Head structure and robot

Abstract

The utility model discloses a head structure and robot, include: casing, the inside formation of casing has the accommodation cavity, the casing is provided with first group of heat dissipation hole, first group of heat dissipation hole with the accommodation cavity intercommunication, air inlet channel, air inlet channel is located in the accommodation cavity, air inlet channel with first group of heat dissipation hole intercommunication, air inlet channel includes first end and second end, first end is close to first group of heat dissipation hole, the inner diameter of first end is greater than the inner diameter of second end. The technical scheme provided in the application can enhance its heat dissipation capacity, thereby can increase the heat dissipation effect to head structure.

Description

Technical Field

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

[0002] In humanoid robots, the head structure is the main interaction part, integrating functions such as vision, hearing, and speech. While performing these functions, the head also generates heat.

[0003] In related technologies, heat dissipation holes are usually opened on the left and right sides of the shell of the head structure. However, the heat dissipation capacity of the head structure is limited by only opening heat dissipation holes, which is difficult to meet the heat dissipation requirements of the highly integrated head structure. Utility Model Content

[0004] The purpose of this application is to provide a head structure and a robot.

[0005] According to a first aspect of the embodiments of this application, a head structure is provided, comprising: The housing has an internal cavity, and a first heat dissipation hole group is provided in the housing, which communicates with the cavity. An air inlet channel is provided in the receiving cavity and is connected to the first heat dissipation hole group. The air inlet channel includes a first end and a second end. The first end is close to the first heat dissipation hole group and the inner diameter of the first end is larger than the inner diameter of the second end.

[0006] Optionally, along the X direction, the first heat dissipation hole group is located at the front of the housing, and along the Z direction, the first heat dissipation hole group is located at the bottom of the housing.

[0007] Optionally, a second heat dissipation hole group is provided on the top of the housing, and the second heat dissipation hole group communicates with the receiving cavity.

[0008] Optionally, the air intake channel is fan-shaped.

[0009] Optionally, the head structure includes a first heat-dissipating component, which is disposed in the receiving cavity, and the second end is close to the first heat-dissipating component.

[0010] Optionally, the head structure further includes a first baffle assembly, which is disposed in the receiving cavity. The first baffle assembly is spaced apart from the first heat dissipation component, and an air guide channel is formed between the first baffle assembly and the first heat dissipation component. The air inlet channel is connected to the air guide channel through the second end.

[0011] Optionally, the first baffle assembly is configured to surround at least a portion of the first heat-dissipating component to form the airflow channel.

[0012] Optionally, the first baffle assembly includes a first portion and a second portion, the first portion being configured to surround at least a portion of the first component to be cooled to form the airflow channel, wherein the second portion is connected to the outer surfaces of the first portion and the first component to be cooled, respectively.

[0013] Optionally, the head structure further includes a centrifugal fan and a second heat-dissipating component. Both the centrifugal fan and the second heat-dissipating component are disposed in the receiving cavity. The centrifugal fan is disposed above the first heat-dissipating component, and the second heat-dissipating component is disposed adjacent to the centrifugal fan so that the second heat-dissipating component is located in the airflow path of the centrifugal fan.

[0014] Optionally, the second component to be cooled includes a radiator and a body, wherein the radiator is disposed on the body and is located in the airflow path of the centrifugal fan.

[0015] Optionally, the head structure further includes a second baffle assembly, which is disposed in the receiving cavity and located above the centrifugal fan and the second component to be cooled. The second baffle assembly has a group of through holes corresponding to the area of ​​the second component to be cooled.

[0016] Optionally, the second heat dissipation hole group is located at the end of the second baffle assembly away from the second heat dissipation component, and the through hole group is in communication with the second heat dissipation hole group.

[0017] According to a second aspect of the embodiments of this application, a robot is provided, including the head structure described above.

[0018] One technical advantage of this application embodiment is that, since the inner diameter of the first end of the air inlet channel is larger than the inner diameter of the second end, the air velocity in the air inlet channel will gradually increase. The increased air velocity will enhance its heat dissipation capacity, thereby increasing the heat dissipation effect on the head structure.

[0019] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0021] Figure 1 This is a schematic diagram of the head structure in an embodiment of this application; Figure 2 This is a schematic diagram of the head structure in an embodiment of this application; Figure 3 This is a schematic diagram of the head structure in an embodiment of this application; Figure 4 for Figure 3 Sectional view at point AA; Figure 5 This is a schematic diagram of the head structure in an embodiment of this application; Figure 6 This is a schematic diagram of the head structure in an embodiment of this application; Figure 7 This is a schematic diagram of the head structure in an embodiment of this application; Figure 8 This is a schematic diagram of the head structure in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of the first baffle assembly in the embodiments of this application.

[0022] Figure labeling: Head structure 100; Housing 1; First heat dissipation hole group 11; First heat dissipation hole 111; Second heat dissipation hole group 12; Second heat dissipation hole 121; Receiving cavity 13; Air inlet duct 2; First end 21; Second end 22; First partition 23; Second partition 24; Third partition 25; First component to be cooled 3; First baffle assembly 4; First part 41; Second part 42; Air guide channel 43; Second heat-dissipating component 5; radiator 51; body 52; Centrifugal fan 6; Second baffle assembly 8; through hole group 81; through hole 811; Mounting bracket 9; limiting part 91. Detailed Implementation

[0023] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0024] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0025] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0026] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0028] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] In the description of this invention, it should be understood that if the terms "axial", "radial", etc., are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] First, it should be noted that the Z-direction, Y-direction, and X-direction mentioned in the embodiments of this application are referred to in the appendix. Figure 2 , Figure 3 The marked directions. Among them, the axes in the Z direction, Y direction, and X direction intersect each other.

[0032] Where Z is the robot's up-down direction, Y is the robot's left-right direction, and X is the robot's forward-backward direction.

[0033] like Figures 1-9As shown, according to a first aspect of the embodiments of this application, a head structure 100 is provided, including a housing 1 and an air inlet channel 2; the housing 1 has a receiving cavity 13 formed inside, and the housing 1 has a first heat dissipation hole group 11, which communicates with the receiving cavity 13; the air inlet channel 2 is disposed in the receiving cavity 13, and the air inlet channel 2 communicates with the first heat dissipation hole group 11, the air inlet channel 2 includes a first end 21 and a second end 22, the first end 21 is close to the first heat dissipation hole group 11, and the inner diameter of the first end 21 is larger than the inner diameter of the second end 22.

[0034] like Figure 4 , Figure 5 and Figure 6 As shown, the head structure 100 includes a housing 1 and an air inlet channel 2; wherein, the housing 1 serves as the outer shell of the head structure 100; an accommodating cavity 13 is formed inside the housing 1, and a first heat dissipation hole group 11 is provided on the housing 1, which is connected to the accommodating cavity 13. It can be understood that the accommodating cavity 13 can be connected to the outside of the housing 1 through the first heat dissipation hole group 11; the air inlet channel 2 is provided in the accommodating cavity 13, and the first heat dissipation hole group 11 is connected to the air inlet channel 2. The air inlet channel 2 includes a first end 21 and a second end 22, the first end 21 being close to the first heat dissipation hole group 11, and the second end 22 being away from the first heat dissipation hole group 11.

[0035] To further explain, the inner diameter of the first end 21 is larger than the inner diameter of the second end 22. This can be understood as the inner diameter of the air inlet channel 2 gradually decreasing from the first end 21 to the second end 22, so its internal area also gradually decreases from the first end 21 to the second end 22.

[0036] In the head structure 100 of this application, the first heat dissipation hole group 11 is an air inlet. Air enters the air inlet channel 2 through the first heat dissipation hole group 11. Since the inner diameter of the first end 21 of the air inlet channel 2 is larger than the inner diameter of the second end 22, the air velocity will gradually increase in the air inlet channel 2. The increase in air velocity can enhance its heat dissipation capacity, thereby improving the heat dissipation effect of the head structure 100.

[0037] In one alternative embodiment, the first heat dissipation hole group 11 may include one first heat dissipation hole 111, two first heat dissipation holes 111, or more first heat dissipation holes 111.

[0038] like Figures 1-3As shown, in an optional embodiment, along the X direction, the first heat dissipation hole group 11 is located at the front of the housing 1, and along the Z direction, the first heat dissipation hole group 11 is located at the bottom of the housing 1. Specifically, the Z direction is the vertical direction of the robot, and in the Z direction, the first heat dissipation hole group 11 is located at the bottom of the housing 1. The X direction is the front-back direction of the robot, and in the X direction, the first heat dissipation hole group 11 is located at the front of the housing 1. In summary, the first heat dissipation hole group 11 is located at a position slightly below the front of the housing 1. When the head structure 100 is applied to the robot, when the robot walks forward, based on the kinetic energy of the robot's movement, air will enter the air intake channel 2 through the first heat dissipation hole group 11. Since the inner diameter of the air intake channel 2 gradually decreases, a small fan can be provided for the heat dissipation of the head structure 100 to improve the heat dissipation performance, and it has the advantages of being noiseless and low cost.

[0039] For example, if the ratio of the inner diameter of the first end 21 to the inner diameter of the second end 22 of the air inlet channel 2 is 4:1, when the robot's movement speed is 0.5m / s, the air inlet channel 2 can provide a wind speed of more than 2m / s, which is equivalent to providing a small fan using the robot's walking speed, thereby greatly improving the heat dissipation capacity of the head structure 100.

[0040] like Figure 1 and Figure 2 As shown, in an optional embodiment, a second heat dissipation hole group 12 is further provided on the top of the housing 1, and the second heat dissipation hole group 12 is connected to the receiving cavity 13; specifically, in the Z direction, the top of the housing 1 is the top of the housing 1; the second heat dissipation hole group 12 is an air outlet, and the second heat dissipation hole group 12 is connected to the receiving cavity 13; in this embodiment, the air entering the receiving cavity 13 through the first heat dissipation hole group 11 can naturally diffuse between the gaps of different heat dissipation components to dissipate heat and form hot air. The hot air has the characteristic of free upward diffusion, so it can be discharged through the second heat dissipation hole group 12. And since the second heat dissipation hole group 12 faces upward, the discharged hot air will not blow directly on the user, which can improve the user experience.

[0041] The second heat dissipation hole group 12 includes one second heat dissipation hole 121, two second heat dissipation holes 121 or more second heat dissipation holes 121.

[0042] like Figure 4 As shown, in one optional embodiment, the air intake channel 2 is fan-shaped; specifically, the air intake channel 2 has a fan-shaped structure with a large surface area and an internal area that gradually decreases from the first end 21 to the second end 22. When the robot walks, it can increase the airflow speed and enhance the heat dissipation capacity.

[0043] In another alternative implementation, the air inlet channel 2 may be frustum-shaped.

[0044] like Figures 4-7 As shown, in an optional embodiment, the head structure 100 includes a first heat-dissipating component 3, which is disposed in the receiving cavity 13, and the second end 22 is close to the first heat-dissipating component 3. Specifically, air enters the air inlet channel 2 through the first heat dissipation hole group 11 and is discharged from the second end 22 of the air inlet channel 2 to dissipate heat from the first heat-dissipating component 3 near the second end 22. In this embodiment, the first heat-dissipating component 3 is close to the second end 22, which can improve the heat dissipation effect of the first heat-dissipating component 3.

[0045] The first heat-dissipating component 3 can be a power component, such as a motor, or a vision sensor.

[0046] like Figure 4 , Figure 5 and Figure 7 As shown, in an optional embodiment, the head structure 100 further includes a first baffle assembly 4, which is disposed in the receiving cavity 13. The first baffle assembly 4 is spaced apart from the first heat-dissipating component 3, and an air guide channel 43 is formed between the first baffle assembly 4 and the first heat-dissipating component 3. The second end 22 is connected to the air guide channel 43. Specifically, the first baffle assembly 4 and the first heat-dissipating component 3 form an air guide channel 43, and the second end 22 is connected to the air guide channel 43. Air enters the air guide channel 43 through the second end 22 and circulates in the air guide channel 43, thereby preventing air diffusion and accurately dissipating heat from the first heat-dissipating component 3, thereby improving the heat dissipation effect.

[0047] In an optional embodiment, the first baffle assembly 4 is configured to surround at least a portion of the first heat-dissipating component 3 to form the air guide channel 43. This can be understood as follows: in the Z direction, the first baffle assembly 4 is located below the first heat-dissipating component 3, and the first baffle assembly 4 surrounds at least a portion of the first heat-dissipating component 3 to form the air guide channel 43. Air passing through the air guide channel 43 between the first baffle assembly 4 and the first heat-dissipating component 3 can precisely dissipate heat from at least a portion of the outer surface of the first heat-dissipating component 3. In this embodiment, the formed air guide channel 43 corresponds to the main heat-generating part of the first heat-dissipating component 3. Therefore, through the air guide channel 43, air can be guided to flow towards the main heat-generating part of the first heat-dissipating component 3 to improve the heat dissipation effect on the first heat-dissipating component 3.

[0048] In one embodiment where the first heat-dissipating component 3 is a power component, the power component is a motor, the outer surface of the motor is arc-shaped, and the end of the first baffle assembly 4 facing the motor is also arc-shaped.

[0049] In one optional embodiment, the first baffle assembly 4 includes a first portion 41 and a second portion 42. The first portion 41 is configured to surround at least a portion of the first heat-dissipating component 3 to form the air guide channel 43. In the air guide channel 43, the second portion 42 is connected to the outer surfaces of the first portion 41 and the first heat-dissipating component 3, respectively. Specifically, the first portion 41 and the first heat-dissipating component 3 form the air guide channel 43. The second portion 42 is located in the air guide channel 43 and is connected to the outer surfaces of the first portion 41 and the first heat-dissipating component 3, respectively. The second portion 42 can block the diffusion of air in the Y direction to ensure that air flows along the air guide channel 43, so as to guide the air to flow in the main heat-generating part of the first heat-dissipating component 3, thereby improving the heat dissipation effect on the first heat-dissipating component 3.

[0050] like Figure 7 and Figure 9 As shown, in an optional embodiment, the air inlet channel 2 includes a first partition 23, a second partition 24, and a third partition 25. One end of the first partition 23 is connected to the inner wall of the housing 1, one end of the second partition 24 is connected to the inner wall of the housing 1, and the third partition 25 is disposed at the other end of the first partition 23 and the second partition 24. The first partition 23, the second partition 24, and the third partition 25 form the air outlet of the air inlet channel 2. The head structure 100 also includes a mounting bracket 9. The first heat dissipation component 3 is disposed on the mounting bracket 9. The mounting bracket 9 is provided with a limiting part 91. The other end of the first partition 23 abuts against the limiting part 91, and the other end of the second partition 24 abuts against the first baffle assembly 4. The space between the limiting part 91 and the first baffle assembly 4 is the location of the air outlet. The first partition 23 is in contact with or connected to the inner wall of the housing 1 at both ends along the Y direction, and the second partition 24 is in contact with or connected to the inner wall of the housing 1 at both ends along the Y direction. Therefore, a flow channel is formed through the inner wall of the housing 1, the first partition 23 and the third partition 24.

[0051] In an optional embodiment, the area of ​​the first heat dissipation hole group 11 is in a ratio of 1:6 to the area of ​​the air outlet of the air inlet channel 2; the housing 1 between the first partition 23 and the second partition 24 is a region for opening the first heat dissipation hole group 11, and the opening ratio of the first heat dissipation hole group 11 in this region is 45%-55%, which can enhance the air flow rate to 300%.

[0052] like Figure 7 and Figure 8As shown, in an optional embodiment, the head structure 100 further includes a centrifugal fan 6 and a second heat-dissipating component 5. Both the centrifugal fan 6 and the second heat-dissipating component 5 are disposed in the receiving cavity 13. The centrifugal fan 6 is disposed above the first heat-dissipating component 3, and the second heat-dissipating component 5 is disposed adjacent to the centrifugal fan 6 so that the second heat-dissipating component 5 is located in the airflow path of the centrifugal fan 6. Specifically, the centrifugal fan 6 is located above the first heat-dissipating component 3 in the Z direction, and the second heat-dissipating component 5 is located in the airflow path of the centrifugal fan 6. It can be understood that the air outlet of the centrifugal fan 6 faces the second heat-dissipating component 5, so that the centrifugal fan 6 can draw air from the first heat-dissipating component 3 to dissipate heat from the second heat-dissipating component 5.

[0053] For example, the second heat-dissipating component 5 and the centrifugal fan 6 are arranged adjacent to each other along the X direction, with the air outlet of the centrifugal fan 6 facing the second heat-dissipating component 5 and the air inlet of the centrifugal fan 6 facing the first heat-dissipating component 3.

[0054] The second heat-dissipating component 5 can be a control module; for example, the control board of the power component, or the AI ​​chip of the head structure 100.

[0055] like Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown, in an optional embodiment, the second heat-dissipating component 5 includes a heat sink 51 and a body 52. ​​The heat sink 51 is disposed on the body 52 and is located in the airflow path of the centrifugal fan 6. Specifically, the heat sink 51 is disposed on the body 52 and is located in the airflow path of the centrifugal fan 6, which can be understood as the air outlet of the centrifugal fan 6 facing the heat sink 51. In this embodiment, the heat sink 51 can improve the heat dissipation of the body 52, and the heat dissipation effect of the body 52 can be improved by setting the heat sink 51.

[0056] The heat sink 51 can be several heat sinks installed on the main body 52.

[0057] like Figures 4-8As shown, in an optional embodiment, the head structure 100 further includes a second baffle assembly 8, which is disposed in the receiving cavity 13. The second baffle assembly 8 is located above the centrifugal fan 6 and the second heat dissipation component 5. The second baffle assembly 8 has a through hole group 81 corresponding to the area of ​​the second heat dissipation component 5. Specifically, the second baffle assembly 8 is located above the centrifugal fan 6 and the second heat dissipation component 5. The second baffle assembly 8 has a through hole group 81, which communicates with the second heat dissipation hole group 12. The through hole group 81 corresponds to the position of the second heat dissipation component 5 in the Z direction. In this embodiment, the second baffle assembly 8 can prevent air from being directly discharged from the centrifugal fan 6 through the second heat dissipation hole group 12. The through hole group 81 corresponds to the position of the second heat dissipation component 5 in the Z direction, which can ensure that the air blown out by the centrifugal fan 6 can pass through the second heat dissipation component 5 and be discharged through the through hole group 81 above the second heat dissipation component 5, thereby improving the heat dissipation effect on the second heat dissipation component 5.

[0058] In an embodiment where the second heat-dissipating component 5 includes a heat sink 51, the through-hole group 81 corresponds to the position of the heat sink 51.

[0059] The through-hole group 81 may include one through-hole 811, two through-holes 811, or more through-holes 811.

[0060] In one alternative embodiment, the second heat dissipation hole group 12 is located at the end of the second baffle assembly 8 away from the second heat-dissipating component 12, and the through hole group 81 communicates with the second heat dissipation hole group 12. Specifically, the second heat dissipation hole group 12 is located above the second baffle assembly 8 in the Z direction. That is, air flows through the second heat-dissipating component 5, passes above the second baffle assembly 8 through the through hole group, and is discharged through the second heat dissipation hole group 12. In this embodiment, the air flows upward after heat exchange, and the opening positions of the second heat dissipation hole group 12 and the through hole group 81 are both above the second heat-dissipating component 12, so there is no need to use an exhaust fan, thereby making the head structure 100 more compact and lower in cost.

[0061] According to a second aspect of the embodiments of this application, a robot is provided, including the head structure 100 described above.

[0062] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A head structure, characterized in that, include: The housing has an internal cavity, and a first heat dissipation hole group is provided in the housing, which communicates with the cavity. An air inlet channel is provided in the receiving cavity and is connected to the first heat dissipation hole group. The air inlet channel includes a first end and a second end. The first end is close to the first heat dissipation hole group and the inner diameter of the first end is larger than the inner diameter of the second end.

2. The head structure according to claim 1, characterized in that, Along the X direction, the first heat dissipation hole group is located at the front of the housing, and along the Z direction, the first heat dissipation hole group is located at the bottom of the housing.

3. The head structure according to claim 1, characterized in that, A second heat dissipation hole group is also provided on the top of the housing, and the second heat dissipation hole group is in communication with the receiving cavity.

4. The head structure according to claim 1, characterized in that, The air intake channel is fan-shaped.

5. The head structure according to claim 1, characterized in that, The head structure includes a first heat-dissipating component, which is disposed in the receiving cavity, and the second end is close to the first heat-dissipating component.

6. The head structure according to claim 5, characterized in that, The head structure also includes a first baffle assembly, which is disposed in the receiving cavity. The first baffle assembly is spaced apart from the first heat dissipation component, and an air guide channel is formed between the first baffle assembly and the first heat dissipation component. The air inlet channel is connected to the air guide channel through the second end.

7. The head structure according to claim 6, characterized in that, The first baffle assembly is configured to surround at least a portion of the first heat-dissipating component to form the airflow channel.

8. The head structure according to claim 7, characterized in that, The first baffle assembly includes a first part and a second part, the first part being configured to surround at least a portion of the first heat-dissipating component to form the airflow channel, wherein the second part is connected to the outer surfaces of the first part and the first heat-dissipating component, respectively.

9. The head structure according to claim 5, characterized in that, The head structure also includes a centrifugal fan and a second heat-dissipating component. Both the centrifugal fan and the second heat-dissipating component are located in the receiving cavity. The centrifugal fan is located above the first heat-dissipating component, and the second heat-dissipating component is arranged adjacent to the centrifugal fan so that the second heat-dissipating component is located in the airflow path of the centrifugal fan.

10. The head structure according to claim 9, characterized in that, The second component to be cooled includes a radiator and a body. The radiator is disposed on the body and is located in the airflow path of the centrifugal fan.

11. The head structure according to claim 9, characterized in that, The head structure also includes a second baffle assembly, which is disposed in the receiving cavity and located above the centrifugal fan and the second component to be cooled. The second baffle assembly has a group of through holes corresponding to the area of ​​the second component to be cooled.

12. The head structure according to claim 11, characterized in that, A second heat dissipation hole group is also provided on the top of the housing. The second heat dissipation hole group is in communication with the receiving cavity. The second heat dissipation hole group is located at the end of the second baffle assembly away from the second heat dissipation component. The through hole group is in communication with the second heat dissipation hole group.

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

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