Head-mounted device and humanoid robot

Abstract

The utility model provides a kind of head device, it is related to robot technical field.The head device is applied to humanoid robot, and the head shell mechanism in head device includes head shell assembly, and head shell assembly includes forebrain shell body, and the inner wall of forebrain shell body is provided with detection module and touch voice module.Detection module includes binocular camera and depth camera spaced apart in forebrain shell body, and neck shell assembly is arranged below head shell assembly;Head skeleton mechanism is arranged in head shell assembly, for driving head shell assembly rotation, and head skeleton mechanism includes radar module below head skeleton mechanism;The middle part of neck shell assembly has avoidance, and avoidance penetrates neck shell assembly along front-back direction, and laser radar in radar module is exposed to avoidance.The head device can improve the range of fire, so that humanoid robot is suitable for complex environment, while improving the maintenance convenience of head device.

Description

Technical Field

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

[0002] Currently, the application scenarios of humanoid robots have expanded to diverse fields such as precision assembly in industrial production, customer reception in commercial services, and caregiving and elderly assistance in home settings. Mainstream humanoid robots can accurately imitate the outline and basic movement posture of the human body, and can perform complex actions such as walking, grasping, and interacting, demonstrating significant value in replacing humans in high-risk and repetitive labor and improving service efficiency.

[0003] In the field of humanoid robot technology, as its application scenarios extend to complex environments such as security patrols and special operations, the demand for equipment functional adaptability and ease of maintenance is increasing. Existing humanoid robots often employ a single recognition mechanism in their scanning mechanisms, resulting in insufficient scanning range coverage. In complex terrain, blind spots are easily created, failing to meet the needs of comprehensive environmental perception and operation. Simultaneously, the existing head structure has a low overall integration level. When replacing or repairing components, multiple fixed components must be disassembled sequentially, a cumbersome process that not only consumes a significant amount of time but also risks damaging internal components due to improper handling. Utility Model Content

[0004] The purpose of this invention is to provide a head device that can increase the scanning range, thereby making the humanoid robot suitable for complex environments, while also improving the ease of maintenance of the head device.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A head device for use in a humanoid robot, the head device comprising:

[0007] A head shell mechanism includes a head shell assembly, the head shell assembly including a forebrain shell, the inner wall of the forebrain shell being provided with a detection module and a touch voice module, the detection module including a binocular camera and a depth camera spaced apart from the forebrain shell, and a neck shell assembly being provided below the head shell assembly;

[0008] A head skeleton mechanism is disposed within the head housing assembly and is used to drive the head housing assembly to rotate. The head skeleton mechanism includes a radar module located below the head skeleton mechanism.

[0009] The neck housing assembly has a clearance portion in the middle, which extends through the neck housing assembly in the front-to-back direction, and the lidar in the radar module is exposed in the clearance portion.

[0010] As a further technical solution, the head skeleton mechanism has a cable outlet channel in the middle, the cable outlet channel extends in the vertical direction, and the lower end of the cable outlet channel is provided with two cable outlets, which are arranged opposite to each other in the horizontal direction.

[0011] The multiple lines of the detection module and the touch voice module converge at the outgoing channel, and the multiple lines are divided into two groups of lines. The two groups of lines extend from the two outgoing ports respectively, and extend from both sides of the avoidance part to the bottom of the neck housing assembly.

[0012] As a further technical solution, the head frame mechanism includes a head motor and a motor mounting base. The head motor is connected to the upper side of the motor mounting base, and the head motor is configured as a hollow motor. A clearance channel is provided in the middle of the motor mounting base. The clearance channel cooperates with the middle of the head motor to form the cable outlet channel. Along the left and right direction, two clearance openings are provided opposite to each other on the side wall of the motor mounting base. Both clearance openings serve as cable outlets.

[0013] As a further technical solution, the head frame mechanism also includes a wire blocking assembly, which is disposed above the head motor, and the wire blocking assembly is provided with a wire-passing area corresponding to the middle of the head motor. Multiple wires are gathered in the wire-passing area and extend into the wire-out channel.

[0014] As a further technical solution, the head frame mechanism also includes two wire pressing components. The two wire pressing components and the two wire outlets are respectively disposed on the motor mounting base and cooperate with the side wall of the motor mounting base to form a limiting space. The two sets of wires are respectively limited in the two limiting spaces.

[0015] As a further technical solution, the front side wall of the motor mounting base is provided with a communication port, and a hub plate that is communicatively connected to both the detection module and the touch voice module is provided above the head skeleton mechanism.

[0016] The communication line of the hub plate passes through the outgoing channel and extends from the connecting port to communicate with the radar module.

[0017] As a further technical solution, the detection module also includes a camera mounting bracket, which is connected to the front side wall of the forebrain shell. The binocular camera and the depth camera are both mounted on the camera mounting bracket, with the binocular camera positioned above the depth camera. Along the left-right direction, both the binocular camera and the depth camera are located in the middle of the forebrain shell.

[0018] As a further technical solution, the head shell assembly also includes binocular lenses and a protective decorative cover. The binocular lenses are embedded in the forebrain shell in correspondence with the binocular camera, and the protective decorative cover is detachably connected to the forebrain shell in correspondence with the binocular lenses.

[0019] As a further technical solution, the touch voice module includes a MIC mounting bracket and a MIC circuit board. The MIC circuit board is connected to the top wall of the forebrain shell through the MIC mounting bracket, and a buffer and a conductive element are provided between the top wall of the forebrain shell and the MIC circuit board.

[0020] As a further technical solution, the head shell assembly is provided with an air inlet and an air outlet at a offset position, and a cooling fan is provided inside the head shell assembly corresponding to the air outlet.

[0021] A humanoid robot, including the aforementioned head device.

[0022] Compared with the prior art, the head device and humanoid robot provided by this utility model have the following technical advantages:

[0023] 1. The device incorporates a binocular camera, a depth camera, and a radar module, with a clearance mechanism for the lidar unit within the radar module. During operation, the binocular camera provides close-range, wide-angle environmental recognition, the depth camera supplements mid-range 3D spatial positioning, and the lidar enables long-range, high-precision ranging and wide-angle scanning. The binocular camera, depth camera, and radar module are arranged at intervals to create a seamless connection between near, mid, and long ranges, achieving a complementary scanning range with wide angles and high precision, effectively eliminating blind spots in complex terrain. In open, flat environments, the lidar dominates long-range scanning for increased efficiency. In narrow passages or densely obstructed areas, the binocular camera and depth camera perform precise close-range scanning, preventing scanning interruptions caused by obstructions. In adverse weather conditions, the lidar's anti-interference capabilities and the depth camera's environmental adaptability provide dual protection, ensuring stable scanning operation and further enhancing adaptability to complex application scenarios. Additionally, the clearance mechanism provides a clearance area for the lidar's working range, preventing interference between the lidar and the neck housing components, thus further increasing the lidar's scanning range.

[0024] 2. Because the detection module and touch-screen voice module are located in the forecourt shell, the head skeleton mechanism can support and drive the head shell assembly to rotate, and can constrain multiple circuits. This design minimizes the number of redundant parts within the head device, improving the overall structural compactness. When replacing or repairing components, the disassembly and assembly process is simplified, thereby improving maintenance convenience, saving maintenance time, and reducing the risk of physical damage to internal components during repeated disassembly and assembly. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0026] Figure 1 This is an anatomical diagram of the head device provided in an embodiment of this utility model;

[0027] Figure 2 This is a schematic diagram of the wiring of the internal wiring group of the head device provided in this embodiment of the utility model;

[0028] Figure 3 This is a disassembled diagram of a portion of the head shell mechanism in the head device provided in this embodiment of the utility model;

[0029] Figure 4 This is an anatomical diagram of the head skeleton mechanism in the head device provided in this embodiment of the utility model;

[0030] Figure 5 This is a rear view of the head device provided in an embodiment of the present utility model;

[0031] Figure 6 This is a partial structural schematic diagram of the wire-blocking assembly in the head device provided in this embodiment of the utility model;

[0032] Figure 7 This is a schematic diagram of the field of view of the head device in the first state according to an embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the field of view of the head device in the second state according to an embodiment of the present invention.

[0034] In the picture:

[0035] 100. Head shell mechanism; 110. Head shell assembly; 111. Forehead shell; 112. Binocular lens; 113. Protective decorative cover; 115. Air vent; 120. Detection module; 121. Binocular camera; 122. Depth camera; 123. Camera mounting bracket; 130. Touch voice module; 131. MIC mounting bracket; 132. MIC circuit board; 133. Buffer; 134. Conductive component; 140. Neck shell assembly; 141. Clearance section; 150. Rear head shell; 160. Chin shell;

[0036] 200. Head frame mechanism; 210. Head motor; 220. Motor mounting base; 221. Clearance opening; 222. Connecting opening; 230. Wire blocking assembly; 231. Wire guide component; 232. Wire blocking component; 240. Wire pressing component; 250. Radar module; 251. LiDAR; 260. Hub plate. Detailed Implementation

[0037] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0038] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0039] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0040] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0041] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

[0042] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0043] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0044] Combination Figures 1 to 8As shown, this embodiment provides a head device applied to a humanoid robot. This head device can increase the scanning range, thereby making the humanoid robot suitable for complex environments, while also improving the ease of maintenance of the head device. Specifically, the head device includes a head shell mechanism 100 and a head skeleton mechanism 200: the head shell mechanism 100 includes a head shell assembly 110, which includes a forebrain shell 111. The inner wall of the forebrain shell 111 is provided with a detection module 120 and a touch voice module 130. The detection module 120 includes a binocular camera 121 and a depth camera 122 spaced apart from each other on the forebrain shell 111. A neck shell assembly 140 is provided below the head shell assembly 110. The head skeleton mechanism 200 is disposed inside the head shell assembly 110 and is used to drive the head shell assembly 110 to rotate. The head skeleton mechanism 200 includes a radar module 250 located below the head skeleton mechanism 200. The neck shell assembly 140 has a clearance part 141 in the middle, which penetrates the neck shell assembly 140 in the front-back direction. The lidar 251 in the radar module 250 is exposed in the clearance part 141.

[0045] Because it is equipped with a binocular camera 121, a depth camera 122 and a radar module 250, and the lidar 251 in the radar module 250 is provided with a clearance part 141; therefore, during the operation of the head device, the binocular camera 121 can be used for close-range wide-angle environmental recognition, the depth camera 122 can be used to supplement mid-range three-dimensional spatial positioning, and the lidar 251 can be used for long-range high-precision ranging and wide-angle scanning. The binocular camera 121, depth camera 122, and radar module 250 are arranged in a staggered layout to achieve a seamless connection between near, medium, and long ranges, while simultaneously providing a wide-angle and high-precision scanning range to effectively eliminate blind spots in complex terrain. In open, flat environments, the lidar 251 dominates long-range scanning to improve efficiency. In narrow passages or densely obstructed areas, the binocular camera 121 and depth camera 122 perform close-range, precise scanning, avoiding scanning interruptions caused by obstructions. In adverse weather conditions, the anti-interference characteristics of the lidar 251 and the environmental adaptability of the depth camera 122 provide dual protection, ensuring stable operation of the scanning function and further enhancing its adaptability to complex application scenarios. Additionally, the avoidance section 141 provides a clearance area for the lidar 251's working range, preventing interference between the lidar 251 and the neck housing assembly 140, thereby further improving the lidar 251's scanning range.

[0046] Specifically, in combination Figure 7 As shown, along the vertical direction, α1 is the maximum scanning angle range of the depth camera 122, α2 is the maximum scanning angle range of the binocular camera 121, α3 is the maximum scanning angle range of the lidar 251 behind the humanoid robot, and α4 is the maximum scanning angle range of the lidar 251 in front of the humanoid robot. Combined with... Figure 8 As shown, along the left and right direction, β1 is the minimum scanning angle range of the binocular camera 121, β2 is the maximum scanning angle range of the binocular camera 121, β3 is the maximum scanning angle range of the lidar 251 in front of the humanoid robot, and β4 is the maximum scanning angle range of the lidar 251 behind the humanoid robot.

[0047] Since the detection module 120 and the touch voice module 130 are located in the forehead shell 111, the head skeleton mechanism 200 can support and drive the head shell assembly 110 to rotate, and can constrain multiple circuits. This configuration can minimize the number of redundant parts in the head device and improve the overall structural compactness. When replacing or repairing components, the disassembly and assembly process can be simplified, thereby improving maintenance convenience, saving maintenance time, and reducing the risk of physical damage to internal components during repeated disassembly and assembly. Preferably, the head skeleton mechanism 200 has a wire outlet channel in the middle, which extends in the vertical direction, and two wire outlets are provided at the lower end of the wire outlet channel. The two wire outlets are arranged opposite each other in the horizontal direction. Multiple circuits of the detection module 120 and the touch voice module 130 are converged in the wire outlet channel, and the multiple circuits are divided into two groups of wires. The two groups of wires extend from the two wire outlets and extend from both sides of the avoidance part 141 to the bottom of the neck shell assembly 140.

[0048] Since multiple lines converge in the outgoing channel and are divided into two groups, with each group extending from a different outlet into the head housing 100, the multiple lines are directionally separated into two groups by setting an outgoing channel with two outlets. This fundamentally avoids the situation where multiple lines cross, overlap, or become entangled inside the head housing assembly 110, reduces the risk of signal transmission quality degradation due to mutual interference between lines, and improves the reliability of the electrical system.

[0049] Multiple wires are divided into two groups at the head housing mechanism 100. This separate wiring arrangement allows maintenance personnel to quickly identify and trace the target wire during subsequent maintenance, eliminating the need to manually distinguish each wire from a tangled mess. This shortens maintenance time and improves efficiency. Simultaneously, the organized wire layout reduces the risk of damage due to misoperation, enhancing the safety of the maintenance process.

[0050] Preferably, the head frame mechanism 200 includes a head motor 210 and a motor mounting base 220. The head motor 210 is connected to the upper side of the motor mounting base 220, and the head motor 210 is configured as a hollow motor. A clearance channel is provided in the middle of the motor mounting base 220. The clearance channel and the middle of the head motor 210 cooperate to form a cable outlet channel. Along the left and right direction, two clearance openings 221 are provided opposite to each other on the side wall of the motor mounting base 220. Both clearance openings 221 serve as cable outlets.

[0051] Combination Figure 2 and Figure 4 As shown, a housing connecting plate is provided on the head motor 210, and the head housing assembly 110 is connected to the head motor 210 through the housing connecting plate. This arrangement ensures that when the head motor 210 rotates, it drives the head housing assembly 110 to rotate synchronously. Multiple lines communicating with the binocular camera 121 and the depth camera 122 converge at the hollow motor and the clearance channel. These lines are directionally separated into two groups within the clearance channel. Each group extends out of the cable exit channel from two clearance openings 221 and from both sides of the clearance portion 141 in the middle of the neck housing assembly 140 to the lower end of the head device, facilitating connection with other lines on the humanoid robot. This prevents multiple lines from becoming entangled on parts on the outer wall of the head motor 210 or the motor mounting base 220 during the humanoid robot's operation, reduces the risk of intersections and overlaps between multiple lines, minimizes the risk of interference between the head motor 210 and the motor mounting base 220 and multiple lines, and improves the reliability of the electrical system.

[0052] Furthermore, the head frame mechanism 200 also includes a wire blocking assembly 230, which is disposed above the head motor 210. The wire blocking assembly 230 and the head motor 210 are respectively provided with a wire-passing area in the middle, and multiple wires are gathered in the wire-passing area and extend into the wire-exit channel.

[0053] Combination Figure 4 and Figure 6 As shown, the wire-blocking assembly 230 includes a wire guide 231 and a wire block 232. The wire guide 231 is U-shaped and positioned above the head motor 210. The wire block 232 is connected to the wire guide 231 and located at the open end of the U-shape. The wire guide 231 and the wire block 232 work together to form a wire-passing area, where multiple wires are gathered and extend into the wire exit channel. This prevents multiple wires from being too dispersed at the upper end of the wire exit channel, which could cause interference or entanglement between the wires and the components above the head motor 210. Furthermore, the separate arrangement of the wire guide 231 and the wire block 232 improves the ease of gathering multiple wires within the wire-passing area.

[0054] In some other embodiments, the wire blocking member 232 may be omitted, and the wire guide member 231 may be directly set as a ring member, with the central area of ​​the ring member serving as the wire guide area.

[0055] Preferably, the head frame mechanism 200 further includes two wire pressing parts 240, which are disposed on the motor mounting base 220 in a one-to-one correspondence with the two wire outlets, and cooperate with the side wall of the motor mounting base 220 to form a limiting space, and the two sets of wires are respectively limited in the two limiting spaces.

[0056] Combination Figure 2 and Figure 4 As shown, each of the two wire clamping components 240 has a receiving area on the side near the motor mounting base 220, and the receiving area extends in the vertical direction. After the two wire clamping components 240 are connected to the motor mounting base 220 one by one with the two wire outlets, the two receiving areas cooperate with the side wall of the motor mounting base 220 to form a limiting space. After the two sets of wires extend from the two wire outlets, they are respectively constricted in the corresponding limiting space. This arrangement avoids the two sets of wires being too dispersed at the lower end of the wire outlet channel, which could cause the wires to interfere with or become entangled with the parts around the motor mounting base 220. On the other hand, since each receiving area extends in the vertical direction, it can guide the two sets of wires extending from the two wire outlets to extend downward and beyond the head device.

[0057] Preferably, the front side wall of the motor mounting base 220 is provided with a communication port 222, and a hub plate 260 is provided above the head skeleton mechanism 200, which is communicatively connected to both the detection module 120 and the touch voice module 130; the communication line of the hub plate 260 passes through the outgoing channel and extends from the communication port 222 to communicate with the radar module 250.

[0058] Combination Figure 4 As shown, the communication between the radar module 250 and the hub plate 260 enables efficient and stable data transmission and power supply to the radar module 250. This facilitates the fusion of information from the radar module 250 with data from the detection module 120 and the touch voice module 130, enhancing environmental awareness. It also increases the flexibility of system function adjustments, facilitates rapid fault diagnosis and troubleshooting, improves electromagnetic compatibility, and ensures reliable operation of all components of the head unit. Furthermore, by routing the communication lines of the hub plate 260 through the outgoing cable channel, the communication lines can be constrained, preventing interference between the communication lines and other components within the head unit and ensuring the stability of the radar module 250's signal transmission.

[0059] Preferably, the detection module 120 further includes a camera mounting bracket 123, which is connected to the front side wall of the forebrain shell 111. Both the binocular camera 121 and the depth camera 122 are mounted on the camera mounting bracket 123, with the binocular camera 121 positioned above the depth camera 122. Along the left-right direction, both the binocular camera 121 and the depth camera 122 are located in the middle of the forebrain shell 111.

[0060] Combination Figure 1 , Figure 3 , Figure 7 and Figure 8As shown, this installation layout enables the binocular camera 121 to achieve a human-eye-like perception effect, facilitating the provision of richer three-dimensional spatial information and texture details, thereby allowing for more accurate acquisition of information such as the distance and shape of objects. Furthermore, since both the binocular camera 121 and the depth camera 122 are connected to the front sidewall of the forebrain shell 111 via the camera mounting bracket 123, on the one hand, the binocular camera 121 and the depth camera 122 can simultaneously perceive the same area, achieving data fusion and complementarity, enabling the humanoid robot to more accurately perceive the three-dimensional structure of its surrounding environment; on the other hand, the camera mounting bracket 123 can enhance the connection strength and stability of the binocular camera 121 and the depth camera 122, reducing the impact of vibration, collisions, and other factors on the binocular camera 121 and the depth camera 122 during the humanoid robot's movement, preventing displacement or damage to the binocular camera 121 and the depth camera 122, thus ensuring the normal operation and shooting accuracy of the binocular camera 121 and the depth camera 122.

[0061] Preferably, the head shell assembly 110 further includes a binocular lens 112 and a protective decorative cover 113. The binocular lens 112 is embedded in the forebrain shell 111 in correspondence with the binocular camera 121, and the protective decorative cover 113 is detachably connected to the forebrain shell 111 in correspondence with the binocular lens 112.

[0062] Specific combination Figure 1 and Figure 3 As shown, by setting binocular lenses 112, the binocular camera 121 mounted on the forehead shell 111 is protected, preventing external dust, water mist, etc. from affecting the performance and lifespan of the binocular camera 121. The protective decorative cover 113 is detachably connected to the forehead shell 111. Different colors or patterns of the protective decorative cover 113 can be replaced according to actual needs, improving the protection of the binocular camera 121 and binocular lenses 112 while enhancing the aesthetics of the head shell mechanism 100.

[0063] Preferably, the touch voice module 130 includes a MIC mounting bracket 131 and a MIC circuit board 132. The MIC circuit board 132 is connected to the top wall of the front shell 111 through the MIC mounting bracket 131, and a buffer 133 and a conductive element 134 are provided between the top wall of the front shell 111 and the MIC circuit board 132.

[0064] Combination Figure 3As shown, this configuration, with its relatively open top wall of the forebrain shell 111, reduces sound obstruction and reflection from other parts of the humanoid robot, allowing the MIC circuit board 132 to receive sounds from the surrounding environment and operators more directly and accurately, thus improving the accuracy and clarity of sound pickup. Simultaneously, since the head shell mechanism 100 also houses the detection module 120 and the head skeleton mechanism 200, and thus contains many components, the MIC circuit board 132 is connected to the top wall of the forebrain shell 111 via the MIC mounting bracket 131. This allows for more efficient and comprehensive use of the internal space of the head shell mechanism 100, preventing interference between the touch-sensitive voice module 130 and other components.

[0065] Furthermore, the humanoid robot may be subjected to vibrations and impacts during operation, such as vibrations during walking or impacts caused by accidental collisions. The buffer 133 can absorb and buffer external forces, thereby reducing direct impact on the MIC circuit board 132, preventing damage to the electronic components on the MIC circuit board 132 due to vibration, and improving the reliability and service life of the MIC circuit board 132. At the same time, it avoids rigid contact between the MIC mounting bracket 131 and the front shell 111, reducing noise generated by vibration transmission and preventing noise from interfering with the sound pickup effect of the MIC circuit board 132, further improving the accuracy and clarity of sound pickup. By setting the conductive component 134, the conductive component 134 provides a stable electrical connection for the MIC circuit board 132, ensuring that the MIC circuit board 132 can work normally; and by integrating the conductive component 134 into the MIC mounting bracket 131, additional connection harnesses can be reduced, the assembly process can be simplified, and the assembly difficulty and cost can be reduced.

[0066] Preferably, the head housing assembly 110 is provided with an air inlet and an air outlet 115 offset from each other, and a cooling fan is provided inside the head housing assembly 110 corresponding to the air outlet 115.

[0067] Combination Figure 3As shown, in this embodiment, the air outlet 115 is disposed on the back of the head shell 150, and the cooling fan is disposed on the back of the head shell 150 corresponding to the air outlet 115. Multiple air inlets are spaced apart on the chin shell 160. The gap around the clearance portion 141 on the neck shell assembly 140 serves as a ventilation gap, and both the ventilation gap and the multiple air inlets serve as air inlets. During operation, external air enters the head shell assembly 110 through the air inlets and is exhausted from the head shell assembly 115 by the cooling fan. In this process, the external air can cool the head frame mechanism 200, the detection module 120, and the touch voice module 130, and carry the heat away from the head shell assembly as it is exhausted from the air outlet 115, thus achieving the cooling process of the head shell assembly. Furthermore, because the air inlets and outlets 115 are staggered on the head shell assembly 110, the path of external air within the head shell mechanism 100 can be extended, thereby further improving the cooling effect. In some other embodiments, in order to increase the air intake and thus further improve the cooling effect, an air intake fan can also be provided in the head housing assembly 110, and the air intake fan is provided in the chin housing 160 with multiple air intake holes corresponding to the air intake fan.

[0068] The specific structure and working principle of the cooling fan and the suction fan are based on existing technology and will not be described in detail here.

[0069] This embodiment also provides a humanoid robot. Since the humanoid robot includes all the structures of the head device described above, it has all the technical advantages of the head device described above, which will not be repeated here.

[0070] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A head device for use in a humanoid robot, characterized in that, The head assembly includes: The head shell mechanism (100) includes a head shell assembly (110), the head shell assembly (110) includes a forebrain shell (111), the inner wall of the forebrain shell (111) is provided with a detection module (120) and a touch voice module (130), the detection module (120) includes a binocular camera (121) and a depth camera (122) spaced apart from the forebrain shell (111), and a neck shell assembly (140) is provided below the head shell assembly (110). A head skeleton mechanism (200) is disposed within the head housing assembly (110) and is used to drive the head housing assembly (110) to rotate. The head skeleton mechanism (200) includes a radar module (250) located below the head skeleton mechanism (200). The neck housing assembly (140) has a clearance portion (141) in the middle, the clearance portion (141) penetrates the neck housing assembly (140) in the front-rear direction, and the lidar (251) in the radar module (250) is exposed in the clearance portion (141).

2. The head device according to claim 1, characterized in that, The head skeleton mechanism (200) has a cable outlet in the middle, the cable outlet extends in the vertical direction, and the lower end of the cable outlet is provided with two cable outlets, which are arranged opposite each other in the left-right direction. The multiple lines of the detection module (120) and the touch voice module (130) converge at the outgoing channel, and the multiple lines are divided into two groups of lines. The two groups of lines extend from the two outgoing ports respectively and extend from both sides of the avoidance part (141) to the bottom of the neck housing assembly (140).

3. The head device according to claim 2, characterized in that, The head frame mechanism (200) includes a head motor (210) and a motor mounting base (220). The head motor (210) is connected to the upper side of the motor mounting base (220), and the head motor (210) is configured as a hollow motor. A clearance channel is provided in the middle of the motor mounting base (220). The clearance channel and the middle of the head motor (210) cooperate to form the cable outlet channel. Along the left and right direction, two clearance openings (221) are provided opposite to each other on the side wall of the motor mounting base (220). Both clearance openings (221) serve as cable outlets.

4. The head device according to claim 3, characterized in that, The head frame mechanism (200) further includes a wire blocking assembly (230), which is disposed above the head motor (210). The wire blocking assembly (230) and the head motor (210) are respectively provided with a wire passing area in the middle. Multiple wires are gathered in the wire passing area and extend into the wire exit channel.

5. The head device according to claim 4, characterized in that, The head frame mechanism (200) also includes two wire pressing parts (240). The two wire pressing parts (240) are respectively disposed on the motor mounting base (220) and the two wire outlets, and cooperate with the side wall of the motor mounting base (220) to form a limiting space. The two sets of wires are respectively limited in the two limiting spaces.

6. The head device according to claim 5, characterized in that, The front side wall of the motor mounting base (220) is provided with a communication port (222), and a hub plate (260) is provided above the head skeleton mechanism (200) for communication connection with both the detection module (120) and the touch voice module (130). The communication line of the hub plate (260) passes through the outgoing channel and extends from the connecting port (222) to communicate with the radar module (250).

7. The head device according to claim 1, characterized in that, The detection module (120) also includes a camera mounting bracket (123), which is connected to the front side wall of the forebrain shell (111). The binocular camera (121) and the depth camera (122) are both mounted on the camera mounting bracket (123), and the binocular camera (121) is positioned above the depth camera (122). Along the left-right direction, the binocular camera (121) and the depth camera (122) are both located in the middle of the forebrain shell (111).

8. The head device according to claim 7, characterized in that, The head shell assembly (110) also includes a binocular lens (112) and a protective decorative cover (113). The binocular lens (112) is embedded in the forebrain shell (111) in correspondence with the binocular camera (121), and the protective decorative cover (113) is detachably connected to the forebrain shell (111) in correspondence with the binocular lens (112).

9. The head device according to claim 1, characterized in that, The touch voice module (130) includes a MIC mounting bracket (131) and a MIC circuit board (132). The MIC circuit board (132) is connected to the top wall of the forebrain shell (111) through the MIC mounting bracket (131), and a buffer (133) and a conductive element (134) are provided between the top wall of the forebrain shell (111) and the MIC circuit board (132).

10. The head device according to any one of claims 1-9, characterized in that, The head housing assembly (110) is provided with an air inlet and an air outlet (115) offset from each other, and a cooling fan is provided inside the head housing assembly (110) corresponding to the air outlet (115).

11. A humanoid robot, characterized in that, Includes the head device as described in any one of claims 1-10.

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