Head structure and robot

Abstract

The utility model discloses a head structure and robot, the head structure includes: support component, at least one accommodating cavity is formed to support component, at least one speaker component, the speaker component includes speaker module and first cover, speaker module is located in the accommodating cavity, the first cover is set up with a plurality of through -hole, the first cover is connected with support component to close the accommodating cavity, and the through -hole is linked together with the accommodating cavity. The technical scheme provided in the application makes the interaction between the robot and the human more natural and intuitive when simulating human speech, and helps the user to clearly hear the sound emitted by the robot, so as to solve the problem of unclear sound when the robot interacts with the human, thereby the perception interaction range can be improved.

Description

Technical Field

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

[0002] In existing technologies, the speakers of humanoid robots are usually placed on the chest cavity structure, with the speakers positioned relatively low. When the robot interacts with the user, the sound emitted by the robot is relatively low, which makes it difficult for the user to hear the robot's voice clearly, and may lead to the loss of details during communication. Utility Model Content

[0003] The purpose of this application is to provide a head structure and a robot.

[0004] According to a first aspect of the embodiments of this application, a head structure is provided, comprising:

[0005] A support assembly having at least one receiving cavity;

[0006] At least one speaker assembly, the speaker assembly including a speaker module and a first cover plate, the speaker module being disposed in the receiving cavity, the first cover plate having a plurality of through holes, the first cover plate being connected to the bracket assembly to close the receiving cavity, the through holes communicating with the receiving cavity.

[0007] Optionally, the speaker assembly further includes a second cover plate with a clearance hole. The second cover plate is located on the side of the first cover plate away from the receiving cavity. The second cover plate is engaged with the bracket assembly, and the clearance hole is disposed opposite to the plurality of through holes.

[0008] Optionally, the speaker module includes a plurality of first connecting parts, the bracket assembly is provided with a plurality of second connecting parts in the receiving cavity, the speaker module and the bracket assembly are connected at the first connecting parts and the second connecting parts, and a vibration damping member is provided between the first connecting parts and the second connecting parts.

[0009] Optionally, the first connecting portion is provided with a first mounting hole, and the second connecting portion is provided with a second mounting hole;

[0010] The vibration damper includes a first part, a second part, and a third part. The second part connects the first part and the third part. The first part is located between the first connecting portion and the second connecting portion. The second part connects the first part and the third part. The second part is located in the first mounting hole. The third part is located on the side of the first connecting portion away from the second connecting portion.

[0011] The vibration damper has a third mounting hole that passes through the first part, the second part, and the third part. The connecting rod passes through the third mounting hole and the second mounting hole, and the end of the connecting rod abuts against the third part.

[0012] Optionally, there is a gap between the speaker module and the receiving cavity.

[0013] Optionally, the distance between the speaker module and the receiving cavity ranges from 1mm to 3mm.

[0014] Optionally, the speaker module includes a first housing, a second housing, and a speaker unit. The first housing has a groove, the second housing has a connecting end located in the groove, and the speaker unit is located between the first housing and the second housing.

[0015] Optionally, a sealing ring is provided between the groove and the connecting end.

[0016] Optionally, the first cover plate includes a third connecting portion and a sound-emitting portion, the third connecting portion surrounding the sound-emitting portion, the through hole being formed in the sound-emitting portion, the third connecting portion being connected to the bracket assembly, and the sound-emitting portion facing the speaker module;

[0017] A step is formed between the third connecting part and the sound-emitting part, and the inner wall of the clearance hole abuts against the step.

[0018] Optionally, the support assembly has a third cavity formed inside, which is not in communication with the receiving cavity.

[0019] Optionally, the support assembly forms two receiving cavities, which are disposed opposite to each other;

[0020] The head structure includes two speaker assemblies, wherein the speaker module of one speaker assembly is disposed in one of the receiving cavities, and the speaker module of the other speaker assembly is disposed in the other receiving cavity.

[0021] According to a second aspect of the embodiments of this application, a robot is provided, including the head structure described above.

[0022] One technical advantage of this application embodiment is that by placing the speaker module on the head structure, the interaction between the robot and the human can be made more natural and intuitive when simulating human speech; and it helps users hear the sound emitted by the robot clearly, thereby solving the problem of unclear sound when the robot interacts with the human, and thus improving the range of perception and interaction.

[0023] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0025] Figure 1 This is a schematic diagram of the head structure in an embodiment of this application;

[0026] Figure 2 for Figure 1 A magnified view of section AA in the image;

[0027] Figure 3 for Figure 2 A magnified view of point B in the image;

[0028] Figure 4 This is a schematic diagram of the head structure in an embodiment of this application;

[0029] Figure 5 for Figure 4 A magnified view of the area at CC in the image;

[0030] Figure 6 for Figure 5 A magnified view of a portion of point D in the image;

[0031] Figure 7 This is a schematic diagram of the head structure in an embodiment of this application;

[0032] Figure 8 This is a schematic diagram of the structure of the first cover plate in an embodiment of this application;

[0033] Figure 9 This is a schematic diagram of the structure of the second cover plate in an embodiment of this application;

[0034] Figure 10 This is a schematic diagram of the speaker module in the embodiments of this application;

[0035] Figure 11 This is a schematic diagram of the speaker module in the embodiments of this application;

[0036] Figure 12 for Figure 11 A magnified view of the EE section in the image.

[0037] Explanation of reference numerals in the attached drawings: Head structure 100; Support assembly 1; Receiving cavity 11; Left receiving cavity 11a; Right receiving cavity 11b; Slot 12; Second connecting part 13; Second mounting hole 131; Third cavity 14; Speaker assembly 2; Left speaker assembly 2a; Right speaker assembly 2b; Speaker module 21; Speaker unit 211; First housing 212; Groove 2121; First cavity 2122; Second housing 213; Connecting end 2131; Second cavity 2132; Sealing ring 214; First connecting part 215; First mounting hole 2151; Total cavity 216; First cover plate 22; Third connecting part 221; Sound outlet 222; Through hole 2221; Step 223; Second cover plate 23; Clearance hole 231; Buckle 232; Vibration damping component 24; First part 241; Second part 242; Third part 243; Third mounting hole 244; Connecting rod 25. Detailed Implementation

[0038] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0039] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0040] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0041] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0042] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0043] First, it should be noted that the left and right directions mentioned in the embodiments of this application are referred to in the appendix. Figure 4 The marked direction.

[0044] like Figures 1-12As shown, according to a first aspect of the present application, a head structure 100 is provided, including a support assembly 1 and at least one speaker assembly 2; the support assembly 1 forms at least one receiving cavity 11; the speaker assembly 2 includes a speaker module 21 and a first cover plate 22, the speaker module 21 is disposed in the receiving cavity 11, the first cover plate 22 has a plurality of through holes 2221, the first cover plate 22 is connected to the support assembly 1 to close the receiving cavity 11, and the through holes 2221 communicate with the receiving cavity 11.

[0045] like Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, the head structure 100 includes a support assembly 1 and at least one speaker assembly 2; wherein, the support assembly 1 is the shell of the head structure 100, and the support assembly 1 can be a one-piece molded part, or it can be formed by connecting multiple parts (for example, the support assembly 1 includes a left support, a front support, a rear support and a right support, the left support and the right support are connected, the front support is connected to the left support and the right support, and the rear support is connected to the left support and the right support, thereby forming a shell similar to a human skull).

[0046] To further explain, such as Figures 1-8 As shown, the speaker assembly 2 includes a speaker module 21 and a first cover plate 22; wherein, the speaker module 21 is disposed in the receiving cavity 11, the first cover plate 22 is connected to the bracket assembly 1, the first cover plate 22 is used to close the receiving cavity 11, and the first cover plate 22 is provided with a plurality of through holes 2221, each through hole 2221 communicating with the receiving cavity 11, and the vibration of the speaker module 21 is transmitted through the through hole 2221.

[0047] In this embodiment, the speaker module 21 is placed on the head structure 100, which makes the interaction between the robot and the human more natural and intuitive when simulating human speech. The speaker module 21 is placed on the head structure, which helps the user hear the sound emitted by the robot clearly, so as to solve the problem of unclear sound when the robot interacts with the human, thereby improving the range of perception and interaction.

[0048] In one alternative implementation, such as Figure 1 , Figure 3 , Figure 6 and Figure 9As shown, the speaker assembly 2 also includes a second cover plate 23, which has a clearance hole 231. The second cover plate 23 is located on the side of the first cover plate 22 away from the receiving cavity 11. The second cover plate 23 is snapped into the bracket assembly 1. The clearance hole 231 is opposite to the plurality of through holes 2221. Specifically, the axial direction of the clearance hole 231 is the same as the left-right direction. The second cover plate 23 is located on the side of the first cover plate 22 away from the receiving cavity 11. The second cover plate 23 is snapped into the bracket assembly 1. The second cover plate 23 can cover the connecting screws between the first cover plate 22 and the bracket assembly 1. The opposite arrangement of the clearance hole 231 and the plurality of through holes 2221 means that the clearance hole 231 avoids the plurality of through holes 2221 and will not block the plurality of through holes 2221, thereby not affecting the sound of the speaker module 21 being transmitted through the through holes 2221.

[0049] In one alternative implementation, such as Figure 7 and Figure 9 As shown, the bracket assembly 1 is provided with a plurality of spaced slots 12, and the second cover plate 23 is provided with a plurality of spaced buckles 232, one of the buckles 232 engaging with one of the slots 12; thereby installing the second cover plate 23 and the bracket assembly 1 together.

[0050] In another alternative embodiment, the bracket assembly 1 is provided with a plurality of spaced-apart buckles, and the second cover plate 23 is provided with a plurality of spaced-apart slots, with one buckle engaging with one slot; thereby installing the second cover plate 23 together with the bracket assembly 1.

[0051] In one alternative implementation, such as Figure 6 , Figure 7 , Figure 10 , Figure 11 and Figure 12As shown, the speaker module 21 includes a plurality of first connecting portions 215, and the bracket assembly 1 is provided with a plurality of second connecting portions 13 within the receiving cavity 11. The speaker module 21 and the bracket assembly 1 are connected at the first connecting portions 215 and the second connecting portions 13. A damping member 24 is provided between one first connecting portion 215 and the second connecting portion 13. Specifically, the plurality of first connecting portions 215 are spaced apart, and the plurality of second connecting portions 13 are spaced apart within the receiving cavity 11. The speaker module 21 and the bracket assembly 1 are connected at the first connecting portions 215 and the second connecting portions 13. The connection is made at the joint 13, and a vibration damping member 24 is provided between the first connection 215 and the second connection 13. Since the speaker module 21 will vibrate when it is working, these vibrations may resonate with the bracket assembly 1. Resonance can cause sound distortion, blurred sound quality or additional noise. By setting the vibration damping member 24, the speaker module 21 can be isolated from the bracket assembly 1, which can effectively reduce the occurrence of resonance, thereby improving the clarity and purity of the sound quality. It can also prevent vibration transmission to reduce interference to other components (e.g., cameras, sensors or displays) set on the bracket assembly 1.

[0052] The vibration damping component 24 can be made of rubber, silicone or foam.

[0053] In one alternative implementation, such as Figure 6 , Figure 7 , Figure 10 , Figure 11 and Figure 12 As shown, the first connecting part 215 is provided with a first mounting hole 2151, and the second connecting part 13 is provided with a second mounting hole 131; specifically, the axial direction of the first mounting hole 2151 is the same as the left-right direction, and the axial direction of the second mounting hole 131 is the same as the left-right direction.

[0054] Further explanation: the vibration damper 24 includes a first part 241, a second part 242, and a third part 243. The second part 242 connects the first part 241 and the third part 243. The first part 241 is located between the first connecting portion 215 and the second connecting portion 13. The second part 242 is located in the first mounting hole 2151. The third part 243 is located on the side of the first connecting portion 215 away from the second connecting portion 13. The vibration damper 24 has a third mounting hole 244 that penetrates the first part 241, the second part 242, and the third part 243. The connecting rod 25 passes through the third mounting hole 244 and the second mounting hole 131, and the end of the connecting rod 25 abuts against the third part 243. Specifically, the vibration damper 24 has a third mounting hole 244, and the third mounting hole 244... The axial direction is the same as that of the first mounting hole 2151. The damping member 24 includes a first part 241, a second part 242, and a third part 243. The second part 242 connects the first part 241 and the third part 243. The first part 241 is located between the first connecting part 215 and the second connecting part 13. The third part 243 is located on the side of the first connecting part 215 away from the second connecting part 13. The second connecting part 13 is located inside the first mounting hole 2151. The connecting rod 25 passes through the third part 243 into the third mounting hole 244 and the second mounting hole 131 to connect the first connecting part 215 and the second connecting part 13, thereby connecting the speaker module 21 and the bracket assembly 1. In this embodiment, by using a damping member 24, the connecting rod 25 can be separated from the first connecting part 215, as well as the first connecting part 215 and the second connecting part 13, which can reduce the number of components used and improve installation efficiency.

[0055] In an optional embodiment, the first connecting portion 215 is provided with an opening that communicates with the first mounting hole 2151. The second part 242 of the damper 24 is installed into the first mounting hole 2151 at the opening. The first part 241 of the damper 24 is located on the side of the first connecting portion 215 closer to the second connecting portion 13, and the third part 243 of the damper 24 is located on the side of the first connecting portion 215 away from the second connecting portion 13.

[0056] In one alternative embodiment, there is a gap between the speaker module 21 and the receiving cavity 11; specifically, this prevents the speaker module 21 from contacting the support assembly 1 when it vibrates, and prevents the support assembly 1 from contacting the speaker module 21 when it vibrates, thereby avoiding mutual interference.

[0057] In one alternative embodiment, the distance between the speaker module 21 and the receiving cavity 11 is in the range of 1mm-3mm; within this distance range, mutual interference can be avoided without increasing the size of the head structure 100.

[0058] In one alternative implementation, such as Figures 10-12 As shown, the speaker module 21 includes a first housing 212, a second housing 213, and a speaker unit 211. The first housing 212 has a groove 2121, and the second housing 213 has a connecting end 2131 located in the groove 2121. The speaker unit 211 is located between the first housing 212 and the second housing 213. Specifically, a first cavity 2122 is formed inside the first housing 212, and a second cavity 2132 is formed inside the second housing 213. The first housing 212 faces the second housing 213. A groove 2121 is provided on one side wall of the 13. The side of the second housing 213 facing the first housing 212 is the connecting end 2131, which is located in the groove 2121. The first housing 212 is connected to the second housing 213, and the first cavity 2122 and the second cavity 2132 form a total cavity 216. The speaker unit 211 is mounted on the first housing 212 and the second housing 213. The first housing 212 and the second housing 213 provide installation space for the speaker unit 211, and the total cavity 216 can also improve the sound quality.

[0059] In an optional embodiment, a sealing ring 214 is provided between the groove 2121 and the connecting end 2131 to prevent external impurities from entering the interior of the first housing 212 and the second housing 213.

[0060] In one alternative implementation, such as Figure 1 , Figure 6 , Figure 8 and Figure 9As shown, the first cover plate 22 includes a third connecting portion 221 and a sound-emitting portion 222. The third connecting portion 221 is arranged around the sound-emitting portion 222, and the through hole 2221 is opened in the sound-emitting portion 222. The third connecting portion 221 is connected to the bracket assembly 1, and the sound-emitting portion 222 faces the speaker module 21. A step 223 is formed between the third connecting portion 221 and the sound-emitting portion 222, and the inner wall of the clearance hole 231 abuts against the step 223. Specifically, the third connecting portion 221 is arranged around the sound-emitting portion 222, that is, the third connecting portion 221 is annular, and the sound-emitting portion 222 is located in the inner circle of the third connecting portion 221. The step 223 is provided between the third connecting portion 221 and the sound-emitting portion 222, which can be understood as the sound-emitting portion 222 being annular in the left-right direction. 2. The third connecting part 221 protrudes from the first cover plate 22 and is connected to the bracket assembly 1 by screws. The second cover plate 23 is provided with a clearance hole 231. The second cover plate 23 is located on the side of the first cover plate 22 away from the receiving cavity 11. The clearance hole 231 of the second cover plate 23 is opposite to the sound outlet 222. The second cover plate 23 can cover the third connecting part 221, thereby covering the connecting screws between the third connecting part 221 and the bracket assembly 1. The step 223 between the third connecting part 221 and the sound outlet 222 abuts against the inner wall of the clearance hole 231. In the left and right direction, the sound outlet 222 is flush with the second cover plate 223, thereby reducing the gap between the first cover plate 22 and the second cover plate 23, preventing dust from entering between the first cover plate 22 and the second cover plate 23, and making the speaker assembly 2 more aesthetically pleasing.

[0061] In one alternative implementation, such as Figure 5 As shown, a third cavity 14 is formed inside the bracket assembly 1. The third cavity 14 is not connected to the receiving cavity 11. Specifically, the third cavity 14 is used to house components such as the display module, camera module, and circuit board of the head structure 100. Even if other components are installed, there is still a certain space inside the third cavity 14. The speaker module 21 is set inside the receiving cavity 11. The speaker module 21, together with the third cavity 14 inside the bracket assembly 1, can increase the sound cavity, thereby improving the sound quality of the speaker module 21.

[0062] like Figure 2 , Figure 4 and Figure 5 As shown, in an optional embodiment, the support assembly 1 forms two receiving cavities 11, which are arranged opposite to each other; specifically, the two receiving cavities 11 are arranged opposite to each other in the left-right direction, and the two receiving cavities 11 are labeled as left receiving cavity 11a and right receiving cavity 11b.

[0063] The head structure 100 includes two speaker assemblies 2. The speaker module 21 of one speaker assembly 2 is disposed in one of the receiving cavities 11, and the speaker module 21 of the other speaker assembly 2 is disposed in the other receiving cavity 11. Specifically, the two speaker assemblies 2 are designated as a left speaker assembly 2a and a right speaker assembly 2b. The speaker module 21 of the left speaker assembly 2a is disposed within the left receiving cavity 11a, and a first cover plate 22 of the left speaker assembly 2a closes the left receiving cavity 11a. The speaker module 21 of the right speaker assembly 2b is disposed within the right receiving cavity 11b, and a first cover plate 22 of the right speaker assembly 2b closes the right receiving cavity 11b. In this embodiment, the two speaker assemblies 2 are arranged to mimic the two ears of a human body, thereby further improving the range of sensory interaction between the user and the robot.

[0064] In one embodiment having two receiving cavities 11, the cavity formed inside the support assembly 1 is located between the two receiving cavities 11.

[0065] According to a second aspect of the embodiments of this application, a robot is provided, including the head structure 100 described above.

[0066] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A head structure, characterized by, include: A support assembly having at least one receiving cavity; At least one speaker assembly, the speaker assembly including a speaker module and a first cover plate, the speaker module being disposed in the receiving cavity, the first cover plate having a plurality of through holes, the first cover plate being connected to the bracket assembly to close the receiving cavity, the through holes communicating with the receiving cavity.

2. The head structure according to claim 1, characterized in that, The speaker assembly further includes a second cover plate with a clearance hole. The second cover plate is located on the side of the first cover plate away from the receiving cavity. The second cover plate is snapped into the bracket assembly, and the clearance hole is arranged opposite to the plurality of through holes.

3. The head structure according to claim 1, characterized in that, The speaker module includes multiple first connecting parts, and the bracket assembly has multiple second connecting parts in the receiving cavity. The speaker module and the bracket assembly are connected at the first connecting parts and the second connecting parts, and a vibration damping member is provided between the first connecting parts and the second connecting parts.

4. The head structure according to claim 3, characterized in that, The first connecting part is provided with a first mounting hole, and the second connecting part is provided with a second mounting hole; The vibration damper includes a first part, a second part, and a third part. The second part connects the first part and the third part. The first part is located between the first connecting portion and the second connecting portion. The second part connects the first part and the third part. The second part is located in the first mounting hole. The third part is located on the side of the first connecting portion away from the second connecting portion. The vibration damper has a third mounting hole that passes through the first part, the second part, and the third part. The connecting rod passes through the third mounting hole and the second mounting hole, and the end of the connecting rod abuts against the third part.

5. The head structure according to claim 1, characterized in that, There is a gap between the speaker module and the receiving cavity.

6. The head structure according to claim 5, characterized in that, The distance between the speaker module and the receiving cavity ranges from 1mm to 3mm.

7. The head structure according to claim 1, characterized in that, The speaker module includes a first housing, a second housing, and a speaker unit. The first housing has a groove, the second housing has a connecting end located in the groove, and the speaker unit is located between the first housing and the second housing.

8. The head structure according to claim 7, characterized in that, A sealing ring is provided between the groove and the connecting end.

9. The head structure according to claim 2, characterized in that, The first cover plate includes a third connecting portion and a sound-emitting portion. The third connecting portion surrounds the sound-emitting portion, the through hole is formed in the sound-emitting portion, the third connecting portion is connected to the bracket assembly, and the sound-emitting portion faces the speaker module. A step is formed between the third connecting part and the sound-emitting part, and the inner wall of the clearance hole abuts against the step.

10. The head structure according to claim 1, characterized in that, The support assembly has a third cavity inside, which is not in communication with the receiving cavity.

11. The head structure according to any one of claims 1-10, characterized in that, The support assembly forms two receiving cavities, which are arranged opposite to each other. The head structure includes two speaker assemblies, wherein the speaker module of one speaker assembly is disposed in one of the receiving cavities, and the speaker module of the other speaker assembly is disposed in the other receiving cavity.

12. A robot, characterized in that, Includes the head structure as described in any one of claims 1-11.

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