Robotic head and robot

Abstract

The application provides a robot head and a robot, and belongs to the technical field of robots. The robot head comprises a skull part and a mask part. The mask part comprises a mask shell, a flexible curved display screen and a mask. The mask shell is connected with the skull part and both of them jointly enclose an internal accommodating space. The middle region of the mask shell is provided with an opening. The flexible curved display screen is arranged on the opening. The mask covers the outer side surface of the mask shell. The mask is an integral structure and the outer side surface of the mask is a continuous curved surface. The flexible curved display screen is arranged on the mask shell, so as to increase the non-verbal communication ability of the robot head and facilitate human-computer interaction. The flexible curved display screen is located in the middle region of the mask shell, so that the flexible curved display screen can be used to simulate the eye part of a person. The mask is not only an integral structure, but also the outer side surface of the mask is a continuous curved surface. The robot head is given a smooth and modern appearance, which is beneficial to simulate the human face form and realize a more personified head design.

Description

Technical Field

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

[0002] With the development of technology, various robots have been widely used in industries such as home, medical care, catering, and construction, such as delivery robots and humanoid robots, bringing many conveniences to people's lives and production. Among them, humanoid robots, because they have similar height and limbs to humans, can adapt to people's work or living environment without much modification; the head of a humanoid robot is just like a human head, which can attract people's attention at first glance, so its design is particularly important. Utility Model Content

[0003] The purpose of this application is to provide a robot head and robot to solve the technical problem that the structure of some existing robot heads may be detrimental to human-computer interaction.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0005] The first aspect of this application provides a robot head, comprising:

[0006] skull;

[0007] The mask unit includes a mask housing, a flexible curved display screen, and a mask. The mask housing is connected to the head shell and the two together form an internal accommodating space. An opening is provided in the middle area of ​​the mask housing, and the flexible curved display screen is located in the opening. The mask covers the outer side of the mask housing. The mask is an integral structure and the outer side of the mask is a continuous curved surface.

[0008] In some implementations, the outer surface of the mask has a dark coating, the thickness of which gradually increases from the center of the mask to the circumferential edge. The transparency of the center of the mask is greater than that of the circumferential edge. The flexible curved display screen displays content to the outside through the center area; and / or, the mask is made of acrylic or polycarbonate.

[0009] In some implementations, the mask includes a first region, a second region, and a third region. The second region is connected to the outer peripheral edge of the first region, and the third region is connected to the outer peripheral edge of the second region. The first region faces the flexible curved display screen. Along the direction from the outer peripheral edge of the third region to the second region, the third region gradually protrudes away from the skull. Along the direction from the outer peripheral edge of the second region to the first region, the second region gradually indents towards the skull.

[0010] In some implementations, the first region is planar; and / or, the first region and the second region have rounded corners, and the second region and the third region have rounded corners; and / or, a stereoscopic vision device is disposed within the internal accommodating space, and the stereoscopic vision device faces the first region. ， Used to scan the external environment ahead through the first area.

[0011] In some implementations, a protrusion and a mating part are formed on the inner side of the mask and the skull, respectively. An avoidance groove is formed on the mask shell, and the protrusion is disposed in the avoidance groove and magnetically connected to the mating part.

[0012] In some implementations, the robot head also includes a light strip assembly, which is set in the internal accommodating space; strip-shaped holes are respectively provided on the two opposite sides of the skull, and the strip-shaped holes are inclined towards the mask part in the direction from top to bottom; the light strip assembly includes light strips, and the light strips of the two light strip assemblies respectively pass through the corresponding strip holes.

[0013] In some implementations, the robot head also includes a front camera assembly and a rear camera assembly, both of which are located within an internal accommodating space. The rear camera assembly is located on the side of the skull facing away from the mask, and the skull has a rear opening, with the camera of the rear camera assembly facing the rear opening. The front camera assembly is located on the side of the skull close to the mask and near the lower end of the skull, with a front opening on the mask housing to avoid the camera on the front camera assembly.

[0014] In some implementations, the robot head also includes a steering mechanism. The bottom of the skull has a bottom opening, and the steering mechanism is inserted into and connected to the skull through the bottom opening. The steering mechanism includes a support frame, a connecting frame, connecting parts, connecting rods, and a drive motor. The support frame is used to connect to the robot's body. There are two connecting parts, and both connecting parts are rotatably connected to the support frame. Two connecting rods connect the two connecting parts to form a parallelogram mechanism. The connecting frame connects one of the connecting parts to the inner side of the skull. The drive motor is located inside the skull and is connected to the other connecting part.

[0015] In some implementations, the robot head also includes a neck, with a bottom opening at the bottom of the skull, through which the neck is inserted into the skull; the neck includes a neck support and a neck decoration, with the neck decoration fitted onto the neck support, and the neck decoration being made of a flexible material.

[0016] A second aspect of this application provides a robot including a robot head as described in any of the above technical solutions.

[0017] The beneficial effects of this application are as follows: The robot head provided in this application embodiment increases the non-verbal communication capability of the robot head by setting a flexible curved display screen on the mask shell, which is conducive to human-computer interaction or displaying its own status information; by setting an opening in the middle area of ​​the mask shell and placing the flexible curved display screen at the opening position, the flexible curved display screen can be used to simulate the human eye area, which is conducive to realizing a more human-like head design of the robot head provided in this application embodiment; in addition, the mask covering the mask shell is not only an integral structure, but also the outer side of the mask is a continuous curved surface, giving the robot head a smooth and modern appearance, which is conducive to simulating the human facial shape and realizing a more human-like head design. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, 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 these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the robot head structure provided in the embodiments of this application. Figure 1 ;

[0020] Figure 2 This is a schematic diagram of the exploded structure of the robot head provided in an embodiment of this application;

[0021] Figure 3 A schematic diagram of the robot head structure provided in an embodiment of this application (the face mask is not shown);

[0022] Figure 4 An exploded view of the robot's head provided in an embodiment of this application (the mask is not shown);

[0023] Figure 5 This is a schematic diagram of the internal structure of the skull provided in an embodiment of this application;

[0024] Figure 6 A schematic diagram of the robot head structure provided in the embodiments of this application. Figure 2 .

[0025] The following are the labeling elements in the figure:

[0026] 100 - Robot head;

[0027] 10-Head section; 20-Mask section; 30-Internal storage space; 40-Stereoscopic vision device; 50-Light bar assembly; 60-Front camera assembly; 70-Rear camera assembly; 80-Steering mechanism; 90-Neck; 110-Speaker;

[0028] 11-Matching part; 12-Strip hole; 13-Bottom opening; 14-Front opening; 15-Connecting area; 16-Recessed groove;

[0029] 161 - First groove portion; 162 - Second groove portion;

[0030] 21-Mask housing; 22-Mask;

[0031] 211 - Opening; 212 - Front opening; 213 - Clearance groove;

[0032] 221 - First region; 222 - Second region; 223 - Third region; 224 - Protrusion;

[0033] 51-Light bar;

[0034] 81-Support frame; 82-Connecting frame; 83-Connecting component; 84-Connecting rod; 85-Drive motor;

[0035] 91-Neck support; 92-Neck decoration. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings. The embodiments described with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0037] In the description of this application, it should be understood that the terms "length", "width", "thickness", "top", "bottom", "inner", "outer", "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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, and therefore should not be construed as a limitation of this application.

[0038] To facilitate a clear description of the technical solutions of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0039] In this application, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0040] In this application, "and / or" is merely a way of describing the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0041] It should be noted that, in this application, the words "in one embodiment," "exemplarily," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "in one embodiment," "exemplarily," or "for example" should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of words such as "in one embodiment," "exemplarily," and "for example" is intended to present the relevant concepts in a specific manner.

[0042] Please see Figures 1-2 , Figure 1 A schematic diagram of the structure of the robot head 100 provided in this application embodiment. Figure 1 , Figure 2 This is an exploded schematic diagram of the robot head 100 provided in an embodiment of this application. Figure 3 This is a schematic diagram of the structure of the robot head 100 provided in this embodiment of the application (the mask 22 and the flexible curved display screen are not shown). Figure 4 An exploded view of the robot head 100 provided in this application embodiment (the mask 22 and the flexible curved display screen are not shown).

[0043] Please see Figure 1 This application provides a robot head 100, which adopts a more human-like head design, which helps the robot to be more widely accepted in environments that require close interaction with people (such as customer service or nursing industries).

[0044] Please see Figure 2 The robot head 100 provided in this embodiment includes a skull portion 10 and a mask portion 20, with the mask portion 20 connected to the skull portion 10. For illustrative purposes, please refer to the following description. Figure 2The side of the head portion 10 where the mask portion 20 is located is called the front side, and the side of the head portion 10 away from the mask portion 20 is called the rear side of the robot head 100. Figure 1 The left and right sides of the robot head 100 along the horizontal direction are the left and right sides of the robot head 100, respectively.

[0045] In this embodiment, the mask portion 20 includes a mask housing 21, a flexible curved display screen, and a mask 22. Please refer to [link to relevant documentation]. Figure 2 The diagram illustrates the mask housing 21 and the mask 22.

[0046] Please see Figure 3 The mask shell 21 is connected to the head shell 10 and the two together form an internal accommodating space 30, which can be used to accommodate some other parts of the robot head 100.

[0047] In one example, the mask housing 21 is detachably connected to the skull portion 10 via a connector.

[0048] In one example, see Figure 4 A front opening 14 is formed on the side of the skull portion 10 facing the mask portion 20. A connecting area 15 is formed on the circumferential edge of the front opening 14. A connecting hole is provided on the connecting area 15. An assembly hole is provided on the mask housing 21. A connector passes through the assembly hole and is inserted into the corresponding connecting hole to detachably connect the mask housing 21 to the skull portion 10.

[0049] In one example, the skull portion 10 and the mask housing 21 are made of lightweight composite materials or high-strength polymer materials to achieve both durability and lightweighting.

[0050] In this embodiment of the application, please refer to Figure 3 An opening 211 is provided in the middle region of the mask housing 21, wherein the opening 211 is used to place a flexible curved display screen, and the flexible curved display screen can be configured to cover the opening 211 on the mask housing 21.

[0051] Flexible curved displays are made of flexible substrate materials and thin-film electronic devices, which can achieve various shape changes such as bending, folding, and rolling. Their main function is to convert electronic signals into visible images or text information, providing users with intuitive visual displays, thereby increasing the non-verbal communication capabilities of robot heads and facilitating human-computer interaction.

[0052] Please see Figure 3 An opening 211 is provided in the central region of the mask housing 21. The central region refers to the area along... Figure 3The opening 211 is located in the middle area of ​​the mask housing 21 in both the left-right and up-down directions. Because the opening 211 is located in the middle area of ​​the mask housing 21, the flexible curved display screen is positioned in the middle area of ​​the mask housing 21. The flexible curved display screen can be used to simulate human eye features, facial expressions, or display status information. In other words, by positioning the flexible curved display screen in the middle area of ​​the mask housing 21, a more human-like head design of the robot head 100 provided in this embodiment can be achieved. Furthermore, by providing the flexible curved display screen at the opening 211 of the mask housing 21, the flexible curved display screen can be bent to fit the shape of the mask housing 21, while also facilitating the covering of the mask 22 on the outer surface of the mask housing 21, resulting in a smooth and rounded appearance for the mask part 20.

[0053] Please see Figure 2 The diagram illustrates the mask 22, which covers the outer surface of the mask housing 21 and is a single-piece structure. The single-piece structure of the mask 22 means that it is not pieced together; it is molded as a single unit. This design facilitates a smooth surface appearance of the mask section 20 and allows for better simulation of human facial features, resulting in a more human-like head design.

[0054] In one example, the mask 22 may be made of acrylic or polycarbonate to ensure that the mask 22 is durable and safe in environments where accidental collisions may occur.

[0055] In one example, the mask 22 is cast as a single piece.

[0056] The mask 22 provided in this embodiment is not only an integral structure, but its outer surface is also a continuous curved surface. The continuous curved surface can be understood as the absence of holes on the outer surface of the mask 22, which facilitates a smooth and rounded appearance of the mask portion 20, achieving a more human-like head design.

[0057] The robot head 100 provided in this application embodiment enhances the non-verbal communication capabilities of the robot head 100 by setting a flexible curved display screen on the mask housing 21, which is beneficial for human-computer interaction. By setting an opening 211 in the middle region of the mask housing 21 and placing the flexible curved display screen at the opening 211, the flexible curved display screen can be used to simulate the human eye area, which is beneficial to achieving a more human-like head design of the robot head 100 provided in this application embodiment. In addition, the mask 22 covering the mask housing 21 is not only an integral structure, but also the outer surface of the mask 22 is a continuous curved surface, giving the robot head 100 a smooth and modern appearance, which is beneficial to simulating the human facial shape and achieving a more human-like head design.

[0058] In one embodiment, the outer surface of the mask 22 has a dark coating, and the thickness of the dark coating gradually increases from the central region of the mask 22 to the circumferential edge region of the mask 22, so that the transparency of the central region of the mask 22 is greater than that of the circumferential edge region of the mask 22, and the flexible curved display screen displays content to the outside through the central region.

[0059] In one example, the dark coating is a black coating sprayed onto the mask 22.

[0060] In this embodiment, a dark coating on the outer surface of the mask 22 effectively reduces glare and reflection, enabling the robot to maintain clear vision in various lighting environments and improving the visual comfort of human users. By gradually increasing the thickness of the dark coating from the center of the mask 22 towards its circumferential edges, the flexible curved display screen can show content to the outside world through the central area while creating a sense of three-dimensionality and depth. The overall semi-transparent design of the mask 22, combined with the content display, enhances the sense of technology and sophistication.

[0061] In one embodiment, please refer to Figure 1 The mask 22 includes a first region 221, a second region 222 and a third region 223. The second region 222 is connected to the outer peripheral edge of the first region 221, and the third region 223 is connected to the outer peripheral edge of the second region 222. The first region 221 faces the flexible curved display screen and forms the middle region of the mask 22.

[0062] Please see Figure 2 Along the direction from the circumferential outer edge of the third region 223 to the second region 222, the third region 223 gradually protrudes away from the skull portion 10; see also Figure 2 Along the direction from the outer edge of the second region 222 to the first region 221, the second region 222 gradually indents towards the skull 10.

[0063] The shape of the third region 223 matches the shape of the mask shell 21, that is, the third region 223 fits on the mask shell 21; along the direction from the circumferential outer edge of the second region 222 to the first region 221, the second region 222 gradually concaves towards the head 10, that is, the second region 222 can be concave towards the robot head 100 through the opening 211 on the mask shell 21.

[0064] In one example, see Figure 1 and Figure 2 The first region 221 is a plane; or, in other examples, the first region 221 is a curved surface.

[0065] In one example, the first region 221 and the second region 222 have rounded corners, and the second region 222 and the third region 223 have rounded corners, which makes the appearance of the mask 20 smooth and rounded, and can prevent the user from being injured during close human-computer interaction.

[0066] In one example, see Figure 3 The robot head 100 also includes a stereo vision device 40, which is disposed within the internal receiving space 30 of the robot head 100 and faces the first region 221. ， The stereo vision device 40 is used to scan the external environment in front of it through the first region 221.

[0067] The stereo vision device 40 simulates the visual principle of human eyes by using two or more cameras to capture images of the same object or scene from different angles, thus acquiring image information with parallax. By setting the stereo vision device 40 on the robot's head 100, rich visual information can be provided. Combined with machine learning and computer vision algorithms, the robot can identify various types of objects, accurately determine the position of objects in space, and plan safe and efficient driving paths.

[0068] In one example, see Figure 3 The circumferential contour of the head portion 10 facing the mask housing 21 is slightly larger than the circumferential contour of the mask housing 21. The difference between the two contours is approximately equal to the thickness of the mask 22. This facilitates a smooth connection between the circumferential contour of the mask 22 and the head portion 10, resulting in a smooth and rounded appearance of the robot head 100 and reducing air resistance.

[0069] In this embodiment of the application, by setting the mask 22 to include a first region 221, a second region 222 and a third region 223, it is possible to achieve a more human-like head design for the robot head 100 provided in this embodiment of the application.

[0070] In one embodiment, a protrusion 224 and a mating portion 11 are respectively formed on the inner side of the mask 22 and on the skull portion 10. Please refer to [link to relevant documentation]. Figure 2 The diagram illustrates the protrusion 224 on the inner side of the mask 22. Please refer to [link / reference]. Figure 3 and Figure 4 The diagram shows the mating part 11 on the head shell 10, the mask shell 21 has a relief groove 213, the protrusion 224 is disposed in the relief groove 213 and is magnetically connected to the mating part 11.

[0071] In one example, see Figure 3 and Figure 4The protrusion 224 is located near the top of the inner side of the mask 22, and a portion of the top of the mask housing 21 is recessed downward to form a relief groove 213.

[0072] In one example, one or more protrusions 224 are provided on the inner side of the mask 22, and one or more mating parts 11 are provided on the head shell 10. The number of protrusions 224 and mating parts 11 are the same and they correspond one-to-one. The protrusions 224 are respectively provided on the mask shell 21 with corresponding clearance grooves 213 and magnetically connected to the mating parts 11.

[0073] In one example, the shape of the clearance groove 213 matches the shape of the protrusion 224, and the groove wall of the clearance groove 213 is configured to fit snugly against the side of the protrusion 224. By configuring the shape of the clearance groove 213 to match the shape of the protrusion 224, the clearance groove 213 not only avoids the protrusion 224, but also facilitates the positioning and installation of the mask 22 on the head shell 10 and the mask housing 21.

[0074] In one example, one or more first magnetic elements are provided on the protrusion 224, and one or more second magnetic elements are provided on the mating part 11, with the first magnetic elements and the second magnetic elements being magnetically attracted to each other.

[0075] In one example, the second magnetic element on the mating part 11 is embedded in the mating part 11, and the first magnetic element of the protrusion 224 is inserted into the mating hole and magnetically attracted to the second magnetic element on the mating part 11.

[0076] In this embodiment, by setting the mask 22 to be magnetically attached to the head shell 10, the installation and disassembly of the two can be convenient, thereby improving the efficiency of assembly.

[0077] Please see Figures 5-6 , Figure 5 6 is a schematic diagram of the internal structure of the skull 10 provided in the embodiments of this application, and 6 is a schematic diagram of the structure of the robot head 100 provided in the embodiments of this application. Figure 2 .

[0078] In one embodiment, please refer to Figure 5 The robot head 100 also includes a light strip assembly 50, which is disposed within the internal receiving space 30. (See [link to relevant documentation]). Figure 5 The diagram illustrates that the robot head 100 includes two light strip assemblies 50, which are respectively disposed inside the skull 10 and located on the left and right sides of the skull 10.

[0079] A strip hole 12 is provided on each of the two opposite sides of the skull 10. Please refer to [link / reference]. Figure 6The strip hole 12 is inclined towards the face mask 20 in the direction from top to bottom; the light strip assembly 50 includes a light strip 51, and the light strips 51 of the two light strip assemblies 50 respectively pass through the corresponding strip hole 12.

[0080] In one example, the shape of the light strip 51 matches the size of the strip hole 12, that is, the side of the light strip 51 along the circumferential direction is either in contact with or has a gap with the hole wall of the strip hole 12.

[0081] In one example, please refer back to [link to previous page]. Figure 1 Two light strips 51 are symmetrically arranged on both sides of the second region 222 of the mask 22 on the head 10. The two light strips 51 are exposed outside the head 10 to mimic human ears, which can enhance the bionic appearance of the robot head 100.

[0082] In one example, the light strip 51 is a multi-color LED light, which is a light-emitting diode light source that can mix various different colors by controlling the light intensity of red, green and blue.

[0083] In one example, the outer surface of the light strip 51 is coated with a diffusion coating. The main function of the diffusion coating is to scatter and refract light when it passes through the coating, thereby spreading the originally concentrated light evenly.

[0084] In one example, the outer surface of the light strip 51 is an etched surface. The microstructure formed by etching can cause light to be reflected and scattered multiple times on the surface, changing the direction of light propagation and thus making the light more evenly distributed.

[0085] In one example, recessed grooves 16 are provided on two opposite sides of the skull portion 10. Please refer to [link / reference]. Figure 6 The diagram illustrates the recessed groove 16, with the strip hole 12 disposed on the recessed groove 16.

[0086] In one example, the recessed groove 16 includes a first recessed portion 161 and a second recessed portion 162. The first recessed portion 161 is connected to the second recessed portion 162. The second recessed portion 162 is disposed on the side of the first recessed portion 161 near the mask portion 20. The first recessed portion 161 is strip-shaped and is inclined towards the mask portion 20 in the direction from top to bottom. The strip-shaped hole 12 is disposed in the first recessed portion 161.

[0087] In one example, the depth of the second groove 162 gradually decreases along the direction from near the first groove 161 to away from the first groove 161, and the edge of the second groove 162 away from the first groove 161 is arc-shaped.

[0088] In this embodiment of the application, by setting the light strip assembly 50, the biomimetic appearance of the robot head 100 can be enhanced. At the same time, the light strip assembly 50 can also have the functions of visual communication and status indication, and can be used to convey emotions, working status or alarm information through dynamic lighting modes.

[0089] In one embodiment, the robot head 100 further includes a front camera assembly 60 and a rear camera assembly 70, both of which are located within the internal accommodating space 30. (See also...) Figure 5 The front camera assembly 60 is shown in the diagram. Please refer to [link / reference]. Figure 6 This shows the rear camera assembly 70.

[0090] Please see Figure 6 The rear camera assembly 70 is located on the side of the skull 10 opposite to the face mask 20. The skull 10 has a rear opening, and the camera of the rear camera assembly 70 faces the rear opening. Please refer to [link / reference]. Figure 4 The front camera assembly 60 is located on the side of the skull 10 near the mask 20 and near the lower end of the skull 10. Please refer to [link to relevant documentation]. Figure 3 The mask housing 21 is provided with a front opening 212 to avoid the front camera assembly 60.

[0091] In this embodiment, the front camera component 60 is positioned at the chin of the robot's head 100 to better identify and process the road conditions under its feet, assisting the robot in accurately locating the relative position between its hands and the target object when performing tasks such as picking up objects, thereby improving the accuracy and efficiency of the operation.

[0092] In this embodiment, the rear camera component 70 is positioned at the back of the robot's head 100 to enhance the robot's environmental perception capabilities, particularly to acquire visual information behind it, for tasks requiring all-around environmental perception, such as complex navigation, obstacle avoidance, and human-computer interaction.

[0093] In one embodiment, please refer to Figure 5 The robot head 100 also includes a steering mechanism 80, see [link / reference]. Figure 6 The bottom of the skull 10 is provided with a bottom opening 13, and the steering mechanism 80 is inserted into the skull 10 through the bottom opening 13 and connected to the skull 10.

[0094] In this embodiment of the application, by setting a steering mechanism 80, the orientation of the robot head 100 can be adjusted, which not only increases the anthropomorphic design, but also helps the robot to obtain information about the external environment.

[0095] In one embodiment, please refer to Figure 5The steering mechanism 80 includes a support frame 81, a connecting frame 82, a connecting component 83, a connecting rod 84, and a drive motor 85. The support frame 81 is used to connect to the body of the robot. There are two connecting components 83, and both connecting components 83 are rotatably connected to the support frame 81. The two connecting rods 84 connect the two connecting components 83 to form a parallelogram mechanism. The connecting frame 82 connects one of the connecting components 83 and the inner side of the head shell 10. The drive motor 85 is disposed inside the head shell 10 and is connected to the other connecting component 83.

[0096] Please see Figure 5 The diagram illustrates a drive motor 85, which is fixed to a support frame 81. The output shaft of the drive motor 85 is connected to one of the connecting components 83. For ease of description, the connecting component 83 connected to the output shaft of the drive motor 85 is referred to as the first connecting component, and the connecting component 83 not connected to the output shaft of the drive motor 85 is referred to as the second connecting component. When the drive motor 85 operates, it drives the first connecting component to rotate. Since two connecting rods 84 connect the two connecting components 83 to form a parallelogram mechanism, the rotation of the first connecting component, under the action of the two connecting rods 84, drives the second connecting component to rotate. The rotation of the second connecting component drives the connecting frame 82 to move, and the movement of the connecting frame 82 drives the head section 10 to move.

[0097] In one example, see Figure 5 The first connecting component, which is connected to the output shaft of the drive motor 85, is located directly above the second connecting component. When the drive motor 85 is activated, it can achieve the head nodding motion.

[0098] In one example, the support frame 81 and the connecting frame 82 are made of aluminum alloy or carbon fiber to provide robust support for the components mounted thereon.

[0099] In one example, see Figure 5 The connecting component 83 is disc-shaped.

[0100] In one example, the connecting component 83 is rotatably connected to the support frame 81 via a bearing.

[0101] In one example, the connecting part 83 is provided with a pivot, through which the connecting rod 84 is inserted to achieve a rotatable connection between the connecting rod 84 and the connecting part 83.

[0102] The steering mechanism 80 provided in this embodiment has a simple structure and can drive the head portion 10 to move and accurately adjust the orientation of the head portion 10.

[0103] In one embodiment, please refer to Figure 5 The robot head 100 also includes a neck 90, which is used to connect to the robot's body. (See [link to relevant documentation]). Figure 6 The bottom of the skull 10 is provided with a bottom opening 13, and the neck 90 is inserted into the skull 10 through the bottom opening 13.

[0104] It is worth noting that the diameter of the bottom opening 13 needs to be designed to be larger than the outer diameter of the neck 90 so that the skull 10 can move relative to the neck 90 under the drive of the steering mechanism 80.

[0105] In one example, see Figure 6 The neck 90 includes a neck support 91 and a neck decoration 92. The neck decoration 92 is fitted onto the neck support 91 and is made of a flexible material.

[0106] In one example, the neck trim 92 is made of wool.

[0107] In one example, see Figure 6 A speaker 110 is provided on the inner side of the neck support 91, and a sound outlet is provided on the neck support 91 to cooperate with the speaker 110. The speaker 110 can make the robot head 100 emit sound.

[0108] In one example, see Figure 6 Two speakers 110 are arranged side by side in the horizontal direction on the inner side of the neck support 91.

[0109] In this embodiment, the neck 90 includes a neck support 91 and a neck decoration 92, with the neck decoration 92 being a flexible material such as fabric, and the neck support 91 being a rubber material with a certain elasticity such as silicone, thus utilizing a further anthropomorphic design.

[0110] This application provides a robot, including a robot head 100 as described in any of the above embodiments. In this application, the robot is capable of semi-autonomous or fully autonomous operation and can be applied to homes, shopping malls, restaurants, etc., with no specific application scenario limitation. Based on different application scenarios, robots can be categorized as home service robots, welcoming and guiding robots, food ordering and delivery robots, or disinfection robots, etc., with no specific type restriction.

[0111] The above description is merely a preferred embodiment of this application and is 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 robot head, characterized in that, include: skull; The mask part includes a mask shell, a flexible curved display screen, and a mask. The mask shell is connected to the head shell part and the two together form an internal accommodating space. An opening is provided in the middle region of the mask shell. The flexible curved display screen is disposed in the opening. The mask covers the outer side of the mask shell. The mask is an integral structure and the outer side of the mask is a continuous curved surface.

2. The robot head as described in claim 1, characterized in that, The outer surface of the mask has a dark coating, the thickness of which gradually increases from the center area to the circumferential edge area. The transparency of the center area is greater than that of the circumferential edge area, and the flexible curved display screen displays content to the outside through the center area; and / or, The mask is made of acrylic or polycarbonate.

3. The robot head as described in claim 1, characterized in that, The mask includes a first region, a second region, and a third region. The second region is connected to the outer peripheral edge of the first region, and the third region is connected to the outer peripheral edge of the second region. The first region faces the flexible curved display screen. Along the direction from the circumferential outer edge of the third region to the second region, the third region gradually protrudes in a direction away from the skull. Along the direction from the outer edge of the second region to the first region, the second region gradually indents towards the skull.

4. The robot head as described in claim 3, characterized in that, The first region is a plane; and / or, The first region and the second region have rounded corner transitions, and the second region and the third region have rounded corner transitions; and / or, A stereoscopic vision device is installed within the internal accommodating space, and the stereoscopic vision device faces the first area. ， Used to scan the external environment in front through the first area.

5. The robot head as described in claim 1, characterized in that, The inner side of the mask and the skull portion are respectively formed with a protrusion and a mating portion. An avoidance groove is formed on the mask shell. The protrusion is disposed in the avoidance groove and the protrusion is magnetically connected to the mating portion.

6. The robot head as described in any one of claims 1-5, characterized in that, The robot head also includes a light strip assembly, which is disposed within the internal accommodating space; The skull has two opposite sides with strip-shaped holes, which are inclined towards the mask from top to bottom. The light strip assembly includes light strips, and the light strips of the two light strip assemblies respectively pass through the corresponding strip-shaped holes.

7. The robot head as described in any one of claims 1-5, characterized in that, The robot head also includes a front camera assembly and a rear camera assembly, both of which are located within the internal accommodating space; The rear camera assembly is located on the side of the skull that is away from the mask, and the skull has a rear opening, with the camera of the rear camera assembly facing the rear opening. The front camera assembly is located on the side of the skull near the mask and at the lower end of the skull. The mask housing has a front opening to avoid the camera on the front camera assembly.

8. The robot head as described in any one of claims 1-5, characterized in that, The robot head also includes a steering mechanism. The bottom of the skull is provided with a bottom opening. The steering mechanism is inserted into the skull through the bottom opening and connected to the skull. The steering mechanism includes a support frame, a connecting frame, connecting components, connecting rods, and a drive motor. The support frame is used to connect to the robot's body. There are two connecting components, and both connecting components are rotatably connected to the support frame. The two connecting rods connect the two connecting components to form a parallelogram mechanism. The connecting frame connects one of the connecting components and the inner side of the skull. The drive motor is disposed inside the skull and is connected to the other connecting component. And / or, the robot head also includes a neck, the bottom of the skull is provided with a bottom opening, and the neck is inserted into the skull through the bottom opening; the neck includes a neck support and a neck decoration, the neck decoration is sleeved on the neck support, and the neck decoration is made of flexible material.

9. The robot head as described in claim 1, characterized in that, The robot head includes a skull and a mask, with the mask connected to the skull. The side of the skull where the mask is located is called the front side, and the side of the skull away from the mask is called the rear side of the robot head. The left and right sides of the robot head along the horizontal direction are the left and right sides of the robot head, respectively. The mask part includes a mask housing, a flexible curved display screen, and a mask. The mask housing is connected to the head shell part, and the two together enclose an internal accommodating space. The internal accommodating space can be used to accommodate other components of the robot head. The mask housing and the head shell part are detachably connected by a connector. The head shell part has a front opening on the side facing the mask part, and a connecting area is formed on the circumferential edge of the front opening. A connecting hole is provided on the connecting area. An assembly hole is provided on the mask housing. A connector passes through the assembly hole and is inserted into the corresponding connecting hole to detachably connect the mask housing to the head shell part. The skull and the mask shell are made of lightweight composite materials or high-strength polymer materials; An opening is provided in the middle region of the mask housing, the opening being used to place the flexible curved display screen, and the flexible curved display screen can be configured to cover the opening on the mask housing. The flexible curved display screen can be used to simulate human eye areas or facial expressions, and to display status information. The mask covers the outer side of the mask housing, and the mask is a one-piece structure with a continuous curved surface on its outer side. The outer surface of the mask has a dark coating, and the thickness of the dark coating gradually increases from the center area of ​​the mask to the circumferential edge area of ​​the mask, so that the transparency of the center area of ​​the mask is greater than that of the circumferential edge area of ​​the mask, and the flexible curved display screen can display content to the outside through the center area of ​​the mask. The face mask includes a first region, a second region, and a third region. The second region is connected to the outer peripheral edge of the first region, and the third region is connected to the outer peripheral edge of the second region. The first region faces the flexible curved display screen and forms the middle region of the face mask. Along the direction from the outer edge of the third region to the second region, the third region gradually protrudes away from the skull; along the direction from the outer edge of the second region to the first region, the second region gradually indents towards the skull; the shape of the third region matches the shape of the mask shell, and the third region fits on the mask shell; along the direction from the outer edge of the second region to the first region, the second region gradually indents towards the skull, and the second region indents into the robot head through an opening on the mask shell; The first region is either a plane or a curved surface; The first region and the second region have rounded corner transitions, and the second region and the third region have rounded corner transitions. The robot head also includes a stereo vision device, which is disposed within the internal accommodating space of the robot head. The stereo vision device faces the first area and is used to scan the external environment in front of it through the first area. The circumferential contour of the skull portion facing the mask housing is larger than the circumferential contour of the mask housing, and the difference between the two contours is approximately equal to the thickness of the mask, so as to achieve a smooth connection between the circumferential contour of the mask and the skull portion. The inner side of the mask and the skull portion are respectively formed with a protrusion and a mating portion. An avoidance groove is formed on the mask shell. The protrusion is disposed in the avoidance groove and the protrusion is magnetically connected to the mating portion. The protrusion is located near the top of the inner side of the mask, and a portion of the top of the mask housing is recessed downward to form the clearance groove; one or more protrusions are provided on the inner side of the mask, and one or more mating parts are provided on the skull; the number of protrusions and mating parts are the same and they correspond one-to-one; the protrusions are respectively provided on the corresponding clearance grooves on the mask housing and are magnetically connected to the mating parts. The shape of the clearance groove matches the shape of the protrusion; The robot head also includes a light strip assembly, which is disposed within the internal accommodating space. Two light strip assemblies are respectively disposed within the skull and located on the left and right sides of the skull. The skull portion has two opposite sides with strip-shaped holes, which are inclined towards the mask portion from top to bottom; the light strip assembly includes light strips, and the light strips of the two light strip assemblies pass through the corresponding strip-shaped holes; the shape of the light strip matches the size of the strip-shaped holes; the two light strips are symmetrically arranged on both sides of the second region of the mask, and the two light strips are exposed outside the skull portion to mimic human ears; The outer surface of the light strip is coated with a diffusion coating, and / or the outer surface of the light strip is an etched surface; The skull portion has two opposite sides with recessed grooves, and the strip-shaped hole is disposed in the recessed grooves. The recessed groove includes a first groove portion and a second groove portion, the first groove portion and the second groove portion are connected, the second groove portion is disposed on the side of the first groove portion near the mask portion, the first groove portion is strip-shaped, and the first groove portion is inclined towards the mask portion in the direction from top to bottom, and the strip-shaped hole is disposed in the first groove portion; the depth of the second groove portion gradually decreases in the direction from near the first groove portion to away from the first groove portion, and the edge of the second groove portion away from the first groove portion is arc-shaped. The robot head also includes a front camera assembly and a rear camera assembly, both located within the internal accommodating space. The rear camera assembly is positioned on the side of the skull facing away from the mask, and the skull has a rear opening with the camera of the rear camera assembly facing the rear opening. The front camera assembly is positioned on the side of the skull near the mask and near the lower end of the skull, with a front opening on the mask to avoid the camera on the front camera assembly. The front camera assembly is positioned at the chin of the robot head, and the rear camera assembly is positioned at the back of the robot head. The robot head also includes a steering mechanism. The bottom of the skull is provided with a bottom opening. The steering mechanism is inserted into the skull through the bottom opening and connected to the skull. The steering mechanism includes a support frame, a connecting frame, connecting components, connecting rods, and a drive motor. The support frame is used to connect to the robot's body. There are two connecting components, and both connecting components are rotatably connected to the support frame. The two connecting rods connect the two connecting components to form a parallelogram mechanism. The connecting frame connects one of the connecting components and the inner side of the skull. The drive motor is disposed inside the skull and is connected to the other connecting component. The robot head also includes a neck for connecting to the robot's body. The bottom of the skull has a bottom opening through which the neck is inserted. The diameter of the bottom opening is larger than the outer diameter of the neck. The neck includes a neck support and a neck decorative part, the neck decorative part being sleeved on the neck support, and the neck decorative part being made of a flexible material; A speaker is also provided on the inner side of the neck support, and a sound outlet is provided on the neck support to cooperate with the speaker; two speakers are arranged side by side in the horizontal direction on the inner side of the neck support.

10. A robot, characterized in that, The robot head includes any one of claims 1-9.

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