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CN-121989296-A - Head shell assembly for humanoid robot

CN121989296ACN 121989296 ACN121989296 ACN 121989296ACN-121989296-A

Abstract

The invention relates to the technical field of humanoid robots, in particular to a head shell assembly for a humanoid robot, which comprises a head skull shell, a head face shell, a head shell supporting ring and a side ear cover, wherein the head skull shell and the head face shell are spliced by an angle connection edge, the inner wall of the head skull shell is respectively provided with an adaptive positioning guide mechanism and a screw connection mechanism, the head shell supporting ring is provided with a screw connection seat and a support bar groove, and the side ear cover is sealed by a buckle and a pin. After being spliced, the head shell is formed with a bent splicing seam and a head shell installation cavity, and the inner wall of the head shell is provided with a head shell framework installation position. Aiming at the defects of easy loosening of vibration, low protection level, high assembly difficulty and concentrated stress and easy damage of the existing head shell, the invention realizes the technical effects of stable connection, high protection, easy assembly and long service life through a multidimensional connecting structure, accurate positioning and guiding and dispersed stress design, and is suitable for the multi-scene humanoid robot with high requirements on head protection, assembly precision and connection stability.

Inventors

  • ZHANG BIN
  • HAN XUEJIAO
  • LI HUA
  • LI BEI

Assignees

  • 无锡优奇智能科技有限公司

Dates

Publication Date
20260508
Application Date
20260213

Claims (10)

  1. 1. A head shell assembly for a humanoid robot, characterized by comprising a head skull shell (1), a head face shell (2), a head shell supporting ring (3) and two side ear covers (5); The head skull shell (1) comprises a skull shell front connecting edge (101) and a skull shell bottom connecting edge (102), wherein the skull shell front connecting edge (101) comprises a first skull shell connecting edge (103) and two symmetrically arranged second skull shell connecting edges (104) which are connected at an angle, the first skull shell connecting edge (103) comprises an n-shaped head face shell connecting part (105) and two symmetrically arranged side ear cap connecting parts (106), and a first positioning guide mechanism (10) and a first screw connecting mechanism (12) are arranged on the inner wall of the head skull shell (1); The head face shell (2) comprises a face shell rear connecting edge (201) and a face shell bottom connecting edge (202), the face shell rear connecting edge (201) comprises a first face shell connecting edge (203) and two symmetrically arranged second face shell connecting edges (204), the first face shell connecting edge (203) is matched with the head face shell connecting part (105), a second positioning guide mechanism (11) matched with the first positioning guide mechanism (10) and a second screw connecting mechanism (13) matched with the first screw connecting mechanism (12) are arranged on the inner wall of the head face shell (2), and 2 side ear through grooves (4) symmetrically arranged are formed after the head face shell (1) and the head face shell (2) are spliced, and the side ear through grooves (4) are sealed through side ear covers (5); The head shell supporting ring (3) comprises a skull shell bottom edge connecting part (301), a face shell bottom edge connecting part (302), two side ear cover inserting parts (303) and a screw connecting seat (307) matched with the first screw connecting mechanism (12) and the second screw connecting mechanism (13); The skull shell (1), the head face shell (2), the head shell supporting ring (3) and the side ear covers (5) are surrounded to form a head shell installation cavity (6).
  2. 2. The skull assembly for a humanoid robot of claim 1, wherein the second skull shell connecting edge (104) is at an angle of 120 ° to 160 ° to the first skull shell connecting edge (103).
  3. 3. A head cover assembly for a humanoid robot as claimed in claim 1 or 2, wherein the angle between the second cover connecting edge (204) and the first cover connecting edge (203) is 20 ° -60 °.
  4. 4. The skull assembly for the humanoid robot according to claim 1, wherein a skull outer right angle slot (107) and a first lateral ear cap supporting slot (108) which are mutually communicated are formed along the outer walls of the first skull connecting edge (103) and the second skull connecting edge (104), the skull outer right angle slot (107) comprises a skull outer inserting slot (109) and a third lateral ear cap supporting slot (110), a skull inner inserting slot (205) is formed in the inner wall of the first skull connecting edge (203), a second lateral ear cap supporting slot (206) is formed in the outer wall of the second skull connecting edge (204), and after the head skull (1) and the head skull (2) are spliced, the splicing seam is in a bent shape.
  5. 5. The head shell assembly for the humanoid robot according to claim 4, wherein the first side ear cover supporting groove (108), the second side ear cover supporting groove (206) and the third side ear cover supporting groove (110) form a side ear cover embedding groove (7), a side ear cover boss (501) is arranged on the inner wall of the side ear cover (5), a side ear cover stepped groove (502) on the outer side of the side ear cover boss is abutted with the side ear cover embedding groove (7), a first side ear cover clamping foot (503) and a second side ear cover clamping foot (504) are arranged on the inner wall of the side ear cover boss (501), and an adaptive first side ear cover clamping groove (111) and an adaptive second side ear cover clamping groove (207) are arranged on the bottom walls of the first side ear cover supporting groove (108) and the second side ear cover supporting groove (206).
  6. 6. The skull assembly for the humanoid robot according to claim 1, wherein the inner wall of the skull base connecting edge (102) is provided with a first skull supporting ring supporting strip (8) which is consistent with the radian of the skull base connecting portion (301), the outer side of the skull base connecting portion (301) is provided with a first supporting strip groove (305) which is matched with the skull base connecting portion, the inner wall of the skull base connecting edge (202) is provided with a second skull supporting ring supporting strip (9), and the outer side of the skull base connecting portion (302) is provided with a second supporting strip groove (306) which is matched with the skull base connecting portion.
  7. 7. The skull assembly for the humanoid robot according to claim 1, wherein the first positioning and guiding mechanism (10) comprises two symmetrically arranged skull upper guiding posts (1001) and two skull lower guiding posts (1003) with skull lower guiding posts (1002), the skull upper guiding posts (1001) are adjacent to the head face-piece connecting part (105), the skull lower guiding posts (1002) are adjacent to the skull base connecting edge (102), and the second positioning and guiding mechanism (11) comprises two skull upper guiding posts (1101) corresponding to the skull upper guiding posts (1001) and two skull lower guiding posts (1102) corresponding to the skull lower guiding posts (1002), and the skull upper guiding posts (1101) and the skull lower guiding posts (1102) are respectively provided with skull upper guiding holes (1103) capable of being matched with the skull upper guiding posts (1001) and skull lower guiding holes (1002) capable of being matched with the skull lower guiding posts (1104).
  8. 8. The skull assembly for the humanoid robot of claim 1, wherein the first screw connection mechanism (12) comprises two symmetrically arranged skull upper connecting rods (1201) and two symmetrically arranged skull lower connecting rods (1202), the protruding sections of the skull upper connecting rods (1201) and the skull lower connecting rods (1202) are respectively provided with skull upper connecting rod screw holes (1203) and skull lower connecting rod screw holes (1204), the second screw connection mechanism (13) comprises two symmetrically arranged skull upper connecting rods (1301) and two symmetrically arranged skull lower connecting rods (1302), the protruding sections of the skull upper connecting rods (1301) and the skull lower connecting rods (1302) are respectively provided with skull upper connecting rod screw holes (1303) and skull lower connecting rod screw holes (1304), the screw connection base (307) are symmetrically arranged at positions of the skull support ring (3) corresponding to the side ear cap caulking grooves (7), and two first screw connection bases capable of being respectively matched with the skull lower connecting rods (1204) and the face lower connecting rods (309) and the first screw connection bases (308) are respectively provided.
  9. 9. The head shell assembly for the humanoid robot according to claim 1, wherein a side ear cover pin (505) is arranged at a position of the side ear cover (5) corresponding to the side ear cover plug-in part (303), the side ear cover plug-in part (303) is provided with a side ear cover slot (304) matched with the side ear cover plug-in part, and the side ear cover pin (505) is in sleeved fit with the side ear cover slot (304).
  10. 10. A head cover assembly for a humanoid robot as claimed in claim 1, characterized in that the inner wall of the head cover (2) is provided with a head cover skeleton mounting location (17) which is dedicated to mounting the head cover skeleton.

Description

Head shell assembly for humanoid robot Technical Field The invention relates to the technical field of humanoid robots, in particular to a head shell assembly for a humanoid robot. Background The humanoid robot is a humanoid robot which has a similar appearance to a human, has a head, a trunk, movable limbs and joints with multiple degrees of freedom, is provided with sensors and AI algorithm to realize 'perception-decision-execution' complete flow, can be applied to multiple fields of industrial production, social service, rescue and disaster relief and the like, is particularly suitable in the field of logistics, can complete a series of automatic operations such as cargo handling, storage sorting, terminal distribution and the like by virtue of flexible limbs, and is suitable for complex logistics scene requirements. The head shell is used as a key component of the humanoid robot, and has the core effects of firstly protecting and bearing, packaging and protecting precise components such as a camera and a main control module, isolating dust and collision, providing a stable installation standard, secondly sensing and interaction, optimizing the sensor layout to ensure 360-degree environment sensing, integrating a display screen, a pickup hole and the like to realize anthropomorphic interaction, thirdly, balancing the center of gravity of the head, ensuring the stability of the whole machine, reducing the distance between the human and the machine through anthropomorphic appearance, and adapting to the use requirements of multiple scenes. Chinese patent publication No. CN118700189a discloses a head housing, a head assembly and a humanoid robot, the head housing of which has the following drawbacks: 1. the detachable connection is realized only by relying on contact of the two-direction edges, and the shell is easy to loosen due to vibration during movement of the humanoid robot. 2. The sealing effect of the contact of the edges is limited, the higher protection level is difficult to achieve, dust and water vapor easily invade the accommodating space, and the service life of internal devices is influenced. 3. During installation, the assembly can be completed only by accurately aligning the edges in the upper direction, the lower direction, the front direction and the rear direction, the requirement on production positioning accuracy is high, and the assembly cost and the efficiency loss are increased. 4. The connecting force of the neck assembly is only borne by the mounting table of the first shell, and the mounting table or the connecting part of the first shell is easy to be damaged by fatigue due to concentrated stress after long-term use. Therefore, a new solution is needed to solve the above technical problems. Disclosure of Invention The invention aims to solve the problems of the prior art, provides a head shell component for a humanoid robot, and aims to solve the technical problems of easy loosening of the existing head shell dynamic scene, insufficient straight seam splicing protection, high assembly precision requirement and concentrated neck connection stress, and meet the requirements of the humanoid robot on stability, protection, assembly efficiency and durability. Through innovative multidimensional connection structure, accurate positioning and guiding and scattered stress design, the technical targets of stable connection, high protection, easy assembly and long service life are realized. The above purpose is realized by the following technical scheme: A head shell assembly for a humanoid robot comprises a head shell, a head face shell, a head shell supporting ring and two side ear covers, wherein the head shell comprises a head shell front connecting edge and a head shell bottom connecting edge, the head shell front connecting edge comprises a first head shell connecting edge and two symmetrically arranged second head shell connecting edges, the first head shell connecting edge comprises an n-shaped head face shell connecting part and two symmetrically arranged side ear cover connecting parts, a first positioning guide mechanism and a first screw connecting mechanism are arranged on the inner wall of the head shell, the head face shell comprises a face shell rear connecting edge and a face shell bottom connecting edge, the face shell rear connecting edge comprises a first face shell connecting edge and two symmetrically arranged second face shell connecting edges, the first face shell edge is matched with the head face shell connecting part, the inner wall of the head face shell is provided with a second positioning guide mechanism matched with the first positioning guide mechanism and a second screw connecting mechanism matched with the first screw connecting mechanism, the face shell rear connecting edge and the side ear cover connecting edge are connected with the head face shell, the two side ear covers are connected with the head face shell supporting ring and the two side ear cov