Robotic head and robotic head-neck

Abstract

This utility model discloses a robot head and neck. The robot head and neck include a detachably connected robot head and neck. The robot head includes a head cover, a main board mounted on the head cover, and a battery, a display screen, an eyeball assembly, two sets of eyelid assemblies, two sets of lip-curving assemblies, and a mouth opening and closing mechanism connected to the main board. The battery is detachably mounted on the head cover, and the display screen is tilted at the back of the head. The eyeball assembly includes two simulated eyeball components and an eyeball mechanism that controls their synchronous rotation. The eyelid assembly includes eyelid supports and an eyelid mechanism that controls their opening and closing. The lip-curving assemblies include upper lip supports and a lip-curving mechanism that controls their rotation. The mouth opening and closing mechanism includes a lower jaw support and an opening and closing mechanism that controls its rotation. The detachable battery of this utility model can reduce maintenance costs and the overall scrap rate; the tilted display screen saves front space and facilitates viewing.

Description

Technical Field

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

[0002] Currently, service robots, companion robots, and other intelligent devices are becoming increasingly common. Their head structures typically integrate a motherboard, display screen, battery, and bionic motion components (such as eyeballs and mouth mechanisms). However, existing robot head designs still have the following problems:

[0003] 1. In the existing technology, the batteries of robot heads are mostly fixed and built-in. When the batteries are old or damaged, users cannot replace them themselves. They need to return the robot head to the factory to disassemble the entire head structure for replacement, which is inefficient, costly and complicated. In long-term use, insufficient heat dissipation of the battery may lead to overheating risk, and the fixed design makes it difficult to optimize the heat dissipation solution of the battery module.

[0004] 2. The existing robots' displays are mostly located on the face or top of the head, occupying the front interaction space and affecting the anthropomorphic appearance design. The front display is prone to glare in strong light, and users need to look directly at the robot's face to obtain information, which limits the interaction scenarios. The few rear screens are usually flat and do not take into account the needs of viewing angle adjustment and heat dissipation, which is not practical.

[0005] 3. Key components such as batteries and displays are tightly coupled to the headgear structure, making them difficult to upgrade or replace flexibly, which is inconsistent with the trends of green manufacturing and electronic waste recycling.

[0006] 4. The eyes are controlled independently by two servo motors, which can easily lead to inconsistent eye rotation angles, resulting in a "cross-eyed" phenomenon and disrupting the naturalness of facial expressions. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a robot head and neck.

[0008] To achieve the above objectives, this utility model employs the following technical solution:

[0009] The robot head includes a head cover, on which a main board, a battery, a display screen, eyeball components, eyelid components, lip lifting components, and a mouth opening and closing mechanism are connected. The battery is detachably mounted on the head cover, and the display screen is tilted at the back of the head. The eyeball components include two simulated eyeball parts and an eyeball mechanism that controls the synchronous rotation of the two simulated eyeball parts. The eyelid components are provided in two sets, each set including an eyelid support and an eyelid mechanism that controls the opening and closing of the eyelid support. The lip lifting components are provided in two sets opposite each other, each set including an upper lip support and a lip lifting mechanism that controls the rotation of the upper lip support. The mouth opening and closing mechanism includes a lower jaw support and an opening and closing mechanism that controls the rotation of the lower jaw support.

[0010] The top of the headgear is provided with a battery compartment for accommodating batteries. The batteries are detachably installed in the battery compartment. The top of the battery compartment has an open structure, and a compartment cover is detachably installed at the open structure. The top of the compartment cover has a receiving groove, and a microphone connected to the motherboard is installed in the receiving groove.

[0011] The eyeball mechanism includes:

[0012] Two first support members are respectively fixedly connected to the two eyeball simulation components;

[0013] Two rotating shafts are vertically arranged on the side of the first support member near the eyeball simulation component. The rotating shafts are rotatably connected to the first support member or the eyeball simulation component, so that the eyeball simulation component can rotate about the axis of the rotating shaft.

[0014] The second support member has two ends that are rotatably connected to the ends of the two first supports that are away from the eyeball simulation component;

[0015] The third support member is movably connected to the central part of the second support member;

[0016] An eyeball servo motor has its output end connected to the end of the third support member away from the second support member. The eyeball servo motor drives the third support member to rotate, causing the second support member to move, so as to drive the two first support members to drive the two eyeball simulation components to rotate synchronously.

[0017] The second support member is provided with an elongated hole, the length direction of which is perpendicular to the length direction of the second support member. The third support member is provided with a guide post adapted to the elongated hole, the guide post being able to move along its length direction within the elongated hole.

[0018] The second support member is also provided with a guide groove adapted to the third support member, so as to allow the third support member to move.

[0019] The eyelid support includes an arc-shaped component and an arc-shaped connecting rod disposed on the upper side of the arc-shaped component, the two ends of which are rotatably connected to the head cover;

[0020] The eyelid mechanism includes an eyelid connecting rod, an eyelid swing arm, and an eyelid servo motor. One end of the eyelid connecting rod is connected to an arc-shaped connecting rod, and the other end is rotatably connected to the eyelid swing arm. The eyelid swing arm is provided with multiple adjustment holes so that the eyelid connecting rod can be rotatably connected to different positions of the eyelid swing arm. The output end of the eyelid servo motor is connected to the eyelid swing arm to control the rotation of the eyelid swing arm.

[0021] The upper lip support includes a first arm and a second arm arranged at an acute angle, and the lip lifting mechanism includes an lifting servo motor, the output shaft of which is connected to the connection between the first arm and the second arm.

[0022] The jaw support is provided with an extension arm that is rotatably connected to the headgear. The jaw support is provided with a support shaft that connects the two sides in its width direction. The opening and closing mechanism includes an opening and closing servo motor, a first link connected to the output shaft of the opening and closing servo motor, and a second link rotatably connected to the first link. The end of the second link away from the first link is rotatably connected to the support shaft.

[0023] The robot's head and neck, including:

[0024] The robot's head;

[0025] The neck includes a base, a support seat rotatably mounted on the base, a first swing mechanism for controlling the support seat to swing in the left-right direction, a top seat rotatably mounted on the support seat, and a second swing mechanism for controlling the top seat to swing in the front-back direction, wherein the top seat is detachably connected to the robot head.

[0026] The robot's head is also equipped with a Z-axis mechanism that controls the rotation of the neck.

[0027] The base has first support ears on its front and rear sides facing each other, and the support seat has second support ears on its front and rear sides that are rotatably connected to the first support ears. The first swing mechanism includes a first servo motor, a first swing arm connected to the output shaft of the first servo motor, a first swing rod rotatably connected to the first swing arm, and a first elastic member disposed between the base and the support seat and located on the left and right sides. The end of the first swing rod away from the first swing arm is rotatably connected to the support seat.

[0028] The support base has third support ears on its left and right sides facing each other, and the top base has fourth support ears on its left and right sides that are rotatably connected to the third support ears. The second swing mechanism includes a second servo motor, a second swing arm connected to the output shaft of the second servo motor, a second swing rod rotatably connected to the second swing arm, and a second elastic member disposed between the support base and the top base and located on the front and rear sides. The end of the second swing rod away from the second swing arm is rotatably connected to the top base.

[0029] The Z-axis mechanism includes a Z-axis servo and a first connector connected to the Z-axis servo. A second connector adapted to the first connector is provided on the upper side of the top seat. The first connector and the second connector are detachably connected, one of which can be a plug-in post and the other can be a plug-in groove.

[0030] Compared with the prior art, the advantages of this utility model are as follows:

[0031] The battery in this invention is detachably mounted on the headgear. When the battery ages or is damaged, the entire head can be replaced directly, reducing maintenance costs, conforming to the trend of green manufacturing, and reducing the overall scrap rate. The battery can be removed separately, which facilitates heat dissipation design or replacement of heat insulation materials. The battery is independently packaged, reducing circuit interference with the motherboard.

[0032] The display screen of this invention is tilted and positioned at the back of the head of the headgear, saving frontal space and making it easy to view.

[0033] The eyeball mechanism of this utility model has two fixed rotating shafts, and the two first support members and the second support member form a parallelogram linkage mechanism to ensure the synchronicity of the movement of the two eyeball simulation components under the drive of the eyeball servo motor, reduce the rotation angle deviation of the two eyeball simulation components, and the linkage layout saves installation space and improves the utilization rate of the internal space of the headgear. Attached Figure Description

[0034] Appendix Figure 1 This is a schematic diagram of the structure of the robot's head according to this utility model.

[0035] Appendix Figure 2 This is a schematic diagram of the exploded structure of some components of the robot's head according to this utility model.

[0036] Appendix Figure 3 This is a schematic diagram of the internal structure of the headgear of this utility model.

[0037] Appendix Figure 4 This is a schematic diagram of the eyeball assembly of this utility model.

[0038] Appendix Figure 5 This is a structural schematic diagram of the rotating shaft position of the eyeball assembly of this utility model.

[0039] Appendix Figure 6This is a schematic diagram of the eyelid assembly of this utility model.

[0040] Appendix Figure 7 This is a schematic diagram of the structure of the lip-up component of this utility model.

[0041] Appendix Figure 8 This is a schematic diagram of the mouth opening and closing mechanism and the Z-axis mechanism of this utility model.

[0042] Appendix Figure 9 This is a schematic diagram of the head and neck structure of the robot of this utility model.

[0043] Appendix Figure 10 This is one of the structural schematic diagrams of the neck of this utility model.

[0044] Appendix Figure 11 This is the second schematic diagram of the neck structure of this utility model.

[0045] The labels shown in the attached diagram:

[0046] 10. Headgear; 11. Back cover; 12. Motherboard; 13. Battery; 14. Display screen; 15. Battery compartment; 16. Compartment cover; 17. Storage slot; 18. Microphone; 19. Audio player; 10. Cooling fan;

[0047] 2. Eyeball assembly; 21. Eyeball simulation component; 22. Eyeball mechanism; 221. First support member; 221a. Locking plate; 222. Rotating shaft; 223. Second support member; 224. Third support member; 225. Eyeball servo motor; 226. Elongated hole; 227. Guide post; 228. Guide groove;

[0048] 3. Eyelid assembly; 31. Eyelid support; 311. Arc-shaped component; 312. Arc-shaped connecting rod; 32. Eyelid mechanism; 321. Eyelid connecting rod; 322. Eyelid swing arm; 323. Eyelid servo motor; 324. Adjustment hole;

[0049] 4. Lip lifting assembly; 41. Upper lip support; 411. First arm; 412. Second arm; 42. Lip lifting mechanism; 421. Lip lifting servo motor;

[0050] 5. Mouth opening and closing mechanism; 51. Jaw support; 511. Extension arm; 512. Support shaft; 52. Opening and closing mechanism; 521. Opening and closing servo motor; 522. First link; 523. Second link;

[0051] 6. Z-axis mechanism; 61. Z-axis servo motor; 62. First connecting piece;

[0052] 7. Neck; 71. Base; 711. First support ear; 72. Support seat; 721. Second support ear; 722. Third support ear; 73. First swing mechanism; 731. First servo motor; 732. First swing arm; 733. First swing rod; 734. First elastic element; 74. Top seat; 741. Fourth support ear; 742. Second connector; 75. Second swing mechanism; 751. Second servo motor; 752. Second swing arm; 753. Second swing rod; 754. Second elastic element. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. The same reference numerals in the drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0054] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar words used in this utility model specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connection" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," "right," "front," and "back" are used only to indicate relative positional relationships; these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0055] like Figures 1-8As shown, this utility model provides a robot head, including a head cover 1. The head cover 1 is provided with a main board 11, and a battery 12, a display screen 13, an eyeball assembly 2, an eyelid assembly 3, a lip upturn assembly 4, and a mouth opening and closing mechanism 5 connected to the main board 11. The battery 12 is detachably disposed inside the head cover 1. The display screen 13 is obliquely disposed at the back of the head of the head cover 1. Specifically, there is an opening at the back of the head of the head cover 1, through which the display screen 13 is inserted into the interior of the head cover 1. The display screen 13 is obliquely disposed from bottom to top towards the front of the head cover 1 to facilitate viewing of the display screen 13. A back cover 10 is also detachably disposed at the opening to close the opening, so that the head cover 1 becomes a complete head, which facilitates the subsequent fitting of simulated skin.

[0056] The eyeball assembly 2 includes two eyeball simulation components 21 and an eyeball mechanism 22 that controls the synchronous rotation of the two eyeball simulation components 21; the eyelid assembly 3 is provided in two sets, each set of the eyelid assembly 3 includes an eyelid support 31 and an eyelid mechanism 32 that controls the opening and closing of the eyelid support 31; the lip upturn assembly 4 is provided in two sets opposite to each other, each set of the lip upturn assembly 4 includes an upper lip support 41 and a lip upturn mechanism 42 that controls the rotation of the upper lip support 41; the mouth opening and closing mechanism 5 includes a jaw support 51 and an opening and closing mechanism 52 that controls the rotation of the jaw support 51; the main board 11 is provided with a control module to control the operation of the eyeball mechanism 22, the eyelid mechanism 32, the lip upturn mechanism 42, and the opening and closing mechanism 52. Figure 3 As shown, a cooling fan 19 electrically connected to the motherboard 11 can also be installed inside the head cover 1 for heat dissipation.

[0057] The headgear 1 of this invention features a detachable battery 12. When the battery 12 ages or fails, it can be replaced directly without disassembling the entire head, reducing maintenance costs, aligning with green manufacturing trends, and decreasing the overall scrap rate. The battery 12 is individually removable, facilitating heat dissipation design or replacement of insulation materials. The battery 12 is independently packaged, reducing circuit interference with the mainboard 11. The display screen 13 is tilted at the back of the head of the headgear 1, saving front space and providing easy viewing.

[0058] In one embodiment, such as Figure 1 , Figure 2As shown, the top of the headgear 1 is provided with a battery compartment 14. The top of the battery compartment 14 is an open structure, and the battery 12 is detachably installed in the battery compartment 14. A compartment cover 15 is detachably installed at the open structure. The top of the compartment cover 15 is provided with a receiving groove 16. A microphone 17 is installed in the receiving groove 16. The microphone 17 is connected to the motherboard 11. Bluetooth modules can be installed on both the microphone 17 and the motherboard 11 to achieve Bluetooth communication connection between the microphone 17 and the motherboard 11. Alternatively, a first electrical contact that is electrically connected to the motherboard 11 can be set in the receiving groove 16, a second electrical contact that is connected to the first electrical contact can be set on the compartment cover 15, and a third electrical contact that is connected to the second electrical contact can be set on the microphone 17 to achieve electrical connection between the microphone 17 and the motherboard 11. The microphone 17 can also be directly connected to the motherboard 11 via a cable. The headgear 1 is also provided with a speaker 18 connected to the motherboard 11 for playing voice. Microphone 17 captures audio --> Mainboard APK: Records audio --> Cloud server: Converts to text --> Algorithm model: Semantic understanding and analysis --> Feedback results (text) --> Converts to audio (speech synthesis) --> Text and audio are sent back to the mainboard --> The application will send the content to the control module to execute the action content and the speaker to broadcast the audio.

[0059] In one embodiment, such as Figure 4 , Figure 5 As shown, the eyeball mechanism 22 includes two first support members 221, each connected to one of the two eyeball simulation components 21; two rotating shafts 222, vertically arranged on the side of the first support members 221 near the eyeball simulation components 21, the rotating shafts 222 being rotatably connected to the first support members 221 or the eyeball simulation components 21, causing the eyeball simulation components 21 to rotate about the axis of the rotating shafts 222; a second support member 223, both ends of which are rotatably connected to the ends of the two first support members 221 away from the eyeball simulation components 21; a third support member 224, movably connected to the center of the second support member 223; and an eyeball servo motor 225, the output end of which is connected to the end of the third support member 224 away from the second support member 223. The eyeball servo motor 225 drives the third support member 224 to rotate, causing the second support member 223 to move, thereby driving the two first support members 221 to drive the two eyeball simulation components 21 to rotate synchronously.

[0060] The principle of this embodiment is as follows: the positions of the two rotating shafts 222 are fixed, and the two first support members 221 and the second support member 223 form a parallelogram linkage mechanism. The eyeball servo motor 225 drives the third support member 224 to rotate, causing the second support member 223 to move, thereby driving the two first support members 221 to drive the two eyeball simulation components 21 to rotate synchronously. The parallelogram linkage mechanism ensures the synchronicity of the movement of the two eyeball simulation components 21, reduces the deviation of the rotation angle of the two eyeball simulation components 21, and the linkage layout saves installation space and improves the utilization rate of the internal space of the headgear 1.

[0061] In one embodiment, the first support member 221 is detachably connected to the eyeball simulation component 21, facilitating the replacement of the eyeball simulation component 21. Specifically, the first support member 221 has a locking plate 221a on the side near the eyeball simulation component 21, and the eyeball simulation component 21 has a locking groove adapted to the locking plate 221a on the side facing the first support member 221. The locking plate 221a is locked in the locking groove to achieve a detachable connection between the first support member 221 and the eyeball simulation component 21.

[0062] In one embodiment, when the rotating shaft 222 is rotatably connected to the headgear 1, the rotating shaft 222 can be fixedly connected to the eyeball simulation component 21. When the eyeball servo motor 225 is running, it will cause the rotating shaft 222 to rotate around the headgear 1, and at this time the eyeball simulation component 21 will rotate synchronously.

[0063] In another embodiment, when the rotating shaft 222 is rotatably connected to the first support member 221, the rotating shaft 222 can be fixedly mounted on the headgear. When the eyeball servo motor 225 is running, it will cause the eyeball simulation component 21 to rotate around the rotating shaft 222.

[0064] Furthermore, such as Figure 4 As shown, the second support member 223 is provided with an elongated hole 226, the length direction of which is perpendicular to the length direction of the second support member 223. The third support member 224 is provided with a guide post 227 adapted to the elongated hole 226. The guide post 227 can move along its length direction within the elongated hole 226 to realize the movement of the second support member 223 under the rotation of the third support member 224.

[0065] Furthermore, such as Figure 4As shown, the second support member 223 is also provided with a guide groove 228 adapted to the third support member 224, so as to allow the third support member 224 to move. In this embodiment, the end of the third support member 224 away from the eyeball servo 225 is inserted into the second support member 223 through the second guide groove 228, and a guide post 227 is provided at this end of the third support member 224. The guide post 227 passes through the elongated hole 226 and can move within the elongated hole 226, providing space for the rotation of the third support member 224.

[0066] In this embodiment, when the eyeball servo motor 225 is running: the third support member 224 rotates; due to the limitation of the elongated hole 226, the guide post 227 of the third support member 224 can only slide within the elongated hole 226, which will drive the second support member 223 to translate; then drive the two first support members 221 to move synchronously; finally achieving coordinated rotation of the eyes. The dual guiding structure of the elongated hole 226 and the guide groove 228 effectively suppresses motion jitter and ensures the stability of the support and rotation of the eyeball simulation component 21.

[0067] In one embodiment, such as Figure 6 As shown, the eyelid support 31 includes an arc-shaped component 311 and an arc-shaped connecting rod 312 disposed on the upper side of the arc-shaped component 311. The arc-shaped component 311 and the arc-shaped connecting rod 312 are configured to surround the upper part of the eyeball simulation component 21, so that the force distribution is more uniform. The two ends of the arc-shaped component 311 are rotatably connected to the head cover 1.

[0068] The eyelid mechanism 32 includes an eyelid connecting rod 321, an eyelid swing arm 322, and an eyelid servo motor 323. One end of the eyelid connecting rod 321 is connected to an arc-shaped connecting rod 312, and the other end is rotatably connected to the eyelid swing arm 322. The eyelid swing arm 322 is provided with multiple adjustment holes 324 so that the eyelid connecting rod 321 is rotatably connected to different positions of the eyelid swing arm 322. The output end of the eyelid servo motor 323 is connected to the eyelid swing arm 322 to control the rotation of the eyelid swing arm 322.

[0069] In this embodiment, multiple adjustment holes 324 are provided on the eyelid swing arm 322, allowing the eyelid connecting rod 321 to be rotatably connected to the eyelid swing arm 322 at different positions, so as to achieve the adjustability of the degree of eyelid opening and closing.

[0070] In one embodiment, such as Figure 7As shown, the upper lip support 41 includes a first arm 411 and a second arm 412 arranged at an acute angle. The first arm 411 and the second arm 412 are integrally formed. The lip lifting mechanism 42 includes an lifting servo 421. The output shaft of the lifting servo 421 is connected to the connection between the first arm 411 and the second arm 412. When the lifting servo 421 operates, it drives the upper lip support 41 to rotate, causing the silicone outer skin at the corner of the lip to lift upward, creating a smiling effect.

[0071] In one embodiment, such as Figure 8 As shown, the jaw support 51 is equipped with an extension arm 511 rotatably connected to the headgear 1 and a support shaft 512 connecting its two sides in the width direction. The structure of the jaw support 51 is similar to that of a human jaw. The opening and closing mechanism 52 includes an opening and closing servo motor 521, a first connecting rod 522 connected to the output shaft of the opening and closing servo motor 521, and a second connecting rod 523 rotatably connected to the first connecting rod 522. The end of the second connecting rod 523 away from the first connecting rod 522 is rotatably connected to the support shaft 512. When the opening and closing servo motor 521 is running, the first connecting rod 522 rotates, driving the second connecting rod 523 to perform a compound motion; the support shaft 512 drives the jaw support 51 to rotate around the axis connecting the extension arm 511 and the headgear 1, realizing an ergonomic mouth opening and closing action.

[0072] like Figures 8-11 As shown, this utility model also provides a robot head and neck 7, including the robot head and a neck 7 detachably connected to the robot head. The head cover 1 of the robot head is also provided with a Z-axis mechanism 6 for controlling the rotation of the neck 7.

[0073] The neck 7 includes a base 71, a support 72 rotatably mounted on the base 71, a first swing mechanism 73 controlling the support 72 to swing left and right, a top seat 74 rotatably mounted on the support 72, and a second swing mechanism 75 controlling the top seat 74 to swing forward and backward. The top seat 74 is detachably connected to the robot head. Through the operation of the first swing mechanism 73 and the second swing mechanism 75, the robot head is controlled to perform simulated head nodding forward and backward and head swaying left and right.

[0074] In one embodiment, such as Figure 10As shown, the base 71 has first support ears 711 arranged opposite to each other on the front and rear sides, and the support seat 72 has second support ears 721 rotatably connected to the first support ears 711 on the front and rear sides. The first swing mechanism 73 includes a first servo motor 731, a first swing arm 732 connected to the output shaft of the first servo motor 731, a first swing rod 733 rotatably connected to the first swing arm 732, and a first elastic member 734 disposed between the base 71 and the support seat 72 and located on the left and right sides. The end of the first swing rod 733 away from the first swing arm 732 is rotatably connected to the support seat 72.

[0075] In this embodiment, the first support ear 711 and the second support ear 721 are connected by a first pivot pin, serving as the fulcrum for the rotation of the support seat 72, allowing the support seat 72 to rotate around the first pivot pin. The hinge point connecting the support seat 72 and the first swing arm 733 is located on the left or right side of the support seat 72 relative to the first pivot pin. The rotation axis of the first swing arm 732 is parallel to the axis of the first pivot pin. When the first servo motor 731 operates, it drives the first swing arm 732 to rotate, thereby pushing the first swing arm 733 to move and transmitting the force to the support seat 72, forcing the support seat 72 to rotate around the first pivot pin, thus achieving left and right swaying motion. The first elastic element 734 can be a spring, providing support force. It is compressed or stretched when the support seat 72 swings, providing a counterforce to prevent overload of the first servo motor 731.

[0076] In one embodiment, the left and right sides of the support base 72 are provided with third support ears 722 opposite to each other, and the left and right sides of the top base 74 are provided with fourth support ears 741 rotatably connected to the third support ears 722. The second swing mechanism 75 includes a second servo motor 751, a second swing arm 752 connected to the output shaft of the second servo motor 751, a second swing rod 753 rotatably connected to the second swing arm 752, and a second elastic member 754 disposed between the support base 72 and the top base 74 and located on the front and rear sides. The end of the second swing rod 753 away from the second swing arm 752 is rotatably connected to the top base 74.

[0077] In this embodiment, the third support ear 722 and the fourth support ear 741 are connected by a second pivot pin, serving as the rotation fulcrum of the top seat 74, allowing the top seat 74 to rotate around the second pivot pin. The hinge point connecting the top seat 74 and the second rocker arm 753 is located on the front or rear side of the top seat 74 relative to the second pivot pin. The rotation axis of the second rocker arm 752 is parallel to the axis of the second pivot pin. When the second servo motor 751 operates, it drives the second rocker arm 752 to rotate, thereby pushing the second rocker arm 753 to move and transmitting the force to the top seat 74, forcing the top seat 74 to rotate around the second pivot pin, achieving a nodding motion. The second elastic element 754 can be a spring, providing support force. It is compressed or stretched when the top seat 74 swings, providing a counterforce to prevent overload of the second servo motor 751.

[0078] The Z-axis mechanism 6 includes a Z-axis servo 61 connected to the main board 11 and a first connector 62 connected to the output shaft of the Z-axis servo 61. A second connector 742, adapted to the first connector 62, is provided on the upper side of the top seat 74. The first connector 62 and the second connector 742 are detachably connected; one is a plug-in post, and the other is a plug-in slot. After insertion, screws can be threaded onto the two to achieve a detachable connection. Figure 8 , Figure 9 As shown, the first connector 62 is provided with a plug-in slot, and the second connector 742 is a plug-in post. The two are plugged in to realize the connection between the robot's head and neck.

[0079] In this invention, the motherboard 11 is connected to each servo motor to control the operation of each servo motor and realize actions such as eyeball rotation, eyelid closing, lip corner raising, mouth opening and closing, head nodding forward and backward, head swaying left and right, and neck rotation.

[0080] Those skilled in the art should understand that the specific embodiments described above are merely examples and not limitations. Various modifications, combinations, partial combinations, and substitutions can be made to the embodiments of this utility model according to design requirements and other factors, as long as they are within the scope of the appended claims or their equivalents, and thus fall within the scope of the rights to be protected by this utility model.

Claims

1. A robot head, including a head cover, characterized in that, The headgear is equipped with a mainboard, and connected to the mainboard are a battery, a display screen, an eyeball assembly, an eyelid assembly, a lip-curving assembly, and a mouth opening and closing mechanism. The battery is detachably mounted on the headgear, and the display screen is tilted at the back of the head. The eyeball assembly includes two simulated eyeball components and an eyeball mechanism that controls the synchronous rotation of the two simulated eyeball components. There are two sets of eyelid assemblies, each set including an eyelid support and an eyelid mechanism that controls the opening and closing of the eyelid support. There are two sets of lip-curving assemblies arranged opposite each other, each set including an upper lip support and a lip-curving mechanism that controls the rotation of the upper lip support. The mouth opening and closing mechanism includes a jaw support and an opening and closing mechanism that controls the rotation of the jaw support.

2. The robotic head according to claim 1, characterized in that, The top of the headgear is provided with a battery compartment for accommodating batteries. The batteries are detachably installed in the battery compartment. The top of the battery compartment has an open structure, and a compartment cover is detachably installed at the open structure. The top of the compartment cover has a receiving groove, and a microphone connected to the motherboard is installed in the receiving groove.

3. The robotic head according to claim 1, characterized in that, The eyeball mechanism includes: Two first support members are respectively connected to the two said eyeball simulation components; Two rotating shafts are vertically arranged on the side of the first support member near the eyeball simulation component. The rotating shafts are rotatably connected to the first support member or the eyeball simulation component, so that the eyeball simulation component can rotate about the axis of the rotating shaft. The second support member has two ends that are rotatably connected to the ends of the two first supports that are away from the eyeball simulation component; The third support member is movably connected to the central part of the second support member; An eyeball servo motor has its output end connected to the end of the third support member away from the second support member. The eyeball servo motor drives the third support member to rotate, causing the second support member to move, so as to drive the two first support members to drive the two eyeball simulation components to rotate synchronously.

4. The robotic head according to claim 3, characterized in that, The second support member is provided with an elongated hole, the length direction of which is perpendicular to the length direction of the second support member. The third support member is provided with a guide post adapted to the elongated hole, the guide post being able to move along its length direction within the elongated hole.

5. The robotic head according to claim 4, characterized in that, The second support member is also provided with a guide groove adapted to the third support member, so as to allow the third support member to move.

6. The robotic head according to claim 1, characterized in that, The eyelid support includes an arc-shaped component and an arc-shaped connecting rod disposed on the upper side of the arc-shaped component, the two ends of which are rotatably connected to the head cover; The eyelid mechanism includes an eyelid connecting rod, an eyelid swing arm, and an eyelid servo motor. One end of the eyelid connecting rod is connected to an arc-shaped connecting rod, and the other end is rotatably connected to the eyelid swing arm. The eyelid swing arm is provided with multiple adjustment holes so that the eyelid connecting rod can be rotatably connected to different positions of the eyelid swing arm. The output end of the eyelid servo motor is connected to the eyelid swing arm to control the rotation of the eyelid swing arm.

7. The robotic head according to claim 1, characterized in that, The upper lip support includes a first arm and a second arm arranged at an acute angle, and the lip lifting mechanism includes an lifting servo motor, the output shaft of which is connected to the connection between the first arm and the second arm.

8. The robotic head according to claim 1, characterized in that, The jaw support is provided with an extension arm that is rotatably connected to the headgear, and a support shaft connecting its two sides in the width direction. The opening and closing mechanism includes an opening and closing servo motor, a first link connected to the output shaft of the opening and closing servo motor, and a second link rotatably connected to the first link. The end of the second link away from the first link is rotatably connected to the support shaft.

9. A robot's head and neck, characterized in that, include: The robotic head according to any one of claims 1-8; The neck includes a base, a support seat rotatably mounted on the base, a first swing mechanism for controlling the support seat to swing in the left-right direction, a top seat rotatably mounted on the support seat, and a second swing mechanism for controlling the top seat to swing in the front-back direction, wherein the top seat is detachably connected to the robot head. The robot's head is also equipped with a Z-axis mechanism that controls the rotation of the neck.

10. The robot head and neck according to claim 9, characterized in that, The base has first support ears on its front and rear sides facing each other, and the support seat has second support ears on its front and rear sides that are rotatably connected to the first support ears. The first swing mechanism includes a first servo motor, a first swing arm connected to the output shaft of the first servo motor, a first swing rod rotatably connected to the first swing arm, and a first elastic member disposed between the base and the support seat and located on the left and right sides. The end of the first swing rod away from the first swing arm is rotatably connected to the support seat. The support base has third support ears on its left and right sides facing each other, and the top base has fourth support ears on its left and right sides that are rotatably connected to the third support ears. The second swing mechanism includes a second servo motor, a second swing arm connected to the output shaft of the second servo motor, a second swing rod rotatably connected to the second swing arm, and a second elastic member disposed between the support base and the top base and located on the front and rear sides. The end of the second swing rod away from the second swing arm is rotatably connected to the top base. The Z-axis mechanism includes a Z-axis servo and a first connector connected to the Z-axis servo. A second connector adapted to the first connector is provided on the upper side of the top seat. The first connector and the second connector are detachably connected.

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