Humanoid robot

Abstract

The application discloses a humanoid robot, which comprises a trunk and a head device. The trunk comprises a trunk shell, a trunk docking mechanism and a trunk functional main body, and the trunk docking mechanism and the trunk functional main body are arranged in the trunk shell. The head device comprises a head shell, a head docking mechanism and a head functional main body, and the head docking mechanism and the head functional main body are arranged in the head shell. The head docking mechanism can be connected with the trunk docking mechanism to establish a releasable mechanical connection, and the head functional main body can be connected with the trunk functional main body to establish a releasable electrical signal coupling connection. Thus, the head device and the trunk of the humanoid robot are modularly separated, so that the head device or the trunk can be independently replaced, upgraded or maintained.

Description

Technical Field

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

[0002] With the rapid development of artificial intelligence and service humanoid robot technology, humanoid robots are being used more and more widely in scenarios such as family companionship, education, and business guidance.

[0003] However, in related technologies, the head and torso of most humanoid robots are generally connected by welding, which makes it impossible to replace, upgrade or repair the head or torso of the humanoid robot independently. Summary of the Invention

[0004] This application provides a humanoid robot that can solve at least one of the above-mentioned technical problems.

[0005] This application provides a humanoid robot, including: The torso includes a torso shell, a torso docking mechanism, and a torso functional body, the torso docking mechanism and the torso functional body being disposed within the torso shell; and The head assembly includes a head shell, a head docking mechanism, and a head functional body, with the head docking mechanism and the head functional body disposed on the head shell. Among them, the head docking mechanism can establish a releasable mechanical connection with the torso docking mechanism; the head functional body can establish a releasable electrical signal coupling connection with the torso functional body.

[0006] In some implementations, when the head docking mechanism establishes a mechanical connection with the torso docking mechanism, the head functional body simultaneously establishes an electrical signal coupling connection with the torso functional body.

[0007] In some embodiments, the torso docking mechanism includes: Mounting components are installed on the body shell; A locking element is movably connected to the mounting element; The pressing member is movably connected to the mounting member and the locking member. The moving direction of the pressing member intersects with the moving direction of the locking member. Under the action of external force, the pressing member can drive the locking member to the first position or the second position. When the locking member is in the first position, it can lock with the head docking mechanism; when the locking member is in the second position, the head docking mechanism unlocks from the locking member.

[0008] In some embodiments, the torso docking mechanism further includes: The elastic reset element extends along the moving direction of the pressing element and abuts between the pressing element and the mounting element.

[0009] In some embodiments, the pressing member is provided with a limiting through hole that extends along the moving direction of the locking member; The locking member has a connecting protrusion that is movably inserted through the limiting through hole.

[0010] In some embodiments, the mounting member is provided with a positioning post that extends along the moving direction of the pressing member, and an elastic reset member is sleeved on the positioning post.

[0011] In some embodiments, the mounting component includes a bottom shell and a top shell connected together, the bottom shell and the top shell cooperating to form a receiving cavity, and the elastic reset component is located inside the receiving cavity; One end of the pressing element is movably connected to the bottom shell and the locking element, and the other end of the pressing element passes through the bottom shell and is located outside the storage cavity; When the locking member is in the first position, one end of the locking member is located inside the storage cavity and is movably connected to the pressing member, while the other end of the locking member passes through the bottom shell and is located outside the storage cavity; when the locking member is in the second position, the locking member is located inside the storage cavity.

[0012] In some embodiments, when the head docking mechanism and the torso docking mechanism establish a mechanical connection, a portion of the pressing element protrudes from the connection between the head shell and the torso shell.

[0013] In some embodiments, the torso functional body is provided with a torso circuit board assembly, which is located on top of the torso docking mechanism; Specifically, when the head docking mechanism establishes a mechanical connection with the torso docking mechanism, the head functional body and the torso circuit board assembly establish an electrical signal coupling connection.

[0014] In some embodiments, the top of the torso shell is provided with a guide groove, and the torso circuit board assembly and the torso docking mechanism are both disposed in the guide groove. The guide groove has an opening configured to allow the head device to be inserted into the guide groove.

[0015] In some implementations, the guide groove is flared.

[0016] In some embodiments, the head housing has a head receiving space and a head mounting hole, the head mounting hole being connected to the head receiving space; the head functional body is disposed within the head receiving space and is at least partially exposed in the head mounting hole, the head functional body being pluggably electrically connected to the torso functional body.

[0017] In some embodiments, the head functional body includes multiple electrical components and a head circuit board assembly, all of which are electrically connected to the head circuit board assembly, which is exposed in the head mounting hole. Specifically, when the head docking mechanism establishes a mechanical connection with the torso docking mechanism, the head circuit board assembly establishes an electrical signal coupling connection with the torso functional body.

[0018] In some embodiments, the head circuit board assembly includes: Mounting bracket, which is connected to the head shell; and The circuit board component is connected to the mounting bracket via the elastic component, allowing the circuit board component to move relative to the mounting bracket.

[0019] In some embodiments, the elastic member includes: Multiple elastic elements are provided in the circuit board component, and each first mounting hole corresponds to one elastic element, with each elastic element passing through the corresponding first mounting hole. Multiple connectors are provided, each elastic element has a second mounting hole, each connector corresponds to a second mounting hole, each connector passes through the corresponding second mounting hole and is connected to the mounting bracket, and the connector presses the elastic element against the mounting bracket so that the circuit board component can float relative to the mounting bracket.

[0020] In some embodiments, the outer surface of each elastic element is provided with a limiting groove along its circumference, and the edge of the first mounting hole of each circuit board component is embedded in the corresponding limiting groove.

[0021] In some implementations, multiple electrical components include a visual interaction module, an audio output module, and an acoustic sensing module, all of which are electrically connected to the head circuit board assembly. The audio output module and the head circuit board assembly are arranged sequentially along the first direction; The visual interaction module and the head circuit board assembly are arranged sequentially along the second direction; The acoustic sensing module and the head circuit board assembly are arranged sequentially along the third direction; The first direction, the second direction, and the third direction intersect each other.

[0022] In some embodiments, the head housing is provided with a head receiving space and a head mounting hole, the head mounting hole being connected to the head receiving space, and a head docking mechanism being disposed on the wall of the head mounting hole.

[0023] In some embodiments, the head docking mechanism includes a plurality of mounting slot structures arranged sequentially at intervals along the circumference of the head mounting hole, and the mounting slot structures are configured to be detachably connected to the torso docking mechanism.

[0024] In some embodiments, the head docking mechanism further includes multiple stop structures, which are arranged sequentially at intervals along the circumference of the head assembly hole, and all stop structures are located on the side of the assembly groove structure near the head receiving space.

[0025] In some implementations, each stop structure corresponds to a mounting slot structure, and each stop structure and its corresponding mounting slot structure are arranged along the axial direction of the head mounting hole.

[0026] In some embodiments, the humanoid robot also includes a neck assembly disposed within the torso shell and connected to the torso docking mechanism. The neck assembly has a wire-receiving space and multiple wire-passing holes, all of which are connected to the wire-receiving space and are arranged sequentially at intervals along the circumference of the neck assembly.

[0027] In some embodiments, the neck assembly includes a first connecting structure and a second connecting structure, the first connecting structure being connected to the torso docking mechanism and the second connecting structure being connected to the torso shell. The second connecting structure is detachably connected to the first connecting structure. The first connecting structure and the second connecting structure cooperate to form a wire-carrying space, and multiple wire-passing holes are provided in the first connecting structure.

[0028] In some embodiments, the second connecting structure is inserted into the first connecting structure along the radial direction of the first connecting structure.

[0029] The humanoid robot provided in this embodiment includes a torso and a head assembly. The torso includes a torso shell, a torso docking mechanism, and a torso functional body, which are disposed within the torso shell. The head assembly includes a head shell, a head docking mechanism, and a head functional body, which are disposed within the head shell. The head docking mechanism can establish a releasable mechanical connection with the torso docking mechanism; the head functional body can establish a releasable electrical signal coupling connection with the torso functional body. Thus, this embodiment achieves modular separation between the head assembly and the torso of the humanoid robot. When the head assembly experiences a hardware failure, there is no need to return the entire robot to the factory or perform complex disassembly; only the head assembly needs to be quickly removed for partial repair or replacement. Similarly, if the torso fails, the body problem can be addressed separately while preserving the intact head assembly, thereby significantly reducing maintenance costs and time and improving the usability of the humanoid robot. Furthermore, this detachable connection method makes the head unit an independent functional module, allowing users or manufacturers to easily replace it with a head unit that has new functions, such as upgrading from a regular display head to a head with projection capabilities, without having to replace the entire humanoid robot. This effectively extends the lifespan of the torso and enhances the product's scalability. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0031] Figure 1 This is a structural schematic diagram of the humanoid robot provided in an embodiment of this application.

[0032] Figure 2 for Figure 1 A schematic diagram of the mid-torso structure.

[0033] Figure 3 This is a schematic diagram of the structure of the torso docking mechanism and neck assembly provided in the embodiments of this application.

[0034] Figure 4 for Figure 3 A schematic diagram of the exploded structure of the mid-torso docking mechanism.

[0035] Figure 5 for Figure 3 A schematic diagram of the mid-torso docking mechanism.

[0036] Figure 6 for Figure 3 A schematic diagram of the exploded structure of the mid-neck component.

[0037] Figure 7 for Figure 1 A schematic diagram of the structure of the head device.

[0038] Figure 8 for Figure 7 A schematic diagram of the exploded structure of the head device.

[0039] Figure 9 for Figure 7 A schematic diagram of part of the structure of the head device.

[0040] Figure 10 for Figure 9 A schematic diagram of the structure of the head docking mechanism.

[0041] Figure 11 for Figure 8 A schematic diagram of the structure of the head circuit board assembly.

[0042] Figure 12 for Figure 11 A schematic diagram of part of the structure of the head circuit board assembly.

[0043] Explanation of icon numbers: 10. Humanoid robot; 100. Torso; 110. Torso shell; 111. Guide groove; 112. Opening; 120. Torso docking mechanism; 121. Mounting component; 121a. Positioning post; 121b. Bottom shell; 121c. Top shell; 121d. Storage cavity; 122. Locking component; 122a. Connecting protrusion; 123. Pressing component; 123a. Limiting through hole; 124. Elastic reset component; 130. Torso functional body; 131. Torso circuit board assembly; 200. Head device; 210. Head shell; 211. Head accommodating space; 212. Head mounting hole; 220. Head docking mechanism; 2 21. Assembly slot structure; 222. Stop structure; 230. Head functional body; 231. Head circuit board assembly; 231a. Mounting bracket; 231b. Elastic component; 231c. Circuit board assembly; 231d. Elastic component; 231e. Connector; 231f. First mounting hole; 231g. Second mounting hole; 231h. Limiting slot; 232. Electrical component; 232a. Visual interaction module; 232b. Audio output module; 232c. Acoustic sensing module; 300. Neck assembly; 301. Wiring space; 302. Wiring hole; 310. First connection structure; 320. Second connection structure; The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0045] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0046] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0047] 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 application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0048] Please see Figure 1 , Figure 2 and Figure 7 This embodiment provides a humanoid robot 10. The humanoid robot 10 includes a torso 100 and a head device 200. The torso 100 includes a torso shell 110, a torso docking mechanism 120, and a torso functional body 130, with the docking mechanism 120 and the functional body 130 disposed on the torso shell 110. The head device 200 includes a head shell 210, a head docking mechanism 220, and a head functional body 230, with the docking mechanism 220 and the functional body 230 disposed on the head shell 210. The head docking mechanism 220 can establish a releasable mechanical connection with the torso docking mechanism 120; the head functional body 230 can establish a releasable electrical signal coupling connection with the torso functional body 130.

[0049] Specifically, this embodiment breaks away from the traditional design of an integrated or permanently fixed robot head and body by setting the head device 200 as a modular component independent of the torso 100. In the prior art, the robot head and body are often connected by welding. Once the camera, speaker, or display screen in the head device malfunctions, the user or maintenance personnel must perform complex disassembly of the entire machine or even return it to the factory for repair, resulting in high maintenance costs and long cycles. In this embodiment, a releasable mechanical connection creates a physically separable interface between the head device 200 and the torso 100. This connection method is not limited to specific connection tools; it can be a threaded connector operated with tools such as screwdrivers, or a snap-fit ​​structure, magnetic structure, or plug-in structure that can be operated by hand without tools. It should be understood that any mechanical connection method that allows for repeated disassembly and assembly of the head device 200 and the torso 100 while maintaining a stable connection should fall within the protection scope of this embodiment. For example, in a preferred embodiment, the head device 200 can be magnetically attached to the torso 100, and the user only needs to apply a pulling force greater than the magnetic attraction to remove the head; in another embodiment, the head device 200 can be fastened to the torso 100 by a snap-fit ​​structure, and can be unlocked and separated by pressing or rotating.

[0050] Furthermore, the head functional unit 230 can also establish a releasable electrical signal coupling connection with the torso functional unit 130. When the head device 200 and the torso 100 are mechanically connected, the circuit communication link between them is also activated; conversely, when the mechanical connection is broken, the circuit communication link is also broken. This electrical connection is also detachable, and its specific implementation forms are diverse, including but not limited to spring pin connectors, board-to-board connectors, USB plug and socket mating, and even non-contact coupling connections based on near-field communication technology. This design ensures that the electronic components inside the head device 200, such as sensors, displays, and microphones, can interact with the main control board and power supply inside the torso 100 through standardized interfaces for data exchange and power transmission, without the need for complex soldering operations at the connection points.

[0051] Through the above solution, this embodiment achieves modular separation between the head device 200 and the torso 100 of the humanoid robot 10. When the head device 200 experiences a hardware failure, there is no need to return the entire robot to the factory or perform complex disassembly; only the head device 200 needs to be quickly removed for partial repair or replacement. Similarly, if the torso 100 fails, the problem can be addressed separately while preserving the intact head device 200, thereby significantly reducing maintenance costs and time and improving the usability of the humanoid robot 10. Furthermore, this detachable connection method makes the head device 200 an independent functional module, allowing users or manufacturers to easily replace it with a head device 200 that has new functions, such as upgrading from a standard display head to a head with projection capabilities, without replacing the entire humanoid robot 10. This effectively extends the service life of the torso 100 and enhances the product's scalability.

[0052] In some embodiments, when the head docking mechanism 220 establishes a mechanical connection with the torso docking mechanism 120, the head functional body 230 simultaneously establishes an electrical signal coupling connection with the torso functional body 130. The term "synchronization" here does not refer to a random phenomenon with absolutely zero time difference, but rather to a linkage result forcibly guaranteed through precise structural stroke design. That is, the completion of the mechanical locking action and the establishment of electrical conduction are achieved simultaneously in the same continuous insertion or rotation action performed by the user, without requiring secondary wiring or additional operations by the user.

[0053] When the user pushes the head assembly 200 into the neck docking position of the torso 100, the entire movement can be divided into two stages. In the first stage, the initial insertion guide stroke, the limiting structure of the head docking mechanism 220 and the corresponding limiting structure on the torso docking mechanism 120 begin to contact and guide each other to ensure alignment; at this time, the electrical connection interface of the head functional body 230 and the interface of the torso functional body 130 still maintain a certain physical distance and have not yet made electrical contact. In the second stage, the last millimeter-level range of the mechanical locking stroke, as the user continues to apply force to push or rotate, the hooks, slots, or L-shaped grooves of the head docking mechanism 220 are about to reach the limit position of complete engagement or locking. At this time, the electrical connection structure of the head functional body 230 just enters the effective contact depth range, and the two fit tightly together to achieve electrical signal conduction.

[0054] If the head docking mechanism 220 and the torso docking mechanism 120 adopt a rotary snap-fit ​​mechanical connection, when the user inserts the head device 200 and rotates it into place, the end of the L-shaped groove locking section of the head docking mechanism 220 is locked into the torso docking mechanism 120. At the same time, the Pogo Pin spring pin at the bottom of the head functional body 230 is compressed to its rated deformation by the corresponding contact on the torso functional body 130, and the power and data lines are instantly connected. If a direct-insertion hook engagement structure is adopted, when the hook of the head docking mechanism 220 is locked under elastic action, the gold fingers on the edge of the head functional body 230 slide completely into the slot of the torso functional body 130, completing signal coupling. It should be understood that the above-mentioned rotary snap-fit ​​and direct-insertion hook are only illustrative examples and not restrictive. Any structure that makes the mechanical locking endpoint coincide with the electrical contact starting point through stroke design should be included within the protection scope of this application.

[0055] This embodiment integrates mechanical and electrical connections into the same operational process, achieving a highly coordinated synchronous docking mechanism, which significantly improves the reliability of the modular structure of the humanoid robot 10 and the user experience. During a user's push-in or rotation action, the head docking mechanism 220 and the torso docking mechanism 120 mechanically lock together, while the head functional body 230 precisely engages with the torso functional body 130, thereby automatically establishing a stable and reliable power and data path.

[0056] This synchronization mechanism effectively avoids the technical defects that may arise from traditional step-by-step connection methods. Since electrical connection is completed only at the instant the mechanical structure is fully positioned and locked, the entire electrical connection process is conducted in a stable, stress-free state, fundamentally eliminating the risk of pin erosion, poor contact, or arcing caused by slight movements of the contact terminals during live insertion and removal. Furthermore, users do not need to find or operate a separate electrical connection interface after completing the mechanical installation, completely eliminating the tedious step of secondary manual wiring.

[0057] Especially in areas with limited space, such as the neck of the humanoid robot 10, this integrated synchronous design significantly reduces assembly difficulty. Even when visibility is obstructed or operation is inconvenient, users can complete reliable docking thanks to clear force feedback and smooth operation. Therefore, this embodiment not only ensures the safety and long-term stability of the electrical connection but also truly achieves the engineering goals of blind insertion and plug-and-play, providing solid technical support for the rapid maintenance, functional expansion, and daily use of the modular humanoid robot 10.

[0058] Please see Figures 2 to 5 In some embodiments, the torso shell 110 constitutes the basic support framework and outer protective surface of the torso 100, and has an internal accommodating space for housing and protecting the torso docking mechanism 120 and the torso functional body 130 from external dust and impacts. The shape of the torso shell 110 can be designed according to the application scenario of the humanoid robot 10. For example, it can be designed as a torso shape in a humanoid robot, and as a box structure in a wheeled service robot. This embodiment does not specifically limit this. The torso docking mechanism 120, as the core carrier for realizing mechanical connection, is fixedly installed at a specific position on the torso shell 110, such as the top, front end face, or neck extension of the torso shell 110. Its specific shape depends on the assembly path of the head device 200. The torso functional body 130 is the electrical functional core of the torso 100, which includes key electronic components such as the main control circuit board, power module, driver, and sensors, and is responsible for the motion control, data processing, and energy distribution of the humanoid robot 10.

[0059] The head shell 210 provides external protection and a basic form factor for the head device 200, and its internal space accommodates the head docking mechanism 220 and the head functional body 230. The head docking mechanism 220 is adapted to the torso docking mechanism 120 to establish a physical connection, ensuring that the head device 200 can be stably mounted on the torso 100. The head functional body 230 integrates head-specific functional modules, such as a camera module, a display module, a microphone array, a speaker unit, and head freedom drive motors. Through the cooperation of the head docking mechanism 220 and the torso docking mechanism 120, the head functional body 230 achieves electrical conductivity with the torso functional body 130, thereby acquiring electrical energy and transmitting sensory data.

[0060] Please see Figure 4 and Figure 5 In some embodiments, the torso docking mechanism 120 includes a mounting member 121, a locking member 122, and a pressing member 123. The mounting member 121 is disposed on the torso shell 110; the locking member 122 is movably connected to the mounting member 121; the pressing member 123 is movably connected to the mounting member 121 and the locking member 122, the movement direction of the pressing member 123 intersects the movement direction of the locking member 122, and the pressing member 123 can drive the locking member 122 to a first position or a second position under the action of external force; wherein, when the locking member 122 is in the first position, the locking member 122 can lock with the head docking mechanism 220; when the locking member 122 is in the second position, the head docking mechanism 220 is unlocked from the locking member 122.

[0061] Specifically, the mounting component 121 serves as the fixed base for the torso docking mechanism 120, and is fixedly installed in the guide groove 111 of the torso shell 110, providing support for the internal moving parts. The locking component 122 is the core actuator for realizing the mechanical connection, and it is movably mounted on the mounting component 121. Its movement direction is generally perpendicular to the insertion direction of the head device 200, so as to engage and lock after insertion. The pressing component 123 is the direct contact component for user operation. One part of it is exposed outside the torso shell 110 for the user to press, and the other part is linked with the locking component 122.

[0062] The locking element 122 is movably connected to the mounting element 121, and the two are stably slidably or oscillate together through a guide structure. In a typical embodiment, the mounting element 121 is provided with a guide groove, guide post, or slide rail, and the locking element 122 is equipped with a corresponding slider, hole sleeve, or pivot structure, so that the locking element 122 can reciprocate between a first position and a second position along a preset path. This movement path is usually linear sliding, but it can also be a rotational oscillation about a fixed axis, depending on the spatial layout and operational requirements of the overall docking mechanism.

[0063] Mounting member 121 serves as the base of torso docking mechanism 120, firmly fixed inside torso housing 110, and provides support and limiting function for locking member 122. Locking member 122 is constantly constrained by mounting member 121 during movement, preventing deflection, tilting, or disengagement, thereby ensuring repeatability and long-term reliability of the locking action. In some embodiments, mounting member 121 also integrates a stop surface or limiting boss to precisely define the end point of travel of locking member 122 in the first and second positions, preventing structural damage or functional failure due to overtravel.

[0064] When the locking member 122 is in the first position, a portion of its structure extends into the docking area, enabling it to mechanically engage with a corresponding engaging structure (such as a slot, boss, or recess) in the head docking mechanism 220, thereby securely locking the head device 200 onto the torso 100. At this position, the head device 200 cannot be easily pulled out, ensuring the stability of the overall structure and the reliability of the internal electrical connections. When the locking member 122 is in the second position, the locking portion retracts to a non-interference position, no longer hindering the disengagement action of the head docking mechanism 220, allowing the user to easily detach the head device 200 from the torso 100.

[0065] In this embodiment, the moving direction of the pressing member 123 intersects with the moving direction of the locking member 122. Intersection here means that the two moving directions are not parallel and have a non-zero angle. In a preferred embodiment, this angle is 90 degrees, meaning the pressing member 123 moves back and forth horizontally, while the locking member 122 moves horizontally (left and right). This change in moving direction allows users to achieve horizontal locking and unlocking in confined spaces through a simple pressing action, greatly optimizing the user experience. Of course, this angle is not limited to 90 degrees; it can also be 60 degrees, 45 degrees, or any other angle that enables motion transmission and conversion, as long as the linear movement of the pressing member 123 drives the locking member 122 to move linearly. This converts horizontal pressing force into horizontal locking force, and the direction of the horizontal pressing force is perpendicular to the direction of the horizontal locking force, resulting in a compact structure and high transmission efficiency.

[0066] In some embodiments, the pressing member 123 is provided with a limiting through hole 123a, which extends along the moving direction of the locking member 122; the locking member 122 is provided with a connecting protrusion 122a, which movably passes through the limiting through hole 123a. The limiting through hole 123a is not arbitrarily opened on the pressing member 123; its extending direction is consistent with the moving direction of the locking member 122, while the moving direction of the pressing member 123 itself intersects with the extending direction of the through hole. When the user presses the pressing member 123 to move it, the connecting protrusion 122a slides relative to the limiting through hole 123a. Because the sidewall of the limiting through hole 123a applies a component force perpendicular to the moving direction of the pressing member 123 to the connecting protrusion 122a, the locking member 122 is forced to move against resistance. For example, when the pressing member 123 moves back and forth, the inclined or vertical hole wall pushes the connecting protrusion 122a, thereby causing the locking member 122 to move from the first position (locked position) to the second position (unlocked position). This structure cleverly utilizes geometric constraints to achieve motion conversion, avoiding complex gear or linkage mechanisms, and reducing costs and failure rates.

[0067] In some embodiments, the torso docking mechanism 120 further includes an elastic reset member 124, which extends along the moving direction of the pressing member 123 and abuts against the pressing member 123 and the mounting member 121. The function of the elastic reset member 124 is to provide a restoring force for the pressing member 123. When the user removes the pressing force, the elastic reset member 124 releases the stored elastic potential energy, pushing the pressing member 123 back to its initial position. At the same time, through the cooperation of the limiting through hole 123a and the connecting protrusion 122a, the locking member 122 is automatically driven to return to the first position (locked position). This means that the user only needs to press the pressing member 123 to unlock and pull out the head device 200, while when inserting the head device 200, the locking member 122 automatically pops out and locks under the action of the elastic reset member 124, achieving the effect of plug-and-lock. It should be understood that the specific form of the elastic reset member 124 is diverse, and it can be a helical spring, a sheet spring, a silicone pad or a polyurethane elastomer, as long as it can provide elastic restoring force along the moving direction of the pressing member 123.

[0068] Furthermore, to ensure the stability of the elastic reset member 124, the mounting member 121 is provided with a positioning post 121a, which extends along the moving direction of the pressing member 123. The elastic reset member 124 can be a spring, and it is sleeved on the positioning post 121a. The positioning post 121a effectively prevents the elastic reset member 124 from bending or twisting laterally during the pressing process, ensuring that the direction of the elastic force is always consistent with the moving direction of the pressing member 123, thereby ensuring the smooth movement of the pressing member 123 and avoiding jamming.

[0069] Regarding the encapsulation structure of the torso docking mechanism 120, the mounting component 121 includes a bottom shell 121b and a top shell 121c connected together. The bottom shell 121b and the top shell 121c cooperate to form a receiving cavity 121d. The elastic reset component 124 is located inside the receiving cavity 121d. One end of the pressing component 123 is movably connected to the bottom shell 121b and the locking component 122 and is located inside the receiving cavity 121d. The other end of the pressing component 123 passes through the bottom shell 121b and is located outside the receiving cavity 121d. When the locking component 122 is in the first position, one end of the locking component 122 is located inside the receiving cavity 121d and is movably connected to the pressing component 123. The other end of the locking component 122 passes through the bottom shell 121b and is located outside the receiving cavity 121d. When the locking component 122 is in the second position, the locking component 122 is located inside the receiving cavity 121d.

[0070] Specifically, the bottom shell 121b and the top shell 121c can be connected by means of snaps, screws, or ultrasonic welding to form a closed or semi-closed storage cavity 121d. This storage cavity 121d encloses the connection points of the elastic reset member 124, the pressing member 123, and the locking member 122, as well as some moving parts, preventing dust and moisture from entering. It also prevents users from accidentally touching the internal structure, improving product safety and aesthetics. One end of the pressing member 123 extends through the bottom shell 121b into the storage cavity 121d, forming a button for the user to press. One end of the locking member 122, in the locked state, extends through the bottom shell 121b into the storage cavity 121d, forming a hook or latch for engaging the head docking mechanism 220. When unlocking is required, the pressing member 123 moves downward, causing the locking member 122 to retract into the storage cavity 121d, thereby unlocking. The design of encapsulating the main components of the torso docking mechanism 120 in the storage cavity 121d is not only compact in structure, but also facilitates the overall installation as a modular component onto the torso shell 110, improving production and assembly efficiency.

[0071] In some embodiments, when the head docking mechanism 220 establishes a mechanical connection with the torso docking mechanism 120, a portion of the pressing member 123 protrudes from the connection between the head shell 210 and the torso shell 110.

[0072] After the head docking mechanism 220 and the torso docking mechanism 120 are mechanically connected, a portion of the pressing element 123 protrudes from the connection point between the head shell 210 and the torso shell 110. This protrusion is typically located on the outer or front side of the neck area, forming an interface that is intuitively identifiable and directly accessible to the user. This layout design allows users to trigger the unlocking action simply by pressing the exposed area with their fingers when disassembling the head module, without needing to search for hidden buttons or use tools, significantly improving the convenience of operation and the intuitiveness of human-computer interaction.

[0073] The protruding portion of the press component 123 is ergonomically optimized, with its surface contour, edge chamfering, and pressing stroke designed according to finger operating habits. In some embodiments, the protruding area is provided with an anti-slip texture or color markings to further enhance visual recognition and tactile feedback. Even in low light or obstructed vision conditions, users can quickly locate the pressing position by touch, enabling blind operation. This design is particularly suitable for applications such as routine maintenance, function replacement, or emergency disassembly of the humanoid robot 10.

[0074] It is worth noting that the protrusion height of the pressing element 123 is strictly controlled. Sufficient operating space must be ensured for reliable pressing, but it must not protrude excessively, affecting the overall appearance of the device or causing accidental activation. In the locked state, the exposed end face of the pressing element 123 is usually flush with or slightly lower than the adjacent surface of the head housing 210 or the torso housing 110, only slightly protruding due to structural fit when operation is required. When the head assembly 200 is fully installed, the pressing element 123 automatically springs back to the preset position under the action of the elastic reset element 124, at which point its protruding part is in an operable but not obtrusive state.

[0075] Furthermore, this protruding structure also serves as a status indicator. When the pressing element 123 is in the normal locking position, its exposed shape indicates that the head module is securely installed; if the pressing element 123 is abnormally dented or cannot be reset, it may indicate a malfunction in the locking mechanism, failure of the elastic element, or improper assembly. Therefore, this design not only serves the operational function but also provides visual feedback on the mechanical connection status to a certain extent.

[0076] In some embodiments, the torso functional body 130 is provided with a torso 100 circuit board assembly, which is disposed on top of the torso docking mechanism 120. When the head docking mechanism 220 establishes a mechanical connection with the torso docking mechanism 120, the head functional body 230 establishes an electrical signal coupling connection with the torso 100 circuit board assembly.

[0077] Specifically, the torso 100 circuit board assembly is directly mounted on top of the torso docking mechanism 120, utilizing the thickness of the torso docking mechanism 120 itself as a mounting base for the circuit board. When the torso docking mechanism 120 is installed as a single module on the torso shell 110, the torso 100 circuit board assembly on its top is precisely located at the end of the insertion path of the head device 200. This helps save the space required for additional circuit board installation inside the torso shell 110 and avoids lengthy internal wiring, thus significantly improving the utilization rate of the internal space of the humanoid robot 10 and making the overall structure more compact. For electrical connection, a spring-loaded pin connector can be provided on the torso 100 circuit board assembly, while a conductive contact is provided at a corresponding position on the head functional body 230. When the head device 200 is inserted into place, the spring-loaded pin is compressed and firmly pressed against the conductive contact, thereby achieving stable electrical conduction. It should be understood that the form of electrical connection is not limited to spring-loaded pins; it can also be a board-to-board connector, wireless charging coil coupling, or other forms of conductive contact structure.

[0078] In some embodiments, the top of the torso shell 110 is provided with a guide groove 111. The torso 100 circuit board assembly and the torso docking mechanism 120 are both disposed within the guide groove 111. The guide groove 111 has an opening 112, which is configured to allow the head device 200 to be inserted into the guide groove 111. Specifically, the guide groove 111 provides a clear physical path guide for the insertion of the head device 200. The design of the opening 112 allows the head device 200 to smoothly enter the guide groove 111 and move in a predetermined direction under the constraint of the groove wall, thereby ensuring that the head docking mechanism 220 can be accurately aligned with the torso docking mechanism 120, and that the head circuit board assembly 231 can be accurately aligned with the torso 100 circuit board assembly. This structural design transforms the originally high-precision free space alignment into constrained groove alignment, greatly reducing the assembly difficulty.

[0079] Please see Figure 2In some embodiments, the guide groove 111 is flared. Specifically, the flared design means that the diameter of the end of the guide groove 111 furthest from the torso 100 receiving space (i.e., the inlet end) is larger than the diameter of the end closest to the torso 100 receiving space. This structure forms a funnel-shaped guide ramp or chamfer at the inlet. In actual assembly, users often cannot accurately align the head device 200 with the central axis of the guide groove 111, especially when visibility is obstructed or during blind operation. The flared guide ramp can automatically correct the insertion of the head device 200: when the head device 200 contacts the inclined groove wall, the ramp decomposes the contact force into an axial pushing force and a radial correction force, guiding the head device 200 to automatically slide into the correct position. This design enables "blind insertion" operation, where users do not need to deliberately align; they only need to be roughly oriented correctly to complete the assembly, greatly improving the convenience and error tolerance of the operation. It should be understood that the flared structure is not limited to a conical flare, but can also be a double-sided beveled flare, a spherical flare, or a trumpet shape. Its specific form can be adjusted according to the design style of the shell, as long as it can play a guiding and corrective role.

[0080] Please see Figures 7 to 9 In some embodiments, the head housing 210 is provided with a head receiving space 211 and a head mounting hole 212, the head mounting hole 212 being connected to the head receiving space 211. The head functional body 230 is disposed within the head receiving space 211 and is at least partially exposed through the head mounting hole 212, and the head functional body 230 is pluggably electrically connected to the torso functional body 130.

[0081] Specifically, the head-receiving space 211 provides installation and protection space for the head functional body 230, while the head mounting hole 212 serves as a channel for establishing a connection between the head functional body 230 and the outside (i.e., the torso functional body 130). The head functional body 230 is not completely concealed deep within the head housing 210, but is intentionally designed to be at least partially exposed in the head mounting hole 212. This "exposed" design allows the electrical connection interfaces of the head functional body 230 (such as gold fingers, conductive contacts, or connector ports) to be directly exposed at the end of the assembly path. When the head device 200 is inserted into the torso 100, the exposed portion can directly contact the torso functional body 130, thereby avoiding the need for long connecting cables inside the head housing 210, eliminating the risk of cable tangling and breakage due to repeated insertion and removal, and also shortening the signal transmission path and improving signal transmission quality.

[0082] The head functional body 230 and the torso functional body 130 are connected by a pluggable electrical connection. This electrical connection structure typically includes a plug assembly located at the bottom of the head functional body 230 and a corresponding socket assembly located at the top of the torso docking mechanism 120. The plug assembly contains multiple conductive terminals for transmitting power, control signals, audio and video data, and sensor feedback information. The socket assembly is integrated into the torso 100 circuit board assembly and is equipped with flexible contacts or guide sleeves to ensure accurate alignment and reliable contact during each insertion process.

[0083] This pluggable electrical connection design supports rapid replacement and maintenance of the head unit 200. When disassembling the head unit 200, the user only needs to release the mechanical locking mechanism to pull out the entire head unit 200 without needing to disconnect cables or use tools. For reinstallation, simply align the head with the docking position on the torso 100 and press down; the mechanical locking mechanism will automatically lock, and the electrical connection port will simultaneously couple. The entire process is simple and efficient, significantly improving the modular flexibility and service maintainability of the humanoid robot 10 in various application scenarios.

[0084] In some embodiments, the head functional body 230 includes a plurality of electrical components 232 and a head circuit board assembly 231, all of which are electrically connected to the head circuit board assembly 231, which is exposed in the head mounting hole 212. When the head docking mechanism 220 establishes a mechanical connection with the torso docking mechanism 120, the head circuit board assembly 231 establishes an electrical signal coupling connection with the torso functional body 130.

[0085] The head functional unit 230 is composed of multiple electrical components 232 and a head circuit board assembly 231. The multiple electrical components 232 include, but are not limited to, a camera module, microphone array, speaker unit, ambient light sensor, infrared ranging module, and facial display driver chip. These electrical components 232 are electrically connected to the head circuit board assembly 231 via soldering, plug-in, or flexible circuitry. The head circuit board assembly 231 serves as the electrical integration platform for the head functional unit 230, responsible for signal acquisition, preliminary processing, power distribution, and communication coordination with the torso 100 system.

[0086] The head circuit board assembly 231 is integrally arranged within the head receiving space 211, with its connection area exposed through the head mounting holes 212. This exposed portion is typically located at the bottom edge or center of the circuit board assembly and features standardized electrical contact ports or exposed conductive pads. The exposed structure is precisely positioned to ensure accurate alignment of the corresponding electrical connection interfaces in the torso docking mechanism 120 during the mating of the head housing 210 and the torso housing 110, preventing misalignment or contact failure.

[0087] After the head docking mechanism 220 and the torso docking mechanism 120 complete their mechanical connection, the exposed end of the head circuit board assembly 231 physically engages with the electrical connection structure inside the torso functional body 130, thereby establishing an electrical signal coupling connection. This coupling connection supports bidirectional data transmission and power supply, enabling the torso 100 main control system to read head sensor data in real time, control audio output, drive the facial expression display device, and provide a stable operating voltage for each electrical component 232 in the head. The electrical connection interface can employ high-reliability solutions such as spring pins, gold fingers, magnetic contacts, or floating connectors, balancing durability and signal integrity under frequent plugging and unplugging.

[0088] Please see Figure 11 and Figure 12 In some embodiments, the head circuit board assembly 231 includes a mounting bracket 231a, a resilient member 231b, and a circuit board portion. The mounting bracket 231a is connected to the head housing 210. The circuit board portion 231c is connected to the mounting bracket 231a via the resilient member 231b, so that the circuit board portion 231c can move relative to the mounting bracket 231a.

[0089] Specifically, the mounting bracket 231a, acting as a rigid support, is fixedly connected to the inner wall of the head shell 210, serving a positioning and support function. The circuit board component 231c is the functional main body that actually carries the electrical components 232 and conductive contacts. The elastic component 231b transforms the circuit board component 231c from a rigid whole into a "floating" module with micro-motion capability. When the head device 200 mates with the torso 100, if there are slight dimensional deviations or positional errors in the axial or radial directions, the circuit board component 231c can adaptively adjust through the deformation of the elastic component 231b, i.e., undergo slight displacement or angular tilt, thereby ensuring that its contacts always maintain a tight fit with the contacts on the torso 100 side, avoiding contact damage or poor contact caused by hard impact. It should be understood that the specific form of the elastic component 231b is diverse, and it can be a metal spring, rubber pad, silicone sleeve, or polyurethane elastomer, as long as it can provide elastic restoring force and allow the circuit board component 231c to move relative to the mounting bracket 231a.

[0090] In some embodiments, the elastic component 231b includes a plurality of elastic elements 231d and a plurality of connectors 231e. The circuit board component 231c has a plurality of first mounting holes 231f, each first mounting hole 231f corresponding to one elastic element 231d, and each elastic element 231d passes through the corresponding first mounting hole 231f. Each elastic element 231d has a second mounting hole 231g, and each connector 231e corresponds to one second mounting hole 231g. Each connector 231e passes through the corresponding second mounting hole 231g and is connected to the mounting bracket 231a. The connector 231e presses the elastic element 231d against the mounting bracket 231a, so that the circuit board component 231c can float relative to the mounting bracket 231a.

[0091] Specifically, the circuit board component 231c has several first mounting holes 231f, which are typically distributed along the edge of the circuit board. Elastic elements 231d (such as silicone sleeves or springs) pass through these first mounting holes 231f, acting as bushings. Connectors 231e (such as screws, bolts, or pins) pass through a second mounting hole 231g in the center of the elastic element 231d and are ultimately locked onto the mounting bracket 231a. During the locking process, the head of the connector 231e presses against the elastic element 231d, compressing the elastic element 231d between the head of the connector 231e and the circuit board component 231c, or between the circuit board component 231c and the mounting bracket 231a. This compressed state imparts a preload to the elastic element 231d. When the circuit board component 231c is subjected to an external force, the elastic element 231d undergoes elastic deformation, allowing the circuit board component 231c to make slight translational or oscillating movements within the range of the connecting rod of the connector 231e, thereby achieving a floating effect. This multi-point supported floating structure not only has high stability, but also allows for precise control of the floating stroke and restoring force of the circuit board component 231c by adjusting the stiffness of the elastic element 231d.

[0092] In some embodiments, the outer surface of each elastic element 231d is provided with a limiting groove 231h along its circumference, and the edge of the first mounting hole 231f of each circuit board component 231c is embedded in the corresponding limiting groove 231h.

[0093] Specifically, the limiting groove 231h is a groove structure formed on the outer surface of the elastic member 231d, which is typically distributed in a ring around the central axis of the elastic member 231d. In a preferred embodiment, the cross-sectional shape of the limiting groove 231h can be designed as rectangular, trapezoidal, or arc-shaped. When the first mounting hole 231f of the circuit board component 231c passes through the elastic member 231d for assembly, the wall of the first mounting hole 231f will press against the surface of the elastic member 231d due to the elasticity of the elastic member 231d (such as a rubber pillar or spring pillar). When the hole wall moves to the position of the limiting groove 231h, the elastic member 231d elastically recovers or deforms, causing the edge of the first mounting hole 231f (i.e., the circumference of the hole wall) to smoothly engage with the limiting groove 231h, forming a snap-fit-like interlocking relationship.

[0094] When the external connector is inserted into the circuit board component 231c, the generated torque can easily cause the circuit board component 231c to move axially along the elastic member 231d, thus affecting the docking accuracy. In this embodiment, the interlocking mechanism is formed geometrically through the embedded fit between the limiting groove 231h and the edge of the hole. The edge of the first mounting hole 231f is restricted between the sidewalls of the limiting groove 231h and cannot slide axially along the elastic member 231d. This effectively limits the degree of freedom of the circuit board component 231c relative to the elastic member 231d, ensuring that during frequent insertion / removal or floating adjustments, the circuit board component 231c and the elastic member 231d can move within a certain range.

[0095] Please see Figure 7 and Figure 10 In some embodiments, the head housing 210 is provided with a head receiving space 211 and a head mounting hole 212, the head mounting hole 212 is connected to the head receiving space 211, and the head docking mechanism 220 is disposed on the hole wall of the head mounting hole 212.

[0096] The head mounting hole 212 is typically located at the bottom of the head shell 210 or on the side facing the torso 100, serving as a channel for interaction between the internal components of the head device 200 and the outside world. In this embodiment, the head docking mechanism 220 is disposed on the wall of the head mounting hole 212, rather than on the outer surface of the head shell 210, representing a concealed design. Compared to the common external buckle or hook designs in the prior art, external connection structures inevitably form protrusions on the outside of the head shell 210. This not only increases the overall external volume and disrupts the flatness and integrity of the humanoid robot 10's appearance, but also makes these external protrusions prone to collisions during daily handling or operation, leading to buckle breakage or scratches on the head shell 210. The concealed design of this embodiment cleverly reuses the space of the existing interface channel, the head mounting hole 212, hiding the mechanical docking interface inside the hole wall without occupying additional external space, which is beneficial for the miniaturization and lightweight design of the head device 200. Meanwhile, from an external perspective, the surface of the head shell 210 is smooth and flat, without any protruding connecting parts, perfectly maintaining the integrity and aesthetics of the bionic head's appearance. It should be understood that although this embodiment preferably places the head docking mechanism 220 on the wall of the head mounting hole 212, in other embodiments, the head docking mechanism 220 may also be partially embedded in the hole wall or integrally formed with the hole wall, as long as it does not protrude from the outer surface of the head shell 210.

[0097] In some embodiments, the head docking mechanism 220 includes a plurality of mounting slot structures 221 arranged sequentially at intervals along the circumference of the head mounting hole 212, and the mounting slot structures 221 are configured to be detachably connected to the torso docking mechanism 120.

[0098] Specifically, the assembly groove structure 221 is a groove structure formed on the inner wall of the head shell 210 or the head docking mechanism 220, and its shape is adapted to the end of the locking member 122 in the torso docking mechanism 120. In a preferred embodiment, the assembly groove structure 221 is a rectangular groove, and the end of the locking member 122 is an inverted hook-shaped structure. When the locking member 122 is in the first position, the hook-shaped structure engages with the rectangular groove to achieve locking. It should be understood that the shape of the assembly groove structure 221 is not limited to a rectangle, but can also be a dovetail groove, a trapezoidal groove, or an arc-shaped groove. Correspondingly, the shape of the end of the locking member 122 is also adjusted accordingly, as long as axial locking can be achieved. In this embodiment, multiple assembly groove structures 221 are arranged sequentially at intervals along the circumference of the head assembly hole 212. This layout has significant engineering advantages. For example, when three or four assembly groove structures 221 are provided, multi-point locking is formed between the head device 200 and the torso 100. Compared to single-point locking, multi-point locking can effectively disperse the locking force and avoid deformation of the shell due to excessive local force; at the same time, the circumferentially distributed locking points can also provide torsional stiffness, preventing the head device 200 from loosening relative to the body under the action of external force, thus ensuring the stability of the mechanical connection.

[0099] Furthermore, the head docking mechanism 220 also includes multiple stop structures 222, which are arranged sequentially at intervals along the circumference of the head assembly hole 212. All stop structures 222 are located on the side of the assembly groove structure 221 near the head receiving space 211.

[0100] Specifically, the stop structure 222 is a protrusion, step, or stop structure provided on the inner wall of the head mounting hole 212. Its core function is to limit the maximum depth to which the torso docking mechanism 120 (specifically, the locking member 122 or the mounting member 121) can be inserted into the head receiving space 211. The head circuit board assembly 231 is disposed within the head receiving space 211 and exposed in the head mounting hole 212, which means that the electrical connection interface is located deep within the mounting hole. Without the stop structure 222, if the user inserts the head device 200 with excessive force or directional deviation, the torso docking mechanism 120 may extend excessively into the head receiving space 211, directly impacting or compressing the fragile head circuit board assembly 231, resulting in damage to electronic components or detachment of solder joints. In this embodiment, the stop structure 222 is set on the side of the assembly groove structure 221 near the accommodating space, that is, behind the assembly groove. When the torso docking mechanism 120 is inserted into place and locked, its end face just abuts against the stop structure 222, thereby physically cutting off the path of further intrusion and playing a role in limiting protection for soft landing.

[0101] Furthermore, each stop structure 222 corresponds to an assembly groove structure 221, and each stop structure 222 and the corresponding assembly groove structure 221 are arranged along the axial direction of the head assembly hole 212.

[0102] Specifically, this one-to-one correspondence and axial arrangement design makes the force logic clearer and more reasonable. When the locking member 122 is engaged in the assembly slot structure 221, the locking member 122 is not only radially constrained by the slot wall, but its axial movement is also restricted by the stop structure 222 immediately behind it. This design closely links the locking force point and the limiting force point in space, avoiding additional torque caused by misalignment of the force points. For example, if the stop structure 222 and the assembly slot structure 221 are circumferentially misaligned, when the locking member 122 is engaged in the slot and impacts the stop structure 222, a rotational torque may be generated, causing the head device 200 to tend to flip. However, this embodiment adopts an axially aligned arrangement, ensuring that the locking force and the limiting force are transmitted on the same axis, resulting in more uniform structural stress and further improving the reliability of the connection and the feel of assembly.

[0103] In some embodiments, multiple electrical components 232 include a visual interaction module 232a, an audio output module 232b, and an acoustic sensing module 232c. The visual interaction module 232a, the audio output module 232b, and the acoustic sensing module 232c are all connected to the head circuit board assembly 231 via wires. The audio output module 232b and the head circuit board assembly 231 are arranged sequentially along a first direction. The visual interaction module 232a and the head circuit board assembly 231 are arranged sequentially along a second direction. The acoustic sensing module 232c and the head circuit board assembly 231 are arranged sequentially along a third direction. The first direction, the second direction, and the third direction intersect each other.

[0104] The first direction, second direction, and third direction referred to here are, for example: Figure 9As shown, a three-dimensional coordinate system is defined for the internal space of the head device 200. In a preferred embodiment, the first direction can be defined as the left-right direction, i.e., the X-axis, where audio output modules 232b, such as speakers, are located in the left and right ear areas of the housing, arranged sequentially with the head circuit board assembly 231 located in the center along the X-axis; the second direction can be defined as the front-back direction, i.e., the Y-axis, where visual interaction modules 232a, such as depth cameras and displays, are located in the forehead or face area of ​​the housing, arranged sequentially with the head circuit board assembly 231 along the Y-axis; the third direction can be defined as the up-down direction, i.e., the Z-axis, where acoustic sensing modules 232c, such as microphone arrays, are distributed in the top area of ​​the head housing 210, arranged sequentially with the head circuit board assembly 231 along the Z-axis. It should be understood that although the above examples use a perpendicular orthogonal XYZ coordinate system, the intersection is not limited to absolute perpendicularity or orthogonality. As long as the three directions are not parallel and not coplanar in space, forming a certain angle to achieve physical isolation in space, they should be included within the scope of protection of this application.

[0105] This embodiment, through its intersecting three-dimensional layout, is not merely a simple arrangement to cram more components into a limited space, but rather establishes a causal chain of three-dimensional layout, physical isolation, and performance enhancement based on deeper motivations of acoustics, thermodynamics, and space utilization.

[0106] Firstly, at the acoustic mechanism level, a loudspeaker generates strong mechanical vibrations and sound pressure fluctuations when it emits sound. If the audio output module 232b and the acoustic sensing module 232c are arranged adjacent to each other in the same direction, the sound waves and vibrations will be directly transmitted to the microphone along the rigid shell structure, causing severe acoustic feedback self-excitation. That is, the microphone picks up the sound played by the loudspeaker and amplifies it again, resulting in howling. In this embodiment, the audio output module 232b is arranged along the first direction, and the acoustic sensing module 232c is arranged along the third direction. The two intersect each other in space and the distance between them is maximized. The transmission path of sound waves and vibrations is bent and blocked by the internal structure of the shell. Physical isolation greatly weakens the intensity of direct sound and structurally conducted sound, effectively preventing acoustic crosstalk and self-excitation, and improving the clarity and stability of voice dialogue.

[0107] Secondly, at the thermodynamic level, the camera and image processing chip in the visual interaction module 232a generate significant heat during operation, and the main control chip on the head circuit board assembly 231 is also a major heat generator. If both are stacked in the same direction, heat will accumulate layer by layer along the longitudinal conduction path, forming heat accumulation in local areas, causing the chip temperature to rise too quickly or even triggering frequency reduction protection. In this embodiment, the visual interaction module 232a is arranged along the second direction, spatially offset from the head circuit board assembly 231 arranged along the first direction. This separates the heat-generating areas of the two in three-dimensional space, allowing heat to diffuse to different sides of the outer casing, avoiding thermal interference and ensuring the reliability of the system during long-term operation.

[0108] Finally, in terms of space utilization, the bionic head shell of the humanoid robot 10 typically presents an extremely compact spherical or ellipsoidal shell shape, with extremely limited internal space and an irregular shape. Traditional planar arrangements can only utilize the central layer, wasting a large amount of edge and corner space. This embodiment arranges the components in three intersecting directions, allowing different shaped electrical components 232 to be attached to different areas of the inner wall of the shell according to their shape characteristics. For example, a flat camera is attached to the front wall, a cylindrical speaker to the lower wall, and a tiny microphone to the side wall. This maximizes the utilization of three-dimensional corner space within the extremely compact spherical shell, achieving a balance between high-density integration and miniaturized design.

[0109] It should be understood that the specific location allocation of the visual interaction module 232a, audio output module 232b, and acoustic sensing module 232c described above is illustrative rather than restrictive. In other embodiments, the audio output module 232b may also be arranged at the top along the first direction, and the acoustic sensing module 232c may also be arranged at the bottom along the third direction, as long as the core logic of achieving physical isolation and spatial reuse by intersecting the three directions is satisfied.

[0110] In some embodiments, the humanoid robot 10 further includes a neck assembly 300, which is disposed within the torso shell 110 and connected to the torso docking mechanism 120. The neck assembly 300 has a wire-receiving space 301 and a plurality of wire-passing holes 302, all of which are connected to the wire-receiving space 301 and are arranged sequentially at intervals along the circumference of the neck assembly 300.

[0111] Specifically, in intelligent service robots, the neck area is often a small space enclosed by a shell, requiring numerous cables connecting the head and torso (such as camera data cables, display cables, power cables, etc.) to pass through it. This embodiment provides a centralized hub or buffer for cables by setting a cable-carrying space 301 inside the neck assembly 300. The design of multiple through holes 302 spaced circumferentially breaks the limitations of traditional single through holes, allowing cables to enter from different directions. For example, in a preferred embodiment, there are two through holes 302, located on opposite sides of the neck assembly 300, used to separate power lines and signal lines to avoid electromagnetic interference; in another embodiment, there are four through holes 302, evenly distributed circumferentially along the neck assembly 300, corresponding to the front, back, left, and right directions, to accommodate complex internal component layouts. This layout allows wires from different directions on the torso 100 to flow orderly into the cable-receiving space 301 through corresponding threading holes 302, where they are turned, organized, and transitioned before finally exiting through the corresponding threading holes 302 and extending to the head device 200. This not only effectively solves the problem of difficult wiring inside the neck collar of the torso 100, but also avoids the risk of cables becoming tangled, knotted, or squeezed by moving parts in the narrow space of the neck, significantly improving the reliability of wiring and ease of maintenance.

[0112] Furthermore, the neck assembly 300 includes a first connecting structure 310 and a second connecting structure 320. The first connecting structure 310 is connected to the torso docking mechanism 120, and the second connecting structure 320 is connected to the torso shell 110. The second connecting structure 320 is detachably connected to the first connecting structure 310. The first connecting structure 310 and the second connecting structure 320 cooperate to form a wire-receiving space 301, and a plurality of wire-passing holes 302 are provided in the first connecting structure 310.

[0113] Specifically, the first connecting structure 310 typically serves as the main skeleton of the neck assembly 300, with its top connected to the torso docking mechanism 120 for supporting head-related components. The second connecting structure 320 typically serves as the outer shell or decorative element of the neck assembly 300, connected to the torso shell 110 to maintain a unified appearance. By providing the cable threading hole 302 on the first connecting structure 310, the rigid wall of the first connecting structure 310 can be used to protect the cable. The second connecting structure 320 is detachably connected to the first connecting structure 310; this split design greatly facilitates production assembly and subsequent maintenance. During assembly, the cable can be arranged on the first connecting structure 310 first, and then the second connecting structure 320 can be fastened to form the complete neck assembly 300. During maintenance, only the second connecting structure 320 needs to be removed to expose the internal cable, without disassembling the entire neck or head. It should be understood that the detachable connection between the second connecting structure 320 and the first connecting structure 310 includes, but is not limited to, snap-fit ​​connections, screw connections, or magnetic connections.

[0114] In some embodiments, the second connecting structure 320 is inserted into the first connecting structure 310 along the radial direction of the first connecting structure 310.

[0115] The radial direction referred to here is the horizontal or lateral direction perpendicular to the axial direction of the neck assembly 300 (i.e., the vertical direction of the humanoid robot 10). This embodiment mainly changes the assembly path of the neck assembly 300, fundamentally solving the problem of difficult assembly caused by the narrow vertical space of the neck in the prior art.

[0116] In existing technologies, the neck assembly 300 is typically inserted vertically into the body from top to bottom, and needs to be tightened using tools such as screwdrivers within the extremely limited vertical height of the neck. Because the neck of the humanoid robot 10 is often designed to be relatively long and thin in order to achieve a biomimetic effect, its internal vertical space is extremely limited, making it difficult for workers to reach in and operate, resulting in low assembly efficiency and even the potential quality hazard of loose screws.

[0117] This embodiment cleverly avoids the limitations of vertical space in the neck area by changing the assembly path from the traditional vertical direction to a radial insertion fit. In one specific implementation example, the first connecting structure 310 serves as an inner liner or support, pre-connected to the torso docking mechanism 120 and with wiring completed; the second connecting structure 320 serves as an outer shell or base, pre-connected to the torso outer shell 110. During assembly, the worker only needs to operate from the side of the neck, pushing the first connecting structure 310 horizontally into the slot or guide rail of the second connecting structure 320 to complete the quick docking of the two. For example, the inner wall of the second connecting structure 320 can be provided with a T-shaped guide rail extending horizontally, and the outer wall of the first connecting structure 310 is correspondingly provided with a T-shaped sliding groove. The two achieve precise guidance and stable support through the cooperation of the sliding rails; in another implementation example, the side of the second connecting structure 320 can have an opening with an elastic hook. After the first connecting structure 310 is pushed in, the elastic hook automatically engages in the locking hole of the first connecting structure 310, achieving quick locking. It should be understood that the above-mentioned T-shaped guide rail and elastic hook are interpretive rather than restrictive, and any mechanical mating structure that can achieve radial insertion and detachable fixation should be included within the scope of protection of this application.

[0118] This lateral plug-in method frees the operating space from being limited by the vertical height of the neck, instead utilizing the relatively spacious side of the neck, greatly reducing assembly difficulty and facilitating subsequent maintenance and disassembly. When the internal cables of the neck assembly 300 need maintenance, the first connecting structure 310 and the second connecting structure 320 can be separated simply by sliding them out radially in the opposite direction, without damaging the overall structure or operating blindly in a narrow space. This demonstrates the irreplaceable nature of lateral plug-in in the compact structural design of biomimetic robots.

[0119] Based on the above implementation methods, this embodiment, combined with specific application scenarios, provides a detailed description of the maintenance and functional upgrade process of the head device 200 of the humanoid robot 10, in order to demonstrate the superiority of the technical solution of this application in practical applications.

[0120] Suppose that during long-term use, the camera module inside the head unit 200 of the humanoid robot 10 malfunctions, causing the image acquisition function to fail. In existing technologies, since the head and body are mostly integrated and fixedly connected, users usually need to send the entire robot back to the manufacturer or have a professional repairman disassemble the outer shell, which is a cumbersome and costly process. However, with the humanoid robot 10 of this embodiment, users can perform quick repairs themselves.

[0121] The specific operation process is as follows: The user first locates the torso docking mechanism 120 on the torso shell 110 of the torso 100 and identifies the position of the pressing member 123. The user applies external force to the pressing member 123, causing it to move along the direction of movement (e.g., horizontal). Since the direction of movement of the pressing member 123 intersects (e.g., perpendicularly) the direction of movement of the locking member 122, the movement of the pressing member 123, through the engagement of the limiting through hole 123a and the connecting protrusion 122a, drives the locking member 122 to move from the first position (locked position) to the second position (unlocked position). At this time, the locking member 122 disengages from the assembly slot structure 221 of the head docking mechanism 220, releasing the mechanical lock between the head device 200 and the torso 100.

[0122] Subsequently, the user pulls the faulty head unit 200 out of the guide slot 111 axially. Since the head unit 200 and the torso functional body 130 are detachably electrically connected, the head circuit board assembly 231 automatically separates from the torso circuit board assembly 131 during the removal process, eliminating the need for manual cable disconnection. Next, the user removes a functional replacement head unit 200 and aligns its head docking mechanism 220 with the guide slot 111. Thanks to the flared design of the guide slot 111, even with a slight deviation in the insertion angle of the head unit 200, the guide ramp at the flare can guide the head unit 200 to automatically slide into the correct position, achieving blind insertion.

[0123] When the head assembly 200 is inserted to the predetermined depth, the stop structure 222 inside the head shell 210 abuts against the torso docking mechanism 120, restricting the head assembly 200 from moving further inward. This prevents over-insertion and compression of the fragile internal circuit board assembly, providing a limiting protection function. Simultaneously, the elastic reset member 124 inside the torso docking mechanism 120 releases its elastic force, pushing the locking member 122 to automatically reset to the first position. The end of the locking member 122 engages in the assembly slot structure 221 of the head docking mechanism 220, achieving mechanical locking. At this instant, the head circuit board assembly 231 and the torso circuit board assembly 131 make contact and conduct electricity, achieving simultaneous completion of mechanical and electrical connections. Thus, the maintenance process ends, and the humanoid robot 10 resumes normal use. The entire process requires no specialized tools and takes only a few seconds.

[0124] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0125] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A humanoid robot, characterized in that, include: The torso includes a torso shell, a torso docking mechanism, and a torso functional body, wherein the torso docking mechanism and the torso functional body are disposed on the torso shell; as well as A head assembly, comprising a head shell, a head docking mechanism, and a head functional body, wherein the head docking mechanism and the head functional body are disposed on the head shell; The head docking mechanism can establish a releasable mechanical connection with the torso docking mechanism; the head functional body can establish a releasable electrical signal coupling connection with the torso functional body.

2. The humanoid robot according to claim 1, characterized in that, When the head docking mechanism establishes a mechanical connection with the torso docking mechanism, the head functional body simultaneously establishes an electrical signal coupling connection with the torso functional body.

3. The humanoid robot according to claim 1, characterized in that, The torso docking mechanism includes: Mounting components are disposed on the outer shell of the torso; A locking element is movably connected to the mounting element; The pressing member is movably connected to the mounting member and the locking member. The moving direction of the pressing member intersects with the moving direction of the locking member. Under the action of external force, the pressing member can drive the locking member to a first position or a second position. When the locking member is in the first position, it can lock with the head docking mechanism; when the locking member is in the second position, the head docking mechanism is unlocked from the locking member.

4. The humanoid robot according to claim 3, characterized in that, The torso docking mechanism also includes: An elastic reset member extends along the moving direction of the pressing member and abuts between the pressing member and the mounting member.

5. The humanoid robot according to claim 3, characterized in that, The pressing member is provided with a limiting through hole, which extends along the moving direction of the locking member; The locking member is provided with a connecting protrusion, which is movably inserted through the limiting through hole.

6. The humanoid robot according to claim 4, characterized in that, The mounting component is provided with a positioning post, which extends along the moving direction of the pressing component, and the elastic reset component is sleeved on the positioning post.

7. The humanoid robot according to claim 3, characterized in that, The mounting component includes a bottom shell and a top shell connected to each other, the bottom shell and the top shell cooperate to form a storage cavity, and the elastic reset component is located in the storage cavity; One end of the pressing member is movably connected to the bottom shell and the locking member, and the other end of the pressing member passes through the bottom shell and is located outside the storage cavity; When the locking member is in the first position, one end of the locking member is located inside the storage cavity and is movably connected to the pressing member, and the other end of the locking member passes through the bottom shell and is located outside the storage cavity; when the locking member is in the second position, the locking member is located inside the storage cavity.

8. The humanoid robot according to claim 3, characterized in that, When the head docking mechanism and the torso docking mechanism establish a mechanical connection, a portion of the pressing member protrudes from the connection point between the head shell and the torso shell.

9. The humanoid robot according to claim 1, characterized in that, The main body of the torso is provided with a torso circuit board assembly, which is located on top of the torso docking mechanism; When the head docking mechanism establishes a mechanical connection with the torso docking mechanism, the head functional body establishes an electrical signal coupling connection with the torso circuit board assembly.

10. The humanoid robot according to claim 9, characterized in that, The top of the torso shell is provided with a guide groove, and the torso circuit board assembly and the torso docking mechanism are both disposed in the guide groove. The guide groove has an opening, which is configured to allow the head device to be placed into the guide groove.

11. The humanoid robot according to claim 10, characterized in that, The guide groove is flared.

12. The humanoid robot according to claim 1, characterized in that, The head shell is provided with a head receiving space and a head mounting hole, and the head mounting hole is connected to the head receiving space; The head functional body is disposed within the head receiving space and is at least partially exposed through the head mounting hole, and the head functional body is pluggably electrically connected to the torso functional body.

13. The humanoid robot according to claim 12, characterized in that, The head functional body includes multiple electrical components and a head circuit board assembly. The multiple electrical components are all electrically connected to the head circuit board assembly, and the head circuit board assembly is exposed in the head mounting hole. When the head docking mechanism establishes a mechanical connection with the torso docking mechanism, the head circuit board assembly establishes an electrical signal coupling connection with the torso functional body.

14. The humanoid robot according to claim 13, characterized in that, The head circuit board assembly includes: Mounting bracket, the mounting bracket being connected to the head housing; and The elastic component and the circuit board component are connected to the mounting bracket via the elastic component, so that the circuit board component can move relative to the mounting bracket.

15. The humanoid robot according to claim 14, characterized in that, The elastic component includes: The circuit board component has multiple elastic elements, and each first mounting hole corresponds to one elastic element, with each elastic element passing through the corresponding first mounting hole. Multiple connectors are provided, each of the elastic elements is provided with a second mounting hole, each connector corresponds to a second mounting hole, each connector passes through the corresponding second mounting hole and is connected to the mounting bracket, and the connector presses the elastic element against the mounting bracket so that the circuit board component can float relative to the mounting bracket.

16. The humanoid robot according to claim 15, characterized in that, Each of the elastic elements has a limiting groove on its outer surface along its circumference, and the edge of the first mounting hole of each of the circuit board components is embedded in the corresponding limiting groove.

17. The humanoid robot according to claim 13, characterized in that, The multiple electrical components include a visual interaction module, an audio output module, and an acoustic sensing module, all of which are electrically connected to the head circuit board assembly. The audio output module and the head circuit board assembly are arranged sequentially along the first direction; The visual interaction module and the head circuit board assembly are arranged sequentially along the second direction; The acoustic sensing module and the head circuit board assembly are arranged sequentially along a third direction; The first direction, the second direction, and the third direction intersect each other.

18. The humanoid robot according to claim 1, characterized in that, The head housing has a head receiving space and a head mounting hole, the head mounting hole is connected to the head receiving space, and the head docking mechanism is disposed on the hole wall of the head mounting hole.

19. The humanoid robot according to claim 18, characterized in that, The head docking mechanism includes multiple assembly slot structures, which are arranged sequentially at intervals along the circumference of the head assembly hole. The assembly slot structures are configured to be detachably connected to the torso docking mechanism.

20. The humanoid robot according to claim 19, characterized in that, The head docking mechanism also includes multiple stop structures, which are arranged sequentially at intervals along the circumference of the head assembly hole. All the stop structures are located on the side of the assembly groove structure close to the head receiving space.

21. The humanoid robot according to claim 20, characterized in that, Each of the stop structures corresponds to one of the mounting slot structures, and each of the stop structures and the corresponding mounting slot structures are arranged along the axial direction of the head mounting hole.

22. The humanoid robot according to claim 1, characterized in that, The humanoid robot also includes a neck assembly, which is disposed within the torso shell and connected to the torso docking mechanism; The neck assembly is provided with a wire-receiving space and multiple wire-passing holes, all of which are connected to the wire-receiving space and are arranged at intervals along the circumference of the neck assembly.

23. The humanoid robot according to claim 22, characterized in that, The neck assembly includes a first connecting structure and a second connecting structure, wherein the first connecting structure is connected to the torso docking mechanism and the second connecting structure is connected to the torso shell; The second connecting structure is detachably connected to the first connecting structure, and the first connecting structure and the second connecting structure cooperate to form the wire-accommodating space, and the plurality of wire-passing holes are provided in the first connecting structure.

24. The humanoid robot according to claim 23, characterized in that, Along the radial direction of the first connecting structure, the second connecting structure is inserted into and engaged with the first connecting structure.

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