly is convenient and the appearance is neat. The second connecting edge 102 of the front shell, the ear cover support 205, the second connecting edge 202 of the rear shell, and the ear cover connecting part 303 together constitute the ear passage 4.

[0028] like Figure 4 As shown, to address the issues of exposed screws and insufficient connection rigidity, a composite structure of "cross-connection of connecting rods + concealed side ear cover 9" is adopted, as follows: Upper connecting rod connection: The first upper connecting rod 109 of the front shell 1 and the tail section of the second upper connecting rod 206 of the rear shell 2 are intersected, and the included angle formed by the intersection is 120° to 160°. The first upper connecting rod 109 is located outside the second upper connecting rod 206. After the screw holes of the two are aligned coaxially, they are screwed together by the upper connecting rod screw 14 to form a stable triangular support structure and improve the rigidity of the upper connection.

[0029] Lower connecting rod connection: The first lower connecting rod 110 of the front shell 1 and the second lower connecting rod 207 of the rear shell 2 are in close contact with the lower connecting rod connecting seat 304 of the bottom ring 3 of the head shell. The screw hole 112 of the first lower connecting rod is coaxial with the first screw hole 305 of the connecting seat, and the screw hole 209 of the second lower connecting rod is coaxial with the second screw hole 306 of the connecting seat. They are screwed together by the first screw 15 and the second screw 16 of the lower connecting rod, respectively, to achieve three-point fixation at the bottom, further enhancing the overall connection stability.

[0030] Screw concealment design: The upper connecting rod screw 14, the lower connecting rod first screw 15, and the lower connecting rod second screw 16 are all located within the side ear passage groove 4. After the side ear cover 9 is connected and sealed to the side ear passage groove 4 by a snap-fit, all connecting screws are completely concealed, preventing external moisture and dust from corroding, while maintaining the cleanliness and anthropomorphic effect of the head module's appearance. This structure enables a stable connection between the front shell 1, the rear skull shell 2, and the head shell bottom ring 3. After connection, the snap-fit ​​upper side ear cover 9 conceals the screw connection mechanism, avoiding external interference and ensuring the aesthetics of the head module.

[0031] like Figure 2 and Figure 5 As shown, in this embodiment, the head shell skeleton 7 is the core load-bearing component of the entire head module. It adopts a Γ-shaped aluminum alloy one-piece molding design, which takes into account both rigidity and lightweight. Through this head module, the modular replacement and assembly of the humanoid robot head can be realized, which greatly reduces the production and maintenance costs of the humanoid robot.

[0032] The head shell skeleton 7 includes a U-shaped skeleton body 703. A skeleton face frame 701 is provided on the side of the skeleton body 703 facing the front shell 1, for connection to the head shell skeleton mounting mechanism 6 of the front shell 1. A head shell drive bracket 702 is provided on the side of the skeleton body 703 facing the head shell bottom ring 3. The head shell drive bracket 702 extends out of the head shell bottom ring 3 and connects to the head shell drive module 8 below, enabling the head shell skeleton 7 to perform human-like head movements. A first functional component mounting position 704 is provided on the top of the skeleton body 703, which can be used to mount a head posture detection sensor 11 for sensing head posture.

[0033] The outer side of the skeleton face frame 701 has a second functional component mounting position 706 and a third functional component mounting position 707 from top to bottom. The second functional component mounting position 706 corresponds to the human eye position and is used to install the camera module 12. The camera module 12 can achieve real-time external monitoring through the camera hole 108 opened on the front shell 1. The third functional component mounting position 707 corresponds to the human nose and mouth position and is used to install the screen module 13. The screen module 13 can be displayed externally through the front shell 1 to achieve human-computer interaction. The skeleton face frame 701 has a face frame threaded hole 705 at the position corresponding to the head shell skeleton mounting mechanism 6 for screw screw fixing.

[0034] like Figure 5 and Figure 6 As shown, to improve assembly accuracy and efficiency, a frame positioning post 113 is provided near the first frame connecting seat 104, and a frame positioning hole 708 is provided at the corresponding position on the skeleton frame 701. The frame positioning post 113 and the frame positioning hole 708 can achieve precise positioning of the skeleton frame 701 and the front shell 1, which facilitates subsequent screw connection. During assembly, the positioning post and the positioning hole are matched to achieve pre-positioning, ensuring that the threaded hole 107 of the connecting seat and the threaded hole 705 of the frame are precisely coaxial, and then the screws are screwed on to avoid misalignment.

[0035] like Figure 6 and Figure 7 As shown, the head shell frame mounting mechanism 6 is located on the inner wall of the front shell cavity 103, and includes three sets of symmetrically distributed cylindrical connecting seats: two first face frame connecting seats 104 corresponding to the human eyebrow position, two second face frame connecting seats 105 corresponding to the human cheekbone position, and two third face frame connecting seats 106 corresponding to the human coronoid process position. The tops of all connecting seats are located on the same horizontal plane and are provided with connecting seat threaded holes 107, which are adapted to the face frame threaded holes 705 of the frame face frame 701. They can be detachably screwed together, and the core fixing of the head shell frame 7 is achieved only through the front shell 1, simplifying the assembly process.

[0036] In this embodiment, the front shell 1, the back skull shell 2, the head shell bottom ring 3, and the side ear covers 9 are all made of high-strength engineering plastics (such as ABS, PC / ABS alloy) to meet the requirements of biomimetic appearance injection molding, lightweighting, and structural toughness; the head shell skeleton 7 is made of aluminum alloy in one piece to ensure structural strength and drive connection rigidity. The material properties of the two complement each other to balance the appearance molding and load-bearing reliability.

[0037] like Figure 2 As shown, the assembly process of the header module provided in this solution is as follows: S1. Component pretreatment: Inspect all components such as front shell 1, rear skull shell 2, head shell bottom ring 3, side ear cover 9, and head shell skeleton 7 for deformation, burrs, and cracks; ensure that the appearance of screws, head posture detection sensor 11, camera module 12, screen module 13, head shell drive module 8, and other functional components is intact and functions normally; clean the dust and oil stains on the surface of the components to ensure that the assembly surface is clean.

[0038] S2. Functional component installation: The head posture detection sensor 11 is fixed to the first functional component mounting position 704 of the skeleton face frame 701 of the head shell frame 7 by screws, and the sensor line is connected and arranged to the reserved channel of the skeleton body 703. Embed the camera module 12 into the second functional component mounting position 706, adjust the position to ensure that the lens orientation matches the camera hole 108 of the front shell 1, fix it with a buckle or screw, and connect the module circuit. Fix the screen module 13 to the third functional component mounting position 707, adjust its position to ensure the display surface is flat, connect the lines and hide them inside the skeleton frame 701.

[0039] S3. Assembly of the frame and front shell: Holding the head shell frame 7 with the functional components installed, align the face frame positioning hole 708 of the frame face frame 701 with the face frame positioning post 113 of the front shell 1, and slowly insert it until the frame face frame 701 is completely fitted with the inner wall of the front shell cavity 103. At this time, all the threaded holes 107 of the connecting seats are completely coaxial with the threaded holes 705 of the face frame. Countersunk screws are used to sequentially pass through the threaded holes 107 of each connector and the threaded holes 705 of the face frame, and are locked to a secure state to fix the head shell frame 7 to the front shell 1.

[0040] S4. Head shell assembly: Align the front shell 1 with the head shell skeleton 7 with the rear skull shell 2, so that the first connecting edge 101 of the front shell and the front shell connecting part 204 of the first connecting edge 201 of the rear skull shell are tightly fitted. The first upper connecting rod 109 and the second upper connecting rod 206 are cross-aligned. The first upper connecting rod 109 is located outside the second upper connecting rod 206. After the screw holes are coaxial, the upper connecting rod screw 14 is screwed in and locked to a firm state. Place the head shell bottom ring 3 at the bottom of the assembled front shell 1 and rear shell 2, so that the front shell connecting part 301 and the rear shell connecting part 302 are respectively attached to the bottom edge of the front shell 1 and the rear shell 2. The first lower connecting rod 110 and the second lower connecting rod 207 respectively abut against the lower connecting rod connecting seat 304. After the screw holes are aligned, screw in the first screw 15 and the second screw 16 of the lower connecting rod in sequence and tighten them to a firm state to form a complete head shell main frame.

[0041] S5. Side ear cover installation and driver module connection: Align the ear cover latch 901 of the ear cover 9 with the ear cover groove 10 on the second connecting edge 102 of the front shell and the second connecting edge 202 of the rear shell, press hard to make the ear cover latch 901 fully engage in the groove, achieve a tight connection of the ear cover 9, and seal the ear through groove 4. Connect the head shell drive bracket 702 to the head shell drive module 8 below with bolts to ensure a firm connection, and test the flexibility of the drive module in moving the head.

[0042] S6. Complete the overall assembly.

[0043] The above description is merely illustrative of the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, 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 head module for a humanoid robot, characterized in that, The device includes a front shell (1), a back shell (2), a bottom ring (3), and a skull frame (7). The front shell (1), the back shell (2), and the bottom ring (3) are joined together to form symmetrical side ear channels (4). Side ear covers (9) are connected and sealed to the side ear channels (4) via snap-fit ​​connections. The four components together form a skull frame mounting cavity (5). The inner wall of the front shell (1) is provided with a skull frame mounting mechanism (6). The skull frame (7) is U-shaped, with a frame faceplate (701) on the side facing the front shell (1). The frame faceplate (701) is compatible with the skull frame mounting mechanism (6). Disassembly and connection; the head shell skeleton (7) is provided with a head shell drive bracket (702) on the side facing the head shell bottom ring (3), the head shell drive bracket (702) extends out of the head shell bottom ring (3) and is connected to the head shell drive module (8); the skeleton face frame (701) is provided with a second functional component mounting position (706) and a third functional component mounting position (707) on the outside, and the head shell skeleton (7) is provided with a first functional component mounting position (704) on the top; the front shell (1), the back shell (2), and the head shell bottom ring (3) are screwed together by connecting rod screws, and the side ear cover (9) covers the connecting rod screws to achieve a hidden setting.

2. The head module for a humanoid robot according to claim 1, characterized in that, The head shell skeleton installation mechanism (6) includes three sets of symmetrical cylindrical connecting seats located on the inner wall of the front shell cavity (103) of the front shell (1), including: two first face frame connecting seats (104) corresponding to the human eyebrow position, two second face frame connecting seats (105) corresponding to the human cheekbone position, and two third face frame connecting seats (106) corresponding to the human coronoid process position. The tops of the three are located on the same horizontal plane and are provided with connecting seat threaded holes (107). The skeleton face frame (701) is provided with face frame threaded holes (705).

3. A head module for a humanoid robot according to claim 2, characterized in that, The first face frame connecting seat (104) is provided with a face frame positioning post (113) at a nearby position, and the skeleton face frame (701) is provided with a face frame positioning hole (708) accordingly. The face frame positioning post (113) and the face frame positioning hole (708) are adapted to achieve precise pre-positioning.

4. A head module for a humanoid robot according to claim 1, characterized in that, The front shell (1) is provided with an angled first connecting edge (101) and two symmetrical second connecting edges (102) of the front shell, and the posterior shell (2) is provided with an angled first connecting edge (201) of the posterior shell and two symmetrical second connecting edges (202) of the posterior shell. The first connecting edge (201) of the posterior shell is C-shaped with the opening facing downward, including a front shell connecting part (204) that fits into the first connecting edge (101) of the front shell, and a side ear cover supporting part (205) that fits into the side ear cover (9); the second connecting edge (102) of the front shell, the side ear cover supporting part (205), the second connecting edge (202) of the posterior shell and the side ear cover connecting part (303) of the bottom ring (3) of the head shell together form the side ear through groove (4).

5. A head module for a humanoid robot according to claim 4, characterized in that, Both the second connecting edge (102) of the front shell and the second connecting edge (202) of the rear shell are provided with ear cover slots (10). The ear cover (9) is provided with a matching ear cover foot (901). The ear cover (9) is detachably snapped together with the ear cover slot (10) through the ear cover foot (901).

6. A head module for a humanoid robot according to claim 4, characterized in that, The inner wall corresponding to the second connecting edge (102) of the front shell is provided with a first upper connecting rod (109) and a first lower connecting rod (110) extending into the side ear passage (4). The extended ends of the first upper connecting rod (109) and the first lower connecting rod (110) are respectively provided with a first upper connecting rod screw hole (111) and a first lower connecting rod screw hole (112). The inner wall corresponding to the second connecting edge (202) of the back shell is provided with a second upper connecting rod (206) and a second lower connecting rod (207) extending into the side ear passage (4). The extended ends of the second upper connecting rod (206) and the second lower connecting rod (207) are respectively provided with a second upper connecting rod screw hole (208) and a second lower connecting rod screw hole (209). The first upper connecting rod (109) intersects with the second upper connecting rod (206) and the first upper connecting rod screw hole (111) and the second upper connecting rod screw hole (208) are coaxial and are screwed together by the upper connecting rod screw (14); The inner wall of the side ear cover connecting part (303) of the head shell bottom ring (3) is provided with a lower connecting rod connecting seat (304). The lower connecting rod connecting seat (304) is provided with a first connecting seat screw hole (305) and a second connecting seat screw hole (306). The first lower connecting rod (110) and the second lower connecting rod (207) respectively abut against the lower connecting rod connecting seat (304), and the first lower connecting rod screw hole (112) is coaxial with the first connecting seat screw hole (305) and is screwed together by the lower connecting rod first screw (15); the second lower connecting rod screw hole (209) is coaxial with the second connecting seat screw hole (306) and is screwed together by the lower connecting rod second screw (16).

7. A head module for a humanoid robot according to claim 6, characterized in that, The angle formed by the intersection of the first upper link (109) and the second upper link (206) is 120° to 160°, and the first upper link (109) is located outside the second upper link (206).

8. A head module for a humanoid robot according to claim 4, characterized in that, The angle between the first connecting edge (101) of the front shell and the second connecting edge (102) of the front shell is 120° to 160°, and the angle between the first connecting edge (201) of the posterior shell and the second connecting edge (202) of the posterior shell is 120° to 160°.

9. A head module for a humanoid robot according to claim 3, characterized in that, The first connecting edge (101) of the front shell is C-shaped with the opening facing downwards. The front shell cavity (103) is an arc-shaped structure adapted to the skeleton face frame (701). The face frame positioning post (113) is integrally formed with the first face frame connecting seat (104) and its height is higher than the top plane of the first face frame connecting seat (104), ensuring that the skeleton face frame is accurately inserted with the face frame positioning post when pre-positioned.

10. A head module for a humanoid robot according to claim 1, characterized in that, The front shell (1), the back shell (2), the bottom ring of the head shell (3), and the side ear cover (9) are all made of high-strength engineering plastics, and the head shell skeleton (7) is made of aluminum alloy.

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