Robot radio structure and robot
By designing a robotic sound-collecting structure with a curved sound-collecting cavity and a reflective layer, the problem of poor sound collection performance of robots was solved, and a clearer and more stable sound acquisition effect was achieved.
Patent Information
- Application Number
- CN202422881614.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-25
- Publication Date
- 2025-12-05
- Estimated Expiration
- 2034-11-25
AI Technical Summary
The sound recording effect of robots in the existing technology is poor, especially the microphone of humanoid robots which is fixed to the head or chest shell, resulting in unclear sound recording.
Design a robot sound receiving structure, including a sound receiving shell, the sound receiving shell having a first sound receiving cavity and a mounting cavity connected together, the cross-section of the first sound receiving cavity gradually decreasing and being curved, the inner wall having a reflective layer, the sound wave inlet and outlet being located on the curve, and the sound wave reflection performance being improved by the reflective layer.
It improves the robot's sound pickup performance, reduces sound wave loss during propagation, ensures the stability of sound quality and volume, and enhances the clarity of sound acquisition.
Smart Images
Figure CN223639386U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to intelligent mechanical technical field, more specifically, relate to a robot radio structure and robot. BACKGROUND
[0002] There are various types of robots, generally including industrial robots, service robots, humanoid robots and the like. The humanoid robot has human-like characteristics, and therefore, the humanoid robot has a sound collection function. Currently, microphones are generally fixed on the head shell or chest shell of the robot, and the sound collection is very unclear and the sound collection effect is poor. SUMMARY
[0003] The utility model embodiment aims at providing a robot radio structure and robot to solve the technical problem of poor sound collection effect of the robot in the prior art.
[0004] To achieve the above object, the utility model adopts the technical scheme of providing a robot radio structure, comprising a sound collection shell, the sound collection shell has a first sound collection cavity and a mounting cavity which are in communication with each other, the mounting cavity is used for mounting a sound input device, the first sound collection cavity has a sound wave inlet and a sound wave outlet, the first sound collection cavity and the mounting cavity are communicated through the sound wave outlet, in the direction from the sound wave inlet to the sound wave outlet, the cross section of the first sound collection cavity gradually decreases, and the first sound collection cavity is curved, and the inner wall of the first sound collection cavity has a first reflection layer.
[0005] In the above scheme, the robot radio structure comprises a sound collection shell, the sound collection shell has a first sound collection cavity and a mounting cavity which are in communication through a sound wave outlet, the cross section of the first sound collection cavity gradually decreases from the sound wave inlet to the sound wave outlet, and the inner wall of the first sound collection cavity is curved, so that the sound is gathered at the sound wave outlet after being reflected through the first sound collection cavity, and the sound collection effect is better, and the inner wall of the first sound collection cavity has a first reflection layer, the first reflection layer has high reflection performance on sound waves, so that the sound collection effect is clearer and the loss of sound waves during propagation is reduced.
[0006] Optionally, the longitudinal section of the inner wall of the first sound collection cavity is at least partially a curved structure, the sound wave inlet and the sound wave outlet are located on the longitudinal section, and the curved structure is a parabola, an elliptic curve or a circular arc curve.
[0007] In the above scheme, the curved structure is a parabola, an elliptic curve or a circular arc curve, the above curve is a commonly used curve, the structure is simple and easy to process, and the gathering ability of sound wave reflection is also strong.
[0008] Optionally, the inner wall of the first sound collecting cavity is a parabolic surface, and the center of the sound wave outlet and the center of the sound wave inlet are located on the central axis of the parabolic surface.
[0009] In the above scheme, the inner wall of the first sound collecting cavity is a symmetrical structure, and the reflection of sound waves at each part of the circumference is approximately the same, so that the sound quality is not good or bad, and the volume is not large or small.
[0010] Optionally, the first reflection layer is a metal layer.
[0011] In the above scheme, the metal layer has a high reflectivity to sound waves, which can increase the reflectivity of sound waves and reduce the loss of sound waves during transmission.
[0012] Optionally, the mounting cavity is recessed towards the first sound collecting cavity near the sound wave outlet to form a second sound collecting cavity, and the cross section of the second sound collecting cavity gradually decreases in the direction from the mounting cavity to the sound wave outlet.
[0013] In the above scheme, the second sound collecting cavity is formed by recessing the mounting cavity near the sound wave outlet, so that the sound waves can be more uniformly transmitted to the sound input device after passing through the sound wave outlet, thereby improving the sound collecting quality of the sound input device.
[0014] Optionally, the inner wall of the second sound collecting cavity has a second reflection layer.
[0015] In the above scheme, the second reflection layer is provided to emit most of the sound waves propagating to the inner wall of the second sound collecting cavity, reduce the absorption of sound waves by the second sound collecting cavity, and thereby reduce the loss of sound waves during propagation.
[0016] Optionally, the mounting cavity has a mounting inlet on the side away from the second sound collecting cavity, and the cross section of the mounting cavity remains unchanged in the direction from the mounting inlet to the side near the second sound collecting cavity.
[0017] In the above scheme, the cross section of the mounting cavity remains unchanged, which facilitates the installation of the sound input device, for example, the sound input device can be directly pressed and assembled.
[0018] Optionally, the first sound collecting cavity and the second sound collecting cavity are both rotary structures, and the rotary central axis is a line connecting the center of the sound wave inlet and the center of the sound wave outlet.
[0019] In the above scheme, the rotary central axis of the first sound collecting cavity and the second sound collecting cavity is set as a line connecting the center of the sound wave inlet and the center of the sound wave outlet, so that part of the sound waves can directly pass through the sound wave outlet and enter the second sound collecting cavity without reflection, and the quality of sound wave propagation is higher.
[0020] The utility model also provides a kind of robot, including the robot radio structure of above, still including installation main body, the robot radio structure with the installation main body fixed connection.
[0021] In the above scheme, the robot radio structure includes a radio shell having a first sound collecting cavity and a mounting cavity connected by a sound wave outlet, the cross section of the first sound collecting cavity gradually decreases from the sound wave inlet to the sound wave outlet, and the inner wall of the first sound collecting cavity is curved, so that the sound is reflected and gathered at the sound wave outlet after passing through the first sound collecting cavity, having a sound collecting effect, and the inner wall of the first sound collecting cavity has a first reflection layer, which has high reflection performance for sound waves, so that the sound collecting effect is clearer and the loss of sound waves during transmission is reduced.
[0022] Optionally, the robot radio structure and the installation main body are separately formed.
[0023] In the above scheme, the robot radio structure is separately processed and formed, the sound input device is installed to the robot radio structure, and then the robot radio structure is installed and fixed to the installation main body. In this way, even if the robot radio structure is designed to be more complex, the processing cost will not be excessively increased, and the robot radio structure can be more finely processed, such as forming a first reflection layer and a second reflection layer by plating. BRIEF DESCRIPTION OF DRAWINGS
[0024] In order to more clearly illustrate the technical solutions in the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.
[0025] Figure 1 The three-dimensional structure of the robot radio structure provided by the embodiments of the utility model Figure 1 ;
[0026] Figure 2 The three-dimensional structure of the robot radio structure provided by the embodiments of the utility model Figure 2 ;
[0027] Figure 3 The cross section of the robot radio structure provided by the embodiments of the utility model Figure 3 .
[0028] In the drawings, various reference signs represent:
[0029] 10 - sound receiving housing; 11 - first sound receiving cavity; 12 - second sound receiving cavity; 13 - sound wave inlet; 14 - sound wave outlet; 15 - first reflecting layer; 16 - second reflecting layer; 17 - mounting cavity; 18 - mounting inlet; 20 - sound input device. DETAILED DESCRIPTION
[0030] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.
[0031] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.
[0032] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.
[0033] In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.
[0034] Robots come in a variety of types, generally including industrial robots, service robots, humanoid robots, etc. Humanoid robots have human-like features, so humanoid robots have the function of sound collection. Currently, microphones are generally fixed on the head shell or chest shell of the robot, and the sound collection is very unclear and the sound collection effect is poor, which may result in the robot being unable to correctly receive voice instructions.
[0035] In order to alleviate and solve the above technical problems, the utility model provides a robot radio structure, robot radio structure includes radio casing 10, radio casing 10 has intercommunicating first radio cavity 11 and installation cavity 17, in the direction of sound wave entrance 13 to sound wave exit 14, the cross section of first radio cavity 11 gradually reduces, and first radio cavity 11 is curved surface shape, so that the reflection of sound wave after passing through first radio cavity 11 is more gathered, and the volume and tone are better, and the inner wall of first radio cavity 11 has first reflection layer 15, can reduce the loss of sound wave in the propagation process.
[0036] The robot radio structure provided by the embodiment of the utility model will be described.
[0037] Please see Figures 1 to 3 , robot radio structure includes radio casing 10, radio casing 10 has intercommunicating first radio cavity 11 and installation cavity 17, installation cavity 17 is used to install sound input device 20, first radio cavity 11 has sound wave entrance 13 and sound wave exit 14, first radio cavity 11 and installation cavity 17 are communicated through sound wave exit 14, in the direction of sound wave entrance 13 to sound wave exit 14, the cross section of first radio cavity 11 gradually reduces, and first radio cavity 11 is curved surface shape, the inner wall of first radio cavity 11 has first reflection layer 15.
[0038] Radio casing 10 is the main structure of robot radio structure, it has first radio cavity 11 and installation cavity 17, and can be used to install sound input device 20.
[0039] First radio cavity 11 has sound wave entrance 13 and sound wave exit 14, the sound emitted outside enters to the inside of first radio cavity 11 through sound wave entrance 13, part sound wave directly spreads to sound wave exit 14 through air, another part sound wave is gathered to sound wave exit 14 after the reflection of the inner wall of first radio cavity 11. The direction of sound wave entrance 13 to sound wave exit 14 is first direction, the cross section of first radio cavity 11 is perpendicular to first direction, and the area of first cross section is smaller and smaller in first direction, so, sound wave will gradually gather to sound wave exit 14. First radio cavity 11 is curved surface shape, so that the inner wall place will not form dead angle, and sound wave is easy to repeatedly reflect and lose energy in dead angle, since first radio cavity 11 has no dead angle, so the loss of sound wave in the propagation process can be smaller. The inner wall of first radio cavity 11 has first reflection layer 15, by the setting of first reflection layer 15, most of the sound wave that spreads to the inner wall of first radio cavity 11 is reflected, reduces the absorption of first radio cavity 11 to sound wave, and then reduces the loss when sound wave propagates.
[0040] The mounting cavity 17 is used for mounting the sound input device 20, sound waves enter the first sound collecting cavity 11 through the sound wave inlet 13, then enter the sound input device 20 through the sound wave outlet 14, are collected by the sound input device 20, and are converted into electronic signals.
[0041] The robot sound collecting structure in the above embodiment comprises a sound collecting shell 10, the sound collecting shell 10 has a first sound collecting cavity 11 and a mounting cavity 17 which are communicated through a sound wave outlet 14, the cross section of the first sound collecting cavity 11 gradually decreases from a sound wave inlet 13 to the sound wave outlet 14, and the inner wall of the first sound collecting cavity 11 is curved, so that sound is gathered at the sound wave outlet 14 after reflection through the first sound collecting cavity 11, and has a sound collecting effect, and the inner wall of the first sound collecting cavity 11 has a first reflection layer 15, the first reflection layer 15 has high reflection performance on sound waves, so that the sound collecting effect is clearer, and loss of sound waves during propagation is reduced.
[0042] In some embodiments of the utility model, please refer to Figure 3 The longitudinal section of the inner wall of the first sound collecting cavity 11 is at least partially in a curved structure, the sound wave inlet 13 and the sound wave outlet 14 are located on the longitudinal section, and the curved structure is a parabola, an elliptic curve or a circular arc curve. The longitudinal section of the inner wall of the first sound collecting cavity 11 is arranged in parallel with the first direction, and the longitudinal section passes through the sound wave inlet 13 and the sound wave outlet 14. The partial structure of the parabola, the partial structure of the elliptic curve and the partial structure of the circular arc curve can be used as the curved structure. The partial structure of the elliptic curve refers to an arc segment of the elliptic curve, and the partial structure of the circular arc curve refers to an arc segment of a regular circle.
[0043] The curved structure is a parabola, an elliptic curve or a circular arc curve, the above curves are commonly used curves, the structure is simple, easy to process, and the gathering ability of sound wave reflection is also strong.
[0044] In some embodiments, the curved structure is a parabola, in combination Figure 3 The upper and lower two partial curves of the curved structure are two segments of the same parabola, and the sound wave outlet 14 can be located near the vertex of the parabola.
[0045] In some embodiments, the curved structure is an elliptic curve, and the two partial curves on both sides of the major axis of the elliptic curve can be used as the upper and lower two partial curves of the curved structure.
[0046] In some embodiments, the curved structure is a circular arc curve, and the upper and lower two partial curves of the curved structure can be two segments of the same circular arc curve.
[0047] In some embodiments of the utility model, please refer to Figure 3, the first sound collecting cavity 11 is at least partially provided with a parabolic surface as the inner wall, and the center of the sound wave outlet 14 and the center of the sound wave inlet 13 are located on the central axis of the parabolic surface. The parabolic surface is a symmetrical structure, and when the center of the sound wave outlet 14 and the center of the sound wave inlet 13 are located on the central axis of the parabolic surface, the first sound collecting cavity 11 is a symmetrical structure.
[0048] The inner wall of the first sound collecting cavity 11 is a symmetrical structure, and the reflection of sound waves at each part of the circumference is approximately the same, so that the sound quality is not good or bad, and the volume is not large or small.
[0049] In other embodiments, the center of the sound wave outlet 14 and the center of the sound wave inlet 13 can also be arranged away from the central axis of the parabolic surface.
[0050] In some embodiments of the utility model, please refer to Figure 3 The first reflection layer 15 is a metal layer. The metal layer is made of metal material and can be fixed on the inner wall of the first sound collecting cavity 11 by means of attachment, electroplating and the like.
[0051] The metal layer has high reflectivity to sound waves, which can increase the reflectivity of sound waves and reduce the loss of sound waves in the transmission process.
[0052] In some embodiments, the metal layer is attached to the inner wall of the first sound collecting cavity 11 by electroplating. Alternatively, the metal layer is attached to the inner wall of the first sound collecting cavity 11 by spraying paint. Alternatively, the metal layer is attached to the inner wall of the first sound collecting cavity 11 by deposition.
[0053] In some embodiments, the metal layer is made of copper, silver or steel.
[0054] In some embodiments of the utility model, the sound collecting shell 10 is made of plastic material. In this way, the sound collecting shell 10 can be formed by injection molding, and the molding process is simple, and the sound collecting shell 10 can be made into a relatively complex structure with an inner cavity. Moreover, the sound collecting shell 10 is relatively light, and will not excessively increase the overall weight of the robot.
[0055] In some embodiments of the utility model, the sound input device 20 can be a microphone or the like.
[0056] In some embodiments of the utility model, please refer to Figure 3The mounting cavity 17 is recessed towards the first sound collecting cavity 11 to form the second sound collecting cavity 12 near the sound wave outlet 14, and the cross section of the second sound collecting cavity 12 gradually decreases in the direction from the mounting cavity 17 to the sound wave outlet 14. The second sound collecting cavity 12 is located between the mounting cavity 17 and the first sound collecting cavity 11, that is, the sound wave outlet 14 communicates the first sound collecting cavity 11 and the second sound collecting cavity 12. When collecting sound, the sound wave enters the first sound collecting cavity 11 through the sound wave inlet 13, is gathered by reflection of the first sound collecting cavity 11 to the sound wave outlet 14, and is transmitted from the sound wave outlet 14 to the second sound collecting cavity 12, and finally is collected by the sound input device 20.
[0057] By recessing the second sound collecting cavity 12 on the side of the mounting cavity 17 near the sound wave outlet 14, the sound wave can be more uniformly transmitted to the sound input device 20 after passing through the sound wave outlet 14, and thus the sound collecting quality of the sound input device 20 can be better.
[0058] In some embodiments of the utility model, the shape of the first sound collecting cavity 11 and the shape of the second sound collecting cavity 12 are same, so that the structure design of the sound collecting shell 10 is more simple.
[0059] Optionally, the shape of the first sound collecting cavity 11 and the shape of the second sound collecting cavity 12 are parabolic curves. Or, the shape of the first sound collecting cavity 11 and the shape of the second sound collecting cavity 12 are spherical curves. Or, the shape of the first sound collecting cavity 11 and the shape of the second sound collecting cavity 12 are elliptical spherical curves.
[0060] In some embodiments of the utility model, the shape of the first sound collecting cavity 11 and the shape of the second sound collecting cavity 12 are different.
[0061] Optionally, the shape of the first sound collecting cavity 11 is a parabolic curve, and the shape of the second sound collecting cavity 12 is a spherical curve or an elliptical spherical curve.
[0062] In some embodiments of the utility model, please refer to Figure 3 The inner wall of the second sound collecting cavity 12 has a second reflection layer 16. By arranging the second reflection layer 16, most of the sound wave propagating to the inner wall of the second sound collecting cavity 12 is emitted, the absorption of the sound wave by the second sound collecting cavity 12 is reduced, and thus the loss of the sound wave during transmission is reduced.
[0063] In some embodiments, the second reflection layer 16 is a metal layer made of a metal material, which can be fixed on the inner wall of the second sound collecting cavity 12 by means of attachment, electroplating and the like. The metal layer has high reflectivity to the sound wave, can increase the reflectivity of the sound wave, and reduce the loss of the sound wave during transmission.
[0064] In some embodiments, the metal layer is attached to the inner wall of the first sound collecting cavity 11 by electroplating.
[0065] In some embodiments, the metal layer is made of copper, silver, steel or other materials.
[0066] In some embodiments of the utility model, please refer to Figure 3 The mounting cavity 17 has a mounting entrance 18 away from the second sound collecting cavity 12, and the cross section of the mounting cavity 17 remains unchanged from the mounting entrance 18 to the direction close to the second sound collecting cavity 12. The mounting entrance 18 is the assembly opening for the sound input device 20 to be mounted to the sound collecting shell 10, the direction from the mounting entrance 18 to the second sound collecting cavity 12 is the second direction, and the cross section of the mounting cavity 17 remains unchanged in the second direction.
[0067] By keeping the cross section of the mounting cavity 17 unchanged, the installation of the sound input device 20 is facilitated, for example, the sound input device 20 can be directly pressed and assembled.
[0068] In some embodiments, the center of the mounting entrance 18, the center of the sound wave outlet 14 and the center of the sound wave inlet 13 are on the same straight line. In this embodiment, the first direction and the second direction coincide with each other. After the sound input device 20 is assembled to the sound collecting shell 10, the sound collection part of the sound input device 20 is directly opposite to the sound wave outlet 14, so that the sound collection efficiency is higher.
[0069] In some embodiments of the utility model, please refer to Figures 1 to 3 The first sound collecting cavity 11 and the second sound collecting cavity 12 are both rotary structures, and the rotary center axis is the line connecting the center of the sound wave inlet 13 and the center of the sound wave outlet 14. The rotary structure means that the posture remains unchanged after the structure is rotated by any angle around the rotary center axis. It can also be understood that the first sound collecting cavity 11 and the second sound collecting cavity 12 are center-symmetrical structures.
[0070] The rotary center axis of the first sound collecting cavity 11 and the second sound collecting cavity 12 is set as the line connecting the center of the sound wave inlet 13 and the center of the sound wave outlet 14, so that part of the sound waves can directly pass through the sound wave outlet 14 and enter the second sound collecting cavity 12 without reflection, and the quality of sound wave propagation is higher.
[0071] The utility model also provides a kind of robot, and robot includes the robot sound collecting structure in any embodiment above, still including installation main body, and robot sound collecting structure is fixedly connected with installation main body. Installation main body can be the head shell, thoracic cavity shell of robot etc.
[0072] The robot provided by the utility model has the above-mentioned robot sound collecting structure, the robot sound collecting structure comprises a sound collecting shell 10, the sound collecting shell 10 has a first sound collecting cavity 11 and a mounting cavity 17 communicated through a sound wave outlet 14, the cross section of the first sound collecting cavity 11 gradually decreases from a sound wave inlet 13 to the sound wave outlet 14, and the inner wall of the first sound collecting cavity 11 is a curve, so that sound is gathered at the sound wave outlet 14 after being reflected through the first sound collecting cavity 11, the sound collecting effect is good, and in addition, the inner wall of the first sound collecting cavity 11 has a first reflection layer 15, the first reflection layer 15 has high reflection performance on sound waves, the sound collecting effect is clearer, and the loss of sound waves during propagation is reduced.
[0073] In some embodiments of the utility model, the robot sound collecting structure and the mounting body are separately formed. The robot sound collecting structure and the mounting body are respectively machined, and then are fixed.
[0074] After the robot sound collecting structure is separately machined and formed, the sound input device 20 is mounted to the robot sound collecting structure, and then the robot sound collecting structure is mounted and fixed to the mounting body. In this way, even if the robot sound collecting structure is designed to be more complex, the machining cost will not be excessively increased, and the robot sound collecting structure is convenient for more delicate machining, such as forming the first reflection layer 15 and the second reflection layer 16 by plating.
[0075] In some embodiments of the utility model, the robot sound collecting structure and the mounting body are integrally formed. The robot sound collecting structure and the mounting body are simultaneously machined and formed, and then the robot sound collecting structure is mounted and fixed to the mounting body.
[0076] The above only describes preferred embodiments of the utility model and is not used to limit the utility model, and any modification, equivalent replacement and improvement made within the spirit and principle of the utility model should be included in the protection scope of the utility model.
Claims
1. A robotic radio structure, characterized by: The sound collecting shell has a first sound collecting cavity and a mounting cavity which are in communication with each other, the mounting cavity is used for mounting a sound input device, the first sound collecting cavity has a sound wave inlet and a sound wave outlet, the first sound collecting cavity and the mounting cavity are communicated through the sound wave outlet, the cross section of the first sound collecting cavity gradually decreases in the direction from the sound wave inlet to the sound wave outlet, the first sound collecting cavity is curved, and the inner wall of the first sound collecting cavity has a first reflection layer.
2. The robotic radio structure of claim 1, wherein: The longitudinal section of the inner wall of the first sound collecting cavity is at least partially curved, the sound wave inlet and the sound wave outlet are located on the longitudinal section, and the curved structure is a parabolic curve, an elliptic curve or a circular arc curve.
3. The robotic radio structure of claim 1, wherein: The at least partially inner wall of the first sound collecting cavity is a parabolic surface, and the center of the sound wave outlet and the center of the sound wave inlet are located on the central axis of the parabolic surface.
4. The robotic radio structure of claim 1, wherein: The first reflection layer is a metal layer.
5. A robotic radio structure as claimed in any one of claims 1 to 4, wherein: The mounting cavity is recessed towards the first sound collecting cavity to form a second sound collecting cavity near the sound wave outlet, and the cross section of the second sound collecting cavity gradually decreases in the direction from the mounting cavity to the sound wave outlet.
6. The robotic radio structure of claim 5, wherein: The inner wall of the second sound collecting cavity has a second reflection layer.
7. The robotic radio structure of claim 5, wherein: The mounting cavity has a mounting inlet on the side away from the second sound collecting cavity, and the cross section of the mounting cavity remains unchanged in the direction from the mounting inlet to the side near the second sound collecting cavity.
8. The robotic radio structure of claim 5, wherein: The first sound collecting cavity and the second sound collecting cavity are both of a rotary structure, and the rotary central axis is the line connecting the center of the sound wave inlet and the center of the sound wave outlet.
9. A robot, characterized by: The robot sound collecting structure includes the mounting body, and the robot sound collecting structure is fixedly connected with the mounting body.
10. The robot of claim 9, wherein: The robot sound collecting structure and the mounting body are formed in a split mode.