A robot head structure and a robot

Abstract

The utility model provides a kind of robot head structure and robot, the robot head structure includes: shell, shell is equipped with air inlet and air outlet;Substrate, substrate is located in the accommodating cavity of shell;Driving assembly, driving assembly is equipped at air outlet, the driving end of driving assembly is connected with substrate, and driving assembly is used to drive substrate to rotate around horizontal axis;Control assembly, control assembly includes control panel, and control panel is connected with substrate;Radiating fan, radiating fan is located in the accommodating cavity of shell, and radiating fan is connected with substrate.In the above scheme, radiating fan cooperates with the air inlet and air outlet on shell, realizes the synchronous heat dissipation of driving assembly and control assembly, solves the heat dissipation problem of robot head in prior art.

Description

Technical Field

[0001] This utility model relates to the technical field of humanoid robots, and more specifically, to a robot head structure and a robot. Background Technology

[0002] With the development of technology, robots have been widely used in industries such as home, medical care, catering, and construction, bringing many conveniences to people's lives and production.

[0003] In existing technologies, when a robot's head performs actions, its internal actuators, drive mechanisms, detection mechanisms, and control mechanisms all generate a large amount of heat. If this heat is not dissipated in time, the robot's operation will face the risk of paralysis.

[0004] There is currently no effective solution to the technical problem of how to dissipate heat from the robot's head in existing technologies. Utility Model Content

[0005] The main objective of this invention is to provide a robot head structure and a robot to solve the technical problem of how to dissipate heat from the robot head in the prior art.

[0006] To achieve the above objectives, according to one aspect of the present invention, a robot head structure is provided, comprising: a shell having an air inlet and an air outlet; a base plate having a receiving cavity within the shell; a drive assembly having a drive end connected to the base plate at the air outlet, the drive assembly being used to drive the base plate to rotate around a horizontal axis; a control assembly having a control board connected to the base plate; and a cooling fan having a cooling fan having a receiving cavity within the shell and being connected to the base plate.

[0007] Furthermore, the substrate divides the receiving cavity into a first chamber and a second chamber, which are connected. An air inlet is formed on the side wall of the second chamber, a control board is located in the first chamber, and a cooling fan is located in the second chamber.

[0008] Furthermore, the substrate has a hollow structure in the middle, and the cooling fan and control board are respectively arranged opposite to the hollow structure.

[0009] Furthermore, the cooling fan is connected to the substrate via the first connector, forming a first airflow space between the cooling fan and the substrate.

[0010] Furthermore, the control board is connected to the substrate via a second connector, forming a second airflow space between the control board and the substrate.

[0011] Furthermore, a protective plate is provided in the first chamber, the protective plate is connected to the base plate, and a first installation space is formed between the protective plate and the base plate, and the control plate is located in the first installation space.

[0012] Furthermore, the drive assembly includes: a mounting base having a mounting cavity with the axis of the mounting cavity extending horizontally; a joint motor connected to the mounting base, a portion of the joint motor being disposed within the mounting cavity, and the axis of the drive shaft of the joint motor extending horizontally; and a connecting base connected to the base plate and connected to the drive shaft of the joint motor.

[0013] Furthermore, the connecting seat includes: a first ear plate, the first ear plate having a plurality of first connecting holes, the first ear plate abutting against the first end of the drive shaft, and fasteners locking the first ear plate and the drive shaft through the first connecting holes.

[0014] Furthermore, the connecting seat also includes: a second ear plate, which forms a second mounting space with the first ear plate, a joint motor is disposed in the second mounting space, the second ear plate is provided with a second connecting hole, the edge of the second connecting hole is provided with a first opening, the second end of the drive shaft extends into the second connecting hole through the first opening, the second end of the drive shaft is interference-fitted with the second connecting hole through a bushing, the second end of the drive shaft is provided with a baffle, the baffle is detachably connected to the end face of the drive shaft, and the baffle abuts against the bushing.

[0015] According to another aspect of the present invention, a robot is provided, the robot including the robot head structure described above.

[0016] By applying the technical solution of this utility model, the substrate inside the housing is used to fix the drive component, control component, and cooling fan. The drive component is located at the air outlet of the housing. That is, when the cooling fan is working, airflow enters the housing from the air inlet, flows through the control board to remove the heat generated by the control board, and flows out from the air outlet, exchanging heat with the drive component to remove the heat generated by the drive component. In the above solution, the cooling fan cooperates with the air inlet and air outlet on the housing to achieve synchronous heat dissipation of the drive component and the control component, solving the heat dissipation problem of the robot head in the prior art. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0018] Figure 1 An exploded view of the robot head structure in this invention is shown;

[0019] Figure 2 A three-dimensional schematic diagram of the robot head structure in this utility model is shown;

[0020] Figure 3 The diagram shows a right-side view of the robot head structure in this invention.

[0021] The above figures include the following reference numerals:

[0022] 1. Protective panel;

[0023] 11. First installation space; 12. Ventilation hole;

[0024] 2. Substrate;

[0025] 21. Hollowed-out structure;

[0026] 3. Driver components;

[0027] 31. Mounting base; 311. First limiting block; 312. Second limiting block; 32. Joint motor; 33. Connecting base; 331. First ear plate; 3311. First connecting hole; 332. Second ear plate; 3321. Second connecting hole; 34. Baffle; 35. Flange; 36. Bushing;

[0028] 4. Control components;

[0029] 41. Control board; 42. Second connector; 5. Cooling fan; 51. First connector.

[0030] 6. First airflow guide space;

[0031] 7. Second air guide space. Detailed Implementation

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0036] Combination Figures 1 to 3 As shown, according to a specific embodiment of this application, a robot head structure is provided.

[0037] Specifically, the robot head structure includes: a shell, a drive assembly 3, a control assembly 4, and a cooling fan 5. The shell has an air inlet and an air outlet, and the base plate 2 is disposed within the receiving cavity of the shell. The drive assembly 3 is located at the air outlet, and its drive end is connected to the base plate 2. The drive assembly 3 is used to drive the base plate 2 to rotate around a horizontal axis. The control assembly 4 includes a control board 41, which is connected to the base plate 2. The cooling fan 5 is disposed within the receiving cavity of the shell and is connected to the base plate 2.

[0038] In the embodiments of this application, the substrate 2 inside the housing is used to fix the drive assembly 3, the control assembly 4, and the cooling fan 5. The drive assembly 3 is located at the air outlet of the housing. That is, when the cooling fan 5 is working, airflow enters the housing from the air inlet, flows through the control board 41 to remove the heat generated by the control board 41, and flows out from the air outlet, exchanging heat with the drive assembly 3 to remove the heat generated by the drive assembly 3. In the above solution, the cooling fan 5 cooperates with the air inlet and air outlet on the housing to achieve synchronous heat dissipation of the drive assembly 3 and the control assembly 4, solving the heat dissipation problem of the robot head in the prior art.

[0039] It is understandable that the substrate 2 is located inside the housing, and the drive component 3 drives the substrate 2 to rotate around the horizontal axis. That is, the substrate 2, together with the housing, control component 4 and other components located inside the housing, can perform pitching motion synchronously.

[0040] In one exemplary embodiment of this application, the housing includes a front housing and a rear housing. The front housing corresponds to the robot's face, and the rear housing corresponds to the robot's back of the head. The housing has an air inlet and an air outlet, with the air inlet located in the rear housing and the air outlet located at the bottom of the housing. The base plate 2 is disposed within the housing's receiving cavity and is positioned close to the front housing. The control board 41 of the control assembly 4 is connected to the base plate 2 and is positioned close to the front housing. The cooling fan 5 is connected to the base plate 2 and is positioned close to the rear housing. The drive assembly 3 is located at the air outlet, corresponding to the robot's neck. The drive end of the drive assembly 3 is connected to the base plate 2, and the drive assembly 3 can drive the base plate 2 to rotate around a horizontal axis, that is, the drive assembly 3 can drive the robot's head to perform pitching movements.

[0041] Furthermore, the substrate 2 divides the receiving cavity into a first chamber and a second chamber, which are connected. An air inlet is formed on the side wall of the second chamber, a control board 41 is disposed in the first chamber, and a cooling fan 5 is disposed in the second chamber.

[0042] In the embodiments of this application, the substrate 2 divides the housing into two chambers. The control board 41 is disposed in the first chamber as a heat-generating component, and the cooling fan 5 is disposed in the second chamber as a heat-dissipating component. The air inlet is formed on the side wall of the second chamber. Outside air is directly drawn into the cooling fan 5 through the air inlet. After being cooled by the cooling fan 5, it diffuses into the first chamber to exchange heat with the control board 41, thereby achieving effective heat dissipation of the control board 41.

[0043] like Figure 2 , Figure 3 As shown, the substrate 2 is disposed within the receiving cavity of the housing, dividing the receiving cavity into a first chamber and a second chamber. A flow gap is formed between the edge of the substrate 2 and the housing, and the first chamber communicates with the second chamber through the flow gap. An air inlet is formed on the side wall of the second chamber. Outside air is directly drawn into the cooling fan 5 through the air inlet, cooled by the cooling fan 5, and then diffused into the first chamber through the flow gap to exchange heat with the control board 41.

[0044] Furthermore, a hollow structure 21 is provided in the middle of the substrate 2, and the cooling fan 5 and the control board 41 are respectively arranged opposite to the hollow structure 21.

[0045] In the embodiments of this application, the hollow structure 21 in the middle of the substrate 2 serves as a guide air duct, so that the cooling airflow blown out by the cooling fan 5 directly acts on the control board 41 after passing through the hollow structure 21, so as to avoid airflow loss and eddy current dissipation caused by factors such as bending and baffle 34 in the guide air duct, thereby improving the heat dissipation effect of the control board 41.

[0046] like Figure 2 , Figure 3 As shown, the hollow structure 21 in the middle of the substrate 2 is a through hole formed in the middle of the substrate 2. This hollow structure 21 not only serves as a flow channel, but also reduces the overall weight of the substrate 2. The shape of the hollow structure 21 is not limited and can be a square hole or a round hole, etc. The control board 41 is connected to the substrate 2 and is located in the first chamber. The control board 41 covers at least part of the hollow structure 21. The cooling fan 5 is connected to the substrate 2 and is located in the second chamber. The cooling fan 5 covers at least part of the hollow structure 21. That is, the air outlet of the cooling fan 5 is arranged opposite to the hollow structure 21, so that the airflow cooled by the cooling fan 5 passes through the hollow structure 21 and directly exchanges heat with the control board 41.

[0047] Furthermore, the cooling fan 5 is connected to the substrate 2 via the first connector 51, and a first airflow space 6 is formed between the cooling fan 5 and the substrate 2.

[0048] In the embodiments of this application, a first airflow space 6 is formed between the cooling fan 5 and the substrate 2. A portion of the airflow cooled by the cooling fan 5 enters the first chamber and exchanges heat with the components in the first chamber. A portion of the airflow cooled by the cooling fan 5 exchanges heat with the components located in the second chamber, thereby achieving synchronous heat dissipation of the components in the two chambers of the housing.

[0049] like Figure 1 , Figure 2 , Figure 3 As shown, the first connector 51 is a connecting plate. The side of the cooling fan 5 is connected to the side of the substrate 2 through multiple first connectors 51. A first airflow space 6 is formed between the cooling fan 5 and the substrate 2, and a first airflow hole is formed between two adjacent first connectors 51. The external space is drawn into the cooling fan 5 through the air inlet. After being cooled by the cooling fan 5, part of the cooling airflow enters the second chamber through the hollow structure 21 on the substrate 2, part of the cooling airflow diffuses into the second chamber through the first airflow hole, and part of the airflow flows into the second chamber through the flow gap between the substrate 2 and the shell. The airflow finally flows out from the air outlet, while exchanging heat with the drive component 3.

[0050] Furthermore, the control board 41 is connected to the substrate 2 via the second connector 42, and a second air guide space 7 is formed between the control board 41 and the substrate 2.

[0051] In the embodiments of this application, a second air guide space 7 is formed between the control board 41 and the substrate 2. The cooled airflow first enters the second air guide space 7, part of the airflow exchanges heat with the control board 41, and part of the airflow diffuses to the entire first chamber, thereby fully dissipating heat from other components in the first chamber.

[0052] like Figure 1 , Figure 2 , Figure 3 As shown, the second connector 42 is a connecting post formed on the substrate 2. The second connector 42 is perpendicular to the substrate 2. The control plate 41 is connected to the substrate 2 through multiple second connectors 42. A second airflow space 7 is formed between the control plate 41 and the substrate 2. A second airflow hole is formed between two adjacent second connectors 42. Part of the airflow in the second airflow space 7 exchanges heat with the control plate 41, and part of the airflow in the second airflow space 7 diffuses into the entire first chamber through the second airflow hole.

[0053] Furthermore, a protective plate 1 is provided in the first chamber, the protective plate 1 is connected to the substrate 2, and a first installation space 11 is formed between the protective plate 1 and the substrate 2. The control plate 41 is located in the first installation space 11.

[0054] In the embodiments of this application, the protective plate 1 is provided to absorb collision energy and prevent the shell from being damaged by the collision.

[0055] like Figure 1 , Figure 2 , Figure 3 As shown, the protective plate 1 has a bent structure. It is disposed within the first cavity and adapted to the curvature of the front shell. The protective plate 1 is connected to the base plate 2, forming a first mounting space 11 between them. The control board 41 is located within the first mounting space 11. The protective plate 1 has multiple ventilation holes 12 that communicate with the first mounting space 11, providing ventilation and heat dissipation for the control board 41 within the first mounting space 11.

[0056] Furthermore, the drive assembly 3 includes: a mounting base 31, a joint motor 32, and a connecting base 33. The mounting base 31 has a mounting cavity, the axis of which extends horizontally. The joint motor 32 is connected to the mounting base 31, a portion of which is located within the mounting cavity, and the axis of the drive shaft of the joint motor 32 extends horizontally. The connecting base 33 is connected to the base plate 2 and is connected to the drive shaft of the joint motor 32.

[0057] In the embodiments of this application, the mounting base 31, the joint motor 32, and the connecting base 33 are integrated together to form the drive assembly 3. The joint motor 32 is connected to the mounting base 31, the connecting base 33 is connected to the drive shaft of the joint motor 32, the mounting base 31 is connected to the upper body of the robot, and the connecting base 33 is connected to the base plate 2, which simplifies the assembly structure of the drive assembly 3 and other components.

[0058] Specifically, the connector 33 includes: a first ear plate 331, the first ear plate 331 having a plurality of first connecting holes 3311, the first ear plate 331 abutting against the first end of the drive shaft, and fasteners locking the first ear plate 331 to the drive shaft through the first connecting holes 3311.

[0059] In the embodiments of this application, the connecting seat 33 is connected to the first end of the drive shaft through the first ear plate 331, so as to realize the fixed connection between the connecting seat 33 and the drive shaft, so as to realize the joint motor 32 to drive the base plate 2 to rotate.

[0060] like Figure 1 , Figure 2 As shown, the first ear plate 331 has a through hole, which is used for positioning and engaging with the drive shaft of the joint motor 32, i.e., part of the drive shaft extends into the through hole. The first ear plate 331 has a plurality of first connecting holes 3311, which are spaced apart circumferentially along the through hole. Bolts pass through the first ear plate 331 and the drive shaft in sequence to achieve a fixed connection between the first ear plate 331 and the drive shaft.

[0061] Furthermore, the connecting seat 33 also includes: a second ear plate 332, which forms a second mounting space with the first ear plate 331. The joint motor 32 is located in the second mounting space. The second ear plate 332 is provided with a second connecting hole 3321. The edge of the second connecting hole 3321 is provided with a first opening. The second end of the drive shaft extends into the second connecting hole 3321 through the first opening. The second end of the drive shaft is interference-fitted with the second connecting hole 3321 through a bushing 36. The second end of the drive shaft is provided with a baffle 34, which is detachably connected to the end face of the drive shaft. The baffle 34 abuts against the bushing 36.

[0062] In the embodiments of this application, a second mounting space is formed between the second ear plate 332 and the first ear plate 331. The first end of the drive shaft is connected to the first ear plate 331, and the second end of the drive shaft is connected to the second ear plate 332. The connecting seat 33 is connected to the drive shaft through the two ear plates, which enhances the stability between the connecting seat 33 and the joint motor 32. The second ear plate 332 is provided with a second connecting hole 3321 with an edge opening. After the first end of the drive shaft is connected to the first ear plate 331, the second end of the drive shaft extends into the second connecting hole 3321 through the first opening to place the joint motor 32 in the second mounting space.

[0063] like Figure 1 , Figure 2As shown, the connecting seat 33 also includes a second ear plate 332, forming a U-shaped second mounting space between the second ear plate 332 and the first ear plate 331. The second ear plate 332 is provided with a second connecting hole 3321, and the lower edge of the second connecting hole 3321 is provided with a first opening. When the connecting seat 33 is installed with the joint motor 32, the first end of the drive shaft is first mated with the first ear plate 331, and then the second end of the drive shaft is inserted into the second connecting hole 3321 through the first opening. An annular gap is formed between the second connecting hole 3321 and the second end of the drive shaft. The bushing 36 is inserted into the annular gap, so that the second end of the drive shaft is interference-fitted with the second connecting hole 3321 through the bushing 36. A flange 35 is connected to the outer side of the second ear plate 332. The flange 35 is coaxially arranged with the second connecting hole 3321. A baffle 34 extends into the through hole of the flange 35 and is connected to the end face of the second end of the drive shaft. Part of the baffle 34 abuts against the bushing 36 to prevent the bushing 36 from moving axially.

[0064] like Figure 1 , Figure 2 As shown, the mounting base 31 has a mounting cavity with its axis extending horizontally. The joint motor 32 is located within the mounting cavity, and its drive shaft is coaxial with the mounting cavity. The mounting base 31 has a first limiting block 311 and a second limiting block 312, spaced apart circumferentially from the mounting cavity. The connecting base 33 has a limiting plate connecting the second ear plate 332 and the first ear plate 331. The limiting plate is located between the first limiting block 311 and the second limiting block 312, and has a first position abutting against the first limiting block 311 and a second position abutting against the second limiting block 312 to control the pitch angle of the robot head.

[0065] According to another specific embodiment of this application, a robot is provided, the robot including the robot head structure in the above embodiments.

[0066] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0067] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this utility model.

[0068] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0069] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robot head structure, characterized in that, include: The housing is provided with an air inlet and an air outlet; Substrate (2), the substrate (2) is disposed in the receiving cavity of the housing; A drive assembly (3) is located at the air outlet. The drive end of the drive assembly (3) is connected to the substrate (2). The drive assembly (3) is used to drive the substrate (2) to rotate around the horizontal axis. The control component (4) includes a control board (41) connected to the base plate (2); Cooling fan (5) is disposed in the receiving cavity of the housing and is connected to the base plate (2).

2. The robot head structure according to claim 1, characterized in that, The substrate (2) divides the receiving cavity into a first chamber and a second chamber, the first chamber and the second chamber are connected, the air inlet is formed on the side wall of the second chamber, the control board (41) is located in the first chamber, and the cooling fan (5) is located in the second chamber.

3. The robot head structure according to claim 2, characterized in that, The substrate (2) has a hollow structure (21) in the middle, and the cooling fan (5) and the control board (41) are respectively arranged opposite to the hollow structure (21).

4. The robot head structure according to claim 3, characterized in that, The cooling fan (5) is connected to the substrate (2) through the first connector (51), and a first airflow space (6) is formed between the cooling fan (5) and the substrate (2).

5. The robot head structure according to claim 3, characterized in that, The control board (41) is connected to the substrate (2) via a second connector (42), and a second air guide space (7) is formed between the control board (41) and the substrate (2).

6. The robot head structure according to any one of claims 2-5, characterized in that, The first chamber is provided with a protective plate (1), which is connected to the substrate (2). A first installation space (11) is formed between the protective plate (1) and the substrate (2), and the control plate (41) is located in the first installation space (11).

7. The robot head structure according to any one of claims 1-5, characterized in that, The driving component (3) includes: Mounting base (31), the mounting base (31) is provided with a mounting cavity, the axis of the mounting cavity is provided to extend in the horizontal direction; A joint motor (32) is connected to a mounting base (31), and part of the joint motor (32) is located in the mounting cavity. The axis of the drive shaft of the joint motor (32) extends in the horizontal direction. Connecting seat (33) is connected to the base plate (2) and connected to the drive shaft of the joint motor (32).

8. The robot head structure according to claim 7, characterized in that, The connector (33) includes: The first ear plate (331) is provided with a plurality of first connecting holes (3311). The first ear plate (331) abuts against the first end of the drive shaft. Fasteners lock the first ear plate (331) and the drive shaft through the first connecting holes (3311).

9. The robot head structure according to claim 8, characterized in that, The connector (33) also includes: The second ear plate (332) forms a second mounting space with the first ear plate (331). The joint motor (32) is located in the second mounting space. The second ear plate (332) is provided with a second connecting hole (3321). The edge of the second connecting hole (3321) is provided with a first opening. The second end of the drive shaft extends into the second connecting hole (3321) through the first opening. The second end of the drive shaft is press-fitted to the second connecting hole (3321) through a bushing (36). The second end of the drive shaft is provided with a baffle (34). The baffle (34) is detachably connected to the end face of the drive shaft. The baffle (34) abuts against the bushing (36).

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

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