Head mechanism and robot

Abstract

The utility model relates to the technical field of robots, and particularly discloses a head mechanism which comprises a base, an optical acquisition assembly, a lighting assembly and a synchronous driving assembly, the optical acquisition assembly comprises a first supporting piece, a first rotating shaft and a camera body, the first supporting piece is connected with the base, the first rotating shaft is rotationally connected with the first supporting piece, and the camera body is connected with the first rotating shaft; the lighting assembly comprises a second supporting piece, a light source body and a second rotating shaft, the second supporting piece is connected with the base, the second rotating shaft is rotationally connected with the second supporting piece, and the light source body is connected with the second rotating shaft; the synchronous driving assembly is used for driving the first rotating shaft and the second rotating shaft to rotate synchronously. The utility model further provides a robot. The angle of the lighting assembly can be synchronously adjusted along with the optical acquisition assembly, and it is ensured that the head mechanism can flexibly adapt to the detection requirements of different stations and different target objects in an industrial scene.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a head mechanism and robot. Background Technology

[0002] With the development of robotics technology, humanoid robots are increasingly being used in industrial manufacturing, logistics sorting, and security inspection. As a key module for humanoid robots to perceive the outside world, the vision component of the head mechanism undertakes core functions such as image acquisition and target recognition, and its performance directly affects the accuracy and efficiency of the robot's task execution in complex scenarios. However, most existing vision components are fixedly installed and cannot flexibly adjust the shooting angle according to the height of different workstations and the placement angle of targets in industrial scenarios. This results in blind spots or imaging distortion in some detection areas, limiting the application range of vision components in complex industrial environments and making it impossible to flexibly adapt to the detection needs of different workstations and different targets in industrial scenarios. Utility Model Content

[0003] The technical problem this invention aims to solve is: how to address the issue that existing technologies, due to their fixed angles, cannot flexibly adapt to the detection needs of different workstations and different target objects in industrial scenarios.

[0004] To solve the above-mentioned technical problems, this utility model provides a head mechanism, the head mechanism comprising:

[0005] Base;

[0006] An optical acquisition assembly is connected to the base. The optical acquisition assembly includes a first support member, a first rotating shaft, and a camera body. The first support member is connected to the base, the first rotating shaft is rotatably connected to the first support member, and the camera body is connected to the first rotating shaft.

[0007] A lighting assembly, connected to the base, includes a second support member, a light source body, and a second rotating shaft. The second support member is connected to the base, and the second rotating shaft is rotatably connected to the second support member and arranged parallel to the first rotating shaft. The light source body is connected to the second rotating shaft.

[0008] A synchronous drive assembly is connected to the base, and the first rotating shaft and the second rotating shaft are respectively connected to the synchronous drive assembly. The synchronous drive assembly is used to drive the first rotating shaft and the second rotating shaft to rotate synchronously.

[0009] More preferably, the synchronization drive component includes:

[0010] A drive unit is connected to the base, and the drive unit has an output end that is coaxially connected to the first rotating shaft;

[0011] A drive sprocket is located at the output end;

[0012] A driven sprocket is disposed on the second shaft; and

[0013] A chain for connecting the driving sprocket and the driven sprocket.

[0014] More preferably, the rotation angle range of the camera body around the first axis is ±60°;

[0015] And / or, the rotation angle of the light source body about the second axis is within the range of ±60°.

[0016] More preferably, the head mechanism further includes:

[0017] A first connector is detachably connected to the camera body and is connected to the first rotating shaft;

[0018] The second connector is detachably connected to the light source body and is connected to the second rotating shaft.

[0019] More preferably, the camera body is an industrial camera;

[0020] And / or, the light source body is an industrial strip light source.

[0021] More preferably, the light source body is a strobe light source.

[0022] More preferably, the head mechanism further includes:

[0023] A housing having a receiving cavity, a base disposed within the receiving cavity and connected to the inner wall of the housing, the receiving cavity having an opening arranged opposite to the base, and the optical acquisition assembly, illumination assembly, and synchronous drive assembly all disposed on the side of the base facing the opening; and,

[0024] A cover plate is connected to the housing and seals the opening. The cover plate has a first window and a second window. The optical acquisition component and the illumination component are respectively arranged corresponding to the first window and the second window.

[0025] More preferably, the housing is provided with heat dissipation holes, which are located between the base and the cover plate, and are arranged correspondingly to the lighting components.

[0026] More preferably, the outer wall of the housing is provided with a mounting bracket, and the mounting bracket has a wiring hole that penetrates the housing.

[0027] This utility model also provides a robot, including the head mechanism described above.

[0028] The advantages of this head mechanism compared to existing technologies are as follows:

[0029] This utility model features a base that integrates the optical acquisition component, illumination component, and synchronous drive component. The first support component supports the first rotating shaft and the camera body, ensuring the stability of the camera body as it rotates along the first rotating shaft. This prevents the camera body from shaking during rotation, which could reduce imaging quality. Furthermore, the camera body's rotation along the first rotating shaft effectively eliminates blind spots and improves application flexibility in complex environments. The second support component supports the light source body and the second rotating shaft, ensuring the stability of the light source body as it rotates along the second rotating shaft. This prevents reflections or shadows and ensures the clarity of the images acquired by the camera body. The synchronous drive component drives the first and second rotating shafts to rotate synchronously, allowing the illumination component to adjust its angle synchronously with the optical acquisition component and providing real-time visual illumination to the optical acquisition component. This ensures that the head mechanism can flexibly adapt to the detection needs of different workstations and different targets in industrial scenarios. Attached Figure Description

[0030] Figure 1 This is an assembly diagram of the optical acquisition component, illumination component, and synchronous drive component described in this utility model.

[0031] Figure 2 yes Figure 1 Side view.

[0032] Figure 3 This is a schematic diagram of the structure of the optical acquisition component and the illumination component described in this utility model.

[0033] Figure 4 This is a structural schematic diagram of the optical acquisition component and illumination component described in this utility model from another perspective.

[0034] Figure 5 This is a schematic diagram of the head mechanism described in this utility model.

[0035] Figure 6 This is a structural schematic diagram of the head mechanism described in this utility model from another perspective.

[0036] Figure 7 This is a schematic diagram of the structure of the housing described in this utility model.

[0037] Figure label:

[0038] 10. Head structure;

[0039] 110. Base;

[0040] 120. Optical acquisition assembly; 121. First support member; 122. First rotating shaft; 123. First connector; 124. Camera body; 124a. First power cable; 124b. First communication cable; 125. Lens;

[0041] 130. Lighting assembly; 131. Second support member; 132. Light source body; 133. Second pivot; 134. Second connector;

[0042] 140. Synchronous drive assembly; 141. Drive unit; 141a. Output end; 142. Mounting bracket; 143. Drive sprocket; 144. Driven sprocket; 145. Chain;

[0043] 150. First circuit board; 151. Second power supply line; 152. Second communication line;

[0044] 160. Development board;

[0045] 170. Housing; 171. Receiving cavity; 172. Opening; 173. Cover plate; 173a. First window; 173b. Second window; 174. Heat dissipation hole; 175. Mounting bracket; 175a. Wiring hole. Detailed Implementation

[0046] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0047] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings are used only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0048] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0049] Furthermore, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0050] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0051] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0052] like Figures 1-7 As shown, this utility model provides a head mechanism. The head mechanism 10 includes a base 110, an optical acquisition component 120, an illumination component 130, and a synchronous drive component 140. The optical acquisition component 120, the illumination component 130, and the synchronous drive component 140 are respectively connected to the base 110 to achieve integrated installation of the optical acquisition component 120, the illumination component 130, and the synchronous drive component 140.

[0053] In a specific embodiment, the optical acquisition component 120 includes a first support member 121, a first rotating shaft 122, and a camera body 124. The first support member 121 is connected to the base 110, the first rotating shaft 122 is rotatably connected to the first support member 121, and the camera body 124 is connected to the first rotating shaft 122. The first support member 121 can support the first rotating shaft 122 and the camera body 124, ensuring the stability of the camera body 124 as it rotates with the first rotating shaft 122, avoiding shaking during the rotation of the camera body 124 and reducing the imaging effect. Furthermore, the rotation of the camera body 124 with the first rotating shaft 122 can effectively eliminate detection blind spots and improve the application flexibility in complex environments.

[0054] In some embodiments, the lighting assembly 130 includes a second support member 131, a light source body 132, and a second rotating shaft 133. The second support member 131 is connected to the base 110, and the second rotating shaft 133 is rotatably connected to the second support member 131 and arranged parallel to the first rotating shaft 122. The light source body 132 is connected to the second rotating shaft 133. The second support member 131 can support the light source body 132 and the second rotating shaft 133, ensuring the stability of the light source body 132 as it rotates with the second rotating shaft 133, avoiding reflections or shadows, and ensuring the image clarity acquired by the camera body 124.

[0055] In some embodiments, the first rotating shaft 122 and the second rotating shaft 133 are respectively connected to the synchronous drive assembly 140. The synchronous drive assembly 140 is used to drive the first rotating shaft 122 and the second rotating shaft 133 to rotate synchronously, so that the illumination assembly 130 can follow the optical acquisition assembly 120 to adjust the angle synchronously, and provide visual illumination to the optical acquisition assembly 120 in real time, thereby improving the imaging effect and ensuring that the head mechanism can flexibly adapt to the detection needs of different workstations and different targets in industrial scenarios.

[0056] In some embodiments, the synchronous drive assembly 140 includes a drive unit 141, a drive sprocket 143, a driven sprocket 144, and a chain 145. The drive unit 141 is connected to the base 110 via a mounting bracket 142. The drive unit 141 has an output end 141a, which is coaxially connected to a first rotating shaft 122. After activation, the drive unit 141 can directly drive the first rotating shaft 122 to rotate, thereby achieving rotational adjustment of the camera body 124. Furthermore, the drive sprocket 143 is located at the output end 141a, the driven sprocket 144 is located on the second rotating shaft 133, and the chain 145 connects the drive sprocket 143 and the driven sprocket 144. Sprocket 144; Thus, after the drive unit 141 is started, its output end 141a drives the active sprocket 143 to rotate. The active sprocket 143 drives the driven sprocket 144 to rotate through the chain 145, thereby driving the second rotating shaft 133 to rotate, and then driving the light source body 132 and the camera body 124 to achieve the same angle of rotation adjustment. That is, the synchronous drive component 140 can simultaneously control the first rotating shaft 122 and the second rotating shaft 133 to achieve synchronous adjustment of the pitch angle of the camera body 124 and the light source body 132, thereby adapting to different workstation heights and target object placement angles in industrial scenarios, eliminating detection blind spots, and improving application flexibility in complex environments.

[0057] In some embodiments, the drive unit 141 may be an electric motor or a rotary cylinder.

[0058] In other embodiments, the synchronous drive assembly 140 may also employ other transmission methods; for example, a gear transmission method, in which the synchronous drive assembly 140 includes a drive unit 141, a driving gear, and a driven gear, the driving gear being coaxially connected to the first rotating shaft 122, and the driven gear being coaxially connected to the second rotating shaft 133, with the driving gear and driven gear meshing with each other; or, for example, a linkage transmission method, in which the synchronous drive assembly 140 includes a linear drive module, a first hinge rod, a second hinge rod, and a driving rod, one end of the first hinge rod being fixedly connected to the first rotating shaft 122, and the other end being connected to the driving shaft 133. One end of the moving rod is hinged, one end of the second hinge rod is fixedly connected to the second rotating shaft 133, and the other end is hinged to the other end of the active rod. The active rod is connected to the linear drive module, which drives the active rod to move in a straight line, thereby driving the first rotating shaft 122 and the second rotating shaft 133 to rotate synchronously through the first hinge rod and the second hinge rod. Alternatively, in the direct drive method, the synchronous drive assembly 140 includes only two synchronous servo motors or cylinders, which are used to drive the first rotating shaft 122 and the second rotating shaft 133 to achieve synchronous rotation.

[0059] In some implementations, the camera body 124 rotates around the first pivot 122 at a range of ±60° to meet the shooting angle requirements in different scenarios.

[0060] In some embodiments, the rotation angle range of the light source body 132 around the second rotating axis 133 is ±60° to meet the lighting direction requirements of different scenes, and at the same time, it can synchronously follow the angle adjustment of the camera body 124, which can effectively eliminate reflections and shadows and improve the image clarity of the camera body 124.

[0061] In some embodiments, the head mechanism 10 further includes a first connector 123 and a second connector 134. The first connector 123 is detachably connected to the camera body 124, such as by bolts or snap-fit ​​connections, to facilitate the disassembly and assembly of the camera body 124 and to facilitate subsequent maintenance. The first connector 123 is connected to a first rotating shaft 122, which can drive the first connector 123 to rotate synchronously, thereby realizing the rotational adjustment of the camera body 124. Similarly, the second connector 134 is detachably connected to the light source body 132, such as by bolts or snap-fit ​​connections, to facilitate the disassembly and assembly of the light source body 132 and to facilitate subsequent maintenance and replacement. The second connector 134 is connected to a second rotating shaft 133, which can drive the second connector 134 to rotate synchronously, thereby realizing the rotational adjustment of the light source body 132.

[0062] In some embodiments, the camera body 124 is an industrial camera, preferably a Hikvision 2000W color area array camera. To further improve the focusing and imaging effect, the head mechanism 10 also includes a lens 125, which is coaxially connected to the camera body 124. The lens 125 is an industrial lens, preferably a Hikvision FA lens. By using an industrial camera and lens, in conjunction with the light source body 132, reflections and shadows can be effectively eliminated, image clarity can be improved, and the high-precision inspection needs such as micro-defect identification and precision dimension measurement in industrial scenarios can be met.

[0063] In some implementations, the light source body 132 is an industrial strip light source with adjustable brightness to meet the brightness requirements of different industrial scenarios.

[0064] In another embodiment, the light source body 132 is a strobe light source. By flashing at high frequency, the continuous heating time of the light source body 132 can be greatly reduced, thereby extending the service life of the light source body 132.

[0065] In other embodiments, the light source body 132 is a strip strobe light source, which can uniformly supplement light to the detected object, effectively eliminate reflections and shadows, improve image clarity, and reduce the continuous heating time of the light source body 132, ensuring that the head mechanism 10 can operate stably for a long time during operation.

[0066] In some embodiments, to protect the optical acquisition component 120, the illumination component 130 and the synchronous drive component 140, the head mechanism 10 further includes a housing 170, the housing 170 having a receiving cavity 171, the base 110 being disposed within the receiving cavity 171 and connected to the inner wall of the housing 170, and the optical acquisition component 120, the illumination component 130 and the synchronous drive component 140 all being located within the receiving cavity 171.

[0067] In some embodiments, the receiving cavity 171 has an opening 172 arranged opposite to the base 110. The optical acquisition component 120, the illumination component 130, and the synchronous drive component 140 are all located on the side of the base 110 facing the opening 172. The head mechanism 10 also includes a cover plate 173, which is connected to the housing 170 and seals the opening 172 to facilitate maintenance or replacement of the components inside the housing 170. The cover plate 173 has a first window 173a and a second window 173b. The optical acquisition component 120 and the illumination component 130 are respectively set corresponding to the first window 173a and the second window 173b. The size of the first window 173a and the second window 173b is designed according to the actual size of the optical acquisition component 120 and the illumination component 130 to meet the angle adjustment requirements of the optical acquisition component 120 and the illumination component 130.

[0068] In some embodiments, the housing 170 is provided with heat dissipation holes 174. Preferably, the heat dissipation holes 174 are located on opposite side walls of the housing 170 to form convection and increase the airflow rate in the receiving cavity 171, thereby improving the heat dissipation effect. Furthermore, the heat dissipation holes 174 are located between the base 110 and the cover plate 173, and the heat dissipation holes 174 are arranged correspondingly to the lighting assembly 130, so that the heat generated by the light source body 132 can be quickly discharged to the outside through the heat dissipation holes 174, greatly reducing the heat generation of the light source and ensuring that the head mechanism 10 can operate stably for a long time during operation.

[0069] In some embodiments, the outer wall of the housing 170 is provided with a mounting bracket 175 to facilitate the installation and fixation of the head mechanism 10. The mounting bracket 175 has a wiring hole 175a that penetrates the housing 170 to meet the wiring requirements of the optical acquisition component 120, the illumination component 130 and the synchronous drive component 140.

[0070] In some embodiments, the camera body 124 is connected to a first power line 124a and a first communication line 124b. The first power line 124a is connected to an external 24V power supply to power the camera body 124, and the first communication line 124b is used for data transmission and communication of the camera body 124. The head mechanism 10 also includes a development board 160. The development board 160 establishes a communication link with the camera body 124 through the first communication line 124b. The development board 160 is an existing technology in the field of robotics. The development board 160 is configured to perform image recognition, video analysis, intelligent decision-making, and other functions based on the images and videos acquired by the camera body 124.

[0071] In some embodiments, the head mechanism 10 further includes a first circuit board 150, to which the light source body 132 is electrically connected. The first circuit board 150 is configured to control the strobe switch of the light source body 132. Further, the first circuit board 150 is provided with a second power line 151 and a second communication line 152, used for 24V power supply and 232 serial communication respectively, to realize power conduction and data transmission.

[0072] This utility model also provides a robot, which includes a head mechanism 10. The specific structure of the head mechanism 10 is as described in the above embodiments. Since this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0073] In some embodiments, the robot is a humanoid robot that can be widely used in scenarios such as automobile manufacturing, warehouse management, logistics, home, medical, hotel, and deep sea. The humanoid robot also includes a body mechanism and a movement mechanism. The body mechanism is connected to the movement mechanism, which can drive the body mechanism to a designated position. The movement mechanism includes, but is not limited to, a wheeled walking mechanism or a tracked walking mechanism. The head mechanism 10 is connected to the body mechanism, enabling the head mechanism 10 to move synchronously with the body mechanism to a designated position to meet industrial needs.

[0074] In some embodiments, the mounting bracket 175 is located at one end of the housing 170 near the fuselage mechanism. The mounting bracket 175 is connected to the fuselage mechanism, and the wiring hole 175a can accommodate the wiring arrangement and connection of the power line and communication line between the head mechanism 10 and the fuselage mechanism.

[0075] In summary, this utility model embodiment provides a head mechanism and robot. The base 110 enables the integrated installation of the optical acquisition component 120, the illumination component 130, and the synchronous drive component 140. The first support member 121 supports the first rotating shaft 122 and the camera body 124, ensuring the stability of the camera body 124 as it rotates with the first rotating shaft 122, preventing wobbling during rotation and reducing imaging quality. Furthermore, the rotation of the camera body 124 with the first rotating shaft 122 effectively eliminates blind spots and improves application flexibility in complex environments. The second support member... Component 131 can support the light source body 132 and the second rotating shaft 133, ensuring the stability of the light source body 132 as it rotates with the second rotating shaft 133, avoiding reflections or shadows, and ensuring the clarity of the image acquired by the camera body 124; the synchronous drive component 140 can drive the first rotating shaft 122 and the second rotating shaft 133 to rotate synchronously, so that the illumination component 130 can adjust its angle synchronously with the optical acquisition component 120, and provide visual illumination to the optical acquisition component 120 in real time, ensuring that the head mechanism can flexibly adapt to the detection needs of different workstations and different targets in industrial scenarios.

[0076] The above description is merely a preferred embodiment of this utility model. It should be noted that, for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of this utility model, and these improvements and substitutions should also be considered within the protection scope of this utility model. The basic principles, main features, and advantages of this utility model have been shown and described above. For those skilled in the art, it is obvious that this utility model is not limited to the details of the above preferred embodiments. The embodiments should be considered exemplary and non-limiting. The scope of this utility model is defined by the appended claims rather than the foregoing description. Therefore, it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included within this utility model.

[0077] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A head mechanism, characterized in that, The head mechanism (10) includes: Base (110); An optical acquisition component (120) is connected to the base (110). The optical acquisition component (120) includes a first support member (121), a first rotating shaft (122), and a camera body (124). The first support member (121) is connected to the base (110), the first rotating shaft (122) is rotatably connected to the first support member (121), and the camera body (124) is connected to the first rotating shaft (122). An illumination assembly (130) is connected to the base (110). The illumination assembly (130) includes a second support member (131), a light source body (132), and a second rotating shaft (133). The second support member (131) is connected to the base (110), the second rotating shaft (133) is rotatably connected to the second support member (131) and is arranged parallel to the first rotating shaft (122), and the light source body (132) is connected to the second rotating shaft (133). A synchronous drive assembly (140) is connected to the base (110). The first rotating shaft (122) and the second rotating shaft (133) are respectively connected to the synchronous drive assembly (140). The synchronous drive assembly (140) is used to drive the first rotating shaft (122) and the second rotating shaft (133) to rotate synchronously.

2. The head mechanism according to claim 1, characterized in that, The synchronous drive component (140) includes: A drive unit (141) is connected to the base (110). The drive unit (141) has an output end (141a) which is coaxially connected to the first rotating shaft (122). A drive sprocket (143) is located at the output end (141a); Driven sprocket (144), disposed on the second shaft (133); and, A chain (145) for connecting the driving sprocket (143) and the driven sprocket (144).

3. The head mechanism according to claim 1, characterized in that, The rotation angle range of the camera body (124) around the first rotating axis (122) is ±60°; And / or, the rotation angle range of the light source body (132) about the second rotation axis (133) is ±60°.

4. A head mechanism according to claim 1, characterized in that, The head mechanism (10) also includes: The first connector (123) is detachably connected to the camera body (124) and is connected to the first rotating shaft (122). The second connector (134) is detachably connected to the light source body (132) and is connected to the second rotating shaft (133).

5. A head mechanism according to claim 1, characterized in that, The camera body (124) is an industrial camera; And / or, the light source body (132) is an industrial strip light source.

6. A head mechanism according to claim 1, characterized in that, The light source body (132) is a strobe light source.

7. A head mechanism according to any one of claims 1-6, characterized in that, The head mechanism (10) also includes: A housing (170) having a receiving cavity (171), a base (110) disposed within the receiving cavity (171) and connected to the inner wall of the housing (170), the receiving cavity (171) having an opening (172) arranged opposite to the base (110), the optical acquisition assembly (120), the illumination assembly (130), and the synchronous drive assembly (140) all being disposed on the side of the base (110) facing the opening (172); and, A cover plate (173) is connected to the housing (170) and seals the opening (172). The cover plate (173) has a first window (173a) and a second window (173b). The optical acquisition component (120) and the illumination component (130) are respectively provided corresponding to the first window (173a) and the second window (173b).

8. A head mechanism according to claim 7, characterized in that, The housing (170) is provided with heat dissipation holes (174), which are located between the base (110) and the cover plate (173), and are arranged correspondingly to the lighting component (130).

9. A head mechanism according to claim 7, characterized in that, The outer wall of the housing (170) is provided with a mounting bracket (175), and the mounting bracket (175) has a wiring hole (175a) that passes through the housing (170).

10. A robot, characterized in that, Includes the head mechanism (10) as described in any one of claims 1-9.

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