CN220864058U

CN220864058U - Head assembly of robot and robot

Info

Publication number: CN220864058U
Application number: CN202322559847.0U
Authority: CN
Inventors: 顾捷
Original assignee: Shanghai Fourier Intelligence Co Ltd
Current assignee: Shanghai Fourier Intelligence Co Ltd
Priority date: 2023-09-19
Filing date: 2023-09-19
Publication date: 2024-04-30
Anticipated expiration: 2033-09-19

Abstract

The application relates to the technical field of robots, and discloses a head assembly of a robot. The head assembly of the robot comprises a body frame and a camera device, wherein the body frame is provided with a rotary connecting structure and is used for being in rotary connection with the neck of the robot, and in an installation state, the body frame can realize a direct-view state and a low-head state along a rotary axis; the camera device is arranged on the body frame and positioned in front of the rotary connecting structure, and the shooting direction of the camera device faces to the front of the head assembly; in the direct-view state of the body frame, the rotation axis is parallel to the horizontal plane, the central axis of the camera device is parallel to the horizontal plane, and the height of the central axis is lower than that of the rotation axis. The head component of the robot can reduce visual blind areas on the ground close to the robot, and is beneficial to safe movement of the robot. The application further provides a robot.

Description

Head assembly of robot and robot

Technical Field

The present application relates to the field of robotics, for example, to a head assembly for a robot and a robot.

Background

Currently, in robot bionics, a head assembly of a robot can realize actions such as nodding, panning, and the like. In the movable bionic robot, a visual sensor (imaging device) is usually provided on the head, and the visual field is changed by the head lowering, head raising, head turning, and the like.

In the process of implementing the embodiment of the application, the related art is found to have at least the following problems:

For a movable robot, robot vision generally requires that the robot safely move to provide a certain guarantee, such as avoiding obstacles under the feet of the robot; the bionic head assembly of the existing robot is adopted, and a large visual blind area is easy to form on the ground close to the robot, so that the safe movement of the robot is not facilitated.

Disclosure of utility model

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.

The embodiment of the application provides a head assembly of a robot and the robot, which are used for reducing vision blind areas on the ground close to the robot so as to be beneficial to safe movement of the robot.

In some embodiments, a head assembly of a robot includes:

The robot comprises a body frame, a robot neck, a robot head and a robot head, wherein the body frame is provided with a rotary connecting structure and is used for being rotationally connected with the robot neck, and in an installation state, the body frame can realize a direct-view state and a low-head state along a rotary axis;

The camera device is arranged on the body frame and positioned in front of the rotary connecting structure, and the shooting direction of the camera device faces to the front of the head assembly;

In the direct-view state of the body frame, the rotation axis is parallel to the horizontal plane, the central axis of the camera device is parallel to the horizontal plane, and the height of the central axis is lower than that of the rotation axis.

Optionally, the body frame comprises a bionic eyebrow arch bone, and the bionic eyebrow arch bone is formed in a straight line from the left outline to the right outline of the body frame; the difference between the height of the bionic eyebrow and the height of the rotation axis is less than or equal to 1/5 of the height of the body frame, so that the bionic eyebrow and the rotation axis show a visual effect of being flush in an installation state;

The camera device is fixedly connected with the bionic eyebrow arch bone through a fixed connection structure,

The first end of the fixed connection structure is fixedly connected with the bionic eyebrow arch bone;

The second end of the fixed connection structure is fixedly connected with the image pick-up device;

The extending direction of the fixed connection structure from the first end to the second end of the fixed connection structure faces to the lower part, the lower front part or the lower rear part of the bionic eyebrow bone, so that the height of the central axis is lower than the height of the rotation axis in the installation state.

Optionally, the first end of the fixed connection structure comprises at least two first connection structures, the bionic eyebrow bone comprises at least two second connection structures, and the first connection structures and the second connection structures can be fixedly connected;

The second end of the fixed connection structure comprises at least two third connection structures, the camera device comprises at least two fourth connection structures, and the third connection structures and the fourth connection structures can be fixedly connected.

Optionally, the first connection structure is a through hole, the second connection structure is a through hole, and the first connection structure and the second connection structure are fixedly connected in a screw or bolt mode.

Optionally, the third connection structure is a through hole, the fourth connection structure is a through hole, and the third connection structure and the fourth connection structure are fixedly connected in a screw or bolt mode.

Optionally, the first end of the fixed connection structure is in a flat plate shape, an abutting plane is formed at the front position of the bionic eyebrow, and one plate surface of the first end of the fixed connection structure is in abutting connection with the abutting plane;

The second end of the fixed connection structure is in a flat plate shape, and one plate surface of the second end of the fixed connection structure is fixedly connected with the image pickup device.

Optionally, the body frame includes a biomimetic top bone;

the fixed connection end of the rotary connection structure is fixedly connected with the bionic top bone;

the rotating connection end of the rotating connection structure is used for being connected with the robot neck in a rotating mode.

Optionally, the rotary connection structure is in a groove shape;

A fifth connecting structure is arranged at the groove bottom of the groove shape, a sixth connecting structure is arranged on the bionic top bone, and the fifth connecting structure can be fixedly connected with the sixth connecting structure;

One groove wall of the groove shape is provided with a seventh connecting structure, and the other groove wall is provided with an eighth connecting structure; the seventh connecting structure is used for being fixedly connected with an output shaft of the actuator of the robot neck, and the eighth connecting structure is used for being rotationally connected with a shell of the actuator of the robot neck; the seventh connection structure and the eighth connection structure are both rotatable about the rotational axis.

Optionally, the fifth connection structure is a through hole, the sixth connection structure is a through hole, and the fifth connection structure and the sixth connection structure are fixedly connected by a bolt or a screw.

Optionally, the seventh connection structure includes a plurality of through holes, the plurality of through holes of the seventh connection structure encircle to be circular, circular middle part has seted up the accommodation hole that holds the protruding structure of executor output, the plurality of through holes of the seventh connection structure with the form of screw or bolt with the output shaft fixed connection of executor.

Optionally, the eighth connecting structure is a rotation through hole, and the rotation through hole is rotationally connected with a rotation shaft formed at a bottom shell of the actuator.

Optionally, the left and right contours of the body frame are provided with one or more ninth connection structures for connecting the face housing of the robot.

Optionally, the distance between the ninth connection structure and the center of the body frame is greater than the distance between the bionic eyebrow and the center of the body frame, so that the facial shell covers the bionic eyebrow and the image pickup device in the installation state.

In some embodiments, the robot includes the head assembly of the robot provided by the previous embodiments.

The head assembly of the robot and the robot provided by the embodiment of the application can realize the following technical effects:

For the robot capable of realizing the direct view state and the low head state around the rotation axis, the central axis of the camera device is also in a horizontal state when the body frame of the robot is in the direct view state, so that the height of the central axis is lower than that of the rotation axis. The relative position relation between the central axis and the rotation axis is arranged in such a way that when the front robot is low under the condition that the low head angle of the robot and the visual angle of the camera device are unchanged, the visual blind area formed on the bottom surface which is closer to the robot is smaller, so that the robot can safely move; under the condition that the ground close to the robot forms a vision blind area with the same size, the low head angle of the robot is smaller, and the robot can safely move.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:

FIG. 1 is an exploded view of a head assembly according to an embodiment of the present application;

FIG. 2 is a schematic view of a head unit according to an embodiment of the present application;

FIG. 3 is a schematic view of a head unit according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a rotary connection structure according to an embodiment of the present application.

Reference numerals:

body frame: 100;

And (3) rotating the connecting structure: 110;

Fifth connection structure: 111;

seventh connection structure: 112;

eighth connection structure: 113;

The fixed connection structure comprises: 120;

First end of fixed connection: 121;

First connection structure: 1211;

Second end of fixed connection: 122, a step of;

Third connection structure: 1221;

bionic eyebrow arch bone: 130;

And a second connecting structure: 131;

bionic parietal bone: 140;

sixth connection structure: 141;

An image pickup device: 200;

Robot neck: 300;

An axis of rotation: a1;

Central axis: a2;

Ninth connection structure: 150.

Detailed Description

For a more complete understanding of the nature and the technical content of the embodiments of the present application, reference should be made to the following detailed description of embodiments of the application, taken in conjunction with the accompanying drawings, which are meant to be illustrative only and not limiting of the embodiments of the application. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.

The terms first, second and the like in the description and in the claims of embodiments of the application and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the application herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

In the embodiments of the present application, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate the azimuth or the positional relationship based on the azimuth or the positional relationship shown in the drawings. These terms are only used to facilitate a better description of embodiments of the application and their examples and are not intended to limit the scope of the indicated devices, elements or components to the particular orientation or to be constructed and operated in a particular orientation. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in embodiments of the present application will be understood by those of ordinary skill in the art in view of the specific circumstances.

In addition, the terms "disposed," "connected," "secured" and "affixed" are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

The term "plurality" means two or more, unless otherwise indicated.

In the embodiment of the application, the character "/" indicates that the front object and the rear object are in an OR relationship. For example, A/B represents: a or B.

The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

As shown in fig. 1 to3, the head assembly of the robot includes a body frame 100 and an image pickup device 200.

Wherein, the body frame 100 is provided with a rotational connection structure 110 for rotational connection with the robot neck 300, and in an installed state, the body frame 100 can achieve a direct-view state and a low-head state along the rotation axis A1. The rotational connection 110 may be part of the integrally formed body frame 100 or may be a removable component of the assembled body frame 100.

The body frame 100 is rotatably connected to the robot neck 300 through the rotation connection structure 110, and the body frame 100 can rotate around the rotation axis A1 in the case where the robot neck 300 is not moved, or the body frame 100 can be rotated in all directions (including the case where the body frame 100 rotates around the rotation axis A1).

The installation state in the embodiment of the application refers to: the head assembly is mounted on the robot neck 300 with the robot in a standing position.

The direct view state and the low head state in the present application refer to a direct view state and a low head state which imitate a human.

The image device is disposed in the main body frame 100 and in front of the rotation connection structure 110, and the shooting direction of the image capturing device 200 is toward the front of the head assembly.

The front and rear direction of the direction word in the embodiment of the application means that the direction of the face of the head assembly is the front and the direction of the face of the head assembly is the rear in the installation state.

The relative positional relationship between the main body frame 100 and the image pickup device 200 is: in the direct view state of the body frame 100, the rotation axis A1 is parallel to the horizontal plane, the central axis A2 of the image pickup device 200 is parallel to the horizontal plane, and the height of the central axis A2 is lower than the height of the rotation axis A1.

For a robot capable of realizing a straight view state and a low head state around the rotation axis A1, the central axis A2 of the imaging device 200 is also in a horizontal state in the straight view state of the body frame 100 of the robot, so that the height of the central axis A2 is lower than the height of the rotation axis A1. The relative position relation between the central axis A2 and the rotation axis A1 is arranged in such a way that when the front robot is low under the condition that the angle of the low head of the robot and the visual angle of the camera device 200 are unchanged, the visual blind area formed on the bottom surface which is nearer to the robot is smaller, so that the robot can safely move; under the condition that the ground close to the robot forms a vision blind area with the same size, the low head angle of the robot is smaller, and the robot can safely move.

Moreover, the positional relationship between the rotation axis A1 and the central axis A2 of the image pickup device 200 can indicate that the distance between the rotation axis A1 and the vertex is relatively small, and in the mounted state, the head member rotates along such rotation axis A1, so that the influence on the overall center of gravity of the robot is small, and the balanced movement of the robot is facilitated.

The following exemplifies the mounting structure of the main body frame 100 and the image pickup device 200.

Optionally, the body frame 100 includes a bionic eyebrow arch 130, and the bionic eyebrow arch 130 is formed in a line from a left contour to a right contour of the body frame 100. Specifically, the bionic eyebrow bone 130 may be embedded in the surface profile defined by the body frame 100, may be flush with the surface profile defined by the body frame 100 (not shown), or may protrude from the surface profile defined by the body frame 100 (not shown).

The difference between the height of the bionic eyebrow bone 130 and the height of the rotation axis A1 is less than or equal to 1/5 of the height of the body frame 100, so that the bionic eyebrow bone 130 and the rotation axis A1 show a flush visual effect in the installation state;

The camera device 200 is fixedly connected with the bionic eyebrow arch bone 130 through the fixed connection structure 120,

The first end 121 of the fixed connection structure 120 is fixedly connected with the bionic eyebrow arch bone 130;

The second end 122 of the fixed connection structure 120 is fixedly connected with the image pickup device 200;

The extending direction of the fixed connection structure 120 from the first end 121 to the second end 122 thereof is toward the lower, lower front (not shown) or lower rear (not shown) of the bionic eyebrow bone 130, so that the height of the central axis A2 is lower than the height of the rotation axis A1 in the mounted state.

In this way, the image pickup apparatus 200 can be mounted on the main body frame 100.

In the bionic robot, the external contour of the body frame 100 is similar to the contour of the head of a person, i.e., the structure of the body frame 100 is obtained in a bionic manner. The left and right contours of the body frame 100 are similar to the left and right contours of a human head.

The bionic eyebrow arch 130 makes the body frame 100 resemble the head of a human body, and serves as a connection and support structure inside the body frame 100, so that the body frame 100 has a certain impact resistance as a whole. In this case, the fixing and connecting structure 120 is used to make the height of the central axis A2 of the camera device 200 lower than the height of the rotation axis A1 of the head assembly, thereby enlarging the field of view of the robot on the ground and improving the moving safety of the robot.

The shape of the first end 121 of the fixed connection structure 120 is adapted to the structure of the bionic eyebrow arch 130 in the body frame 100, and the shape of the second end 122 of the fixed connection structure 120 is adapted to standard fixtures of the camera device 200.

For example, the first end 121 of the fixed connection structure 120 has a flat plate shape, and an abutment plane is formed at a forward position of the bionic eyebrow bone 130, and one plate surface of the first end 121 of the fixed connection structure 120 is in abutting connection with the abutment plane.

The second end 122 of the fixed connection structure 120 has a flat plate shape, and one plate surface of the second end 122 of the fixed connection structure 120 is fixedly connected with the image pickup device 200.

The above description is merely illustrative of the shapes of the first end 121 and the second end 122 of the fixed connection structure 120, and in a specific application process, in order to adapt the shape of the first end 121 of the fixed connection structure 120 to the structure of the bionic eyebrow arch 130 in the body frame 100, the shape of the second end 122 of the fixed connection structure 120 is adapted to the standard fixing piece of the image capturing apparatus 200, and the first end 121 and the second end 122 of the fixed connection structure 120 may be configured to adapt to the actual situation.

For the connection manner of the fixed connection structure 120 and the bionic eyebrow bone 130, the first end 121 of the fixed connection structure 120 may include at least two first connection structures 1211, the bionic eyebrow bone 130 may include at least two second connection structures 131, and the first connection structures 1211 and the second connection structures 131 may be fixedly connected.

The number of the first connecting structures 1211 and the second connecting structures 131 may be corresponding, and the first connecting structures 1211 and the second connecting structures 131 that are fixedly connected at least two positions can avoid the relative rotation phenomenon of the fixed connecting structure 120 relative to any fixed connecting position, and improve the fixing degree of the fixed connecting structure 120 and the bionic eyebrow bone 130.

Alternatively, the first connection structure 1211 is a through hole, the second connection structure 131 is a through hole, and the first connection structure 1211 and the second connection structure 131 are fixedly connected in the form of a screw or a bolt.

Or one of the first connection structure 1211 and the second connection structure 131 is a through hole, and the other is a stud (not shown), so that the first connection structure 1211 and the second connection structure 131 can be fixedly connected by means of bolts.

The specific forms of the first connection structure 1211 and the second connection structure 131 listed above are only exemplary, and those skilled in the art may arrange the first connection structure 1211 and the second connection structure 131 to be adapted to the actual situation according to the actual situation.

For the connection manner of the fixed connection structure 120 and the image capturing apparatus 200, the second end 122 of the fixed connection structure 120 may include at least two third connection structures 1221, and the image capturing apparatus 200 may include at least two fourth connection structures, where the third connection structures 1221 and the fourth connection structures can be fixedly connected.

The number of the third connecting structures 1221 and the number of the fourth connecting structures may be corresponding, and the third connecting structures 1221 and the fourth connecting structures that are fixedly connected at least in two positions can avoid the phenomenon of relative rotation of the image capturing apparatus 200 relative to any one of the fixed connecting positions, and improve the fixing degree of the fixed connecting member and the image capturing apparatus 200.

Optionally, the third connecting structure 1221 is a through hole, the fourth connecting structure is a through hole, and the third connecting structure 1221 and the fourth connecting structure are fixedly connected in the form of a screw or a bolt.

Or one of the third connecting structure 1221 and the fourth connecting structure is a through hole, and the other is a stud (not shown in the figure), so that the third connecting structure 1221 and the fourth connecting structure can be fixedly connected by means of a bolt.

The specific forms of the third connecting structure 1221 and the fourth connecting structure listed above are only exemplary, and those skilled in the art may arrange the third connecting structure 1221 and the fourth connecting structure adapted to the actual situation according to the actual situation. For example, the specifications of the image capturing apparatuses 200 of different manufacturers are different, and the third connecting structure 1221 adapted to the fourth connecting structure of the image capturing apparatus 200 may be set according to the specific specification of the fourth connecting structure, so as to realize the fixed connection of the third connecting structure 1221 and the fourth connecting structure.

Illustratively, the fixed connection structure 120 is a long-strip-shaped connection plate, and one long side of the long-strip-shaped connection plate is a first end 121 and is fixedly connected with the bionic eyebrow arch bone 130; the other long side of the long strip-shaped connecting plate is the second end 122 of the fixed connecting structure 120, extends along the downward direction of the bionic eyebrow bone 130, and is provided with a mounting structure which is fixedly connected with the camera device 200.

Or the fixed connection 120 may also be "I" -shaped (not shown) and "T" -shaped (not shown).

The connection between the body frame 100 and the robot neck 300 will be exemplarily described below.

Optionally, the body frame 100 includes a biomimetic top bone 140; the fixed connection end of the rotary connection structure 110 is fixedly connected with the bionic top bone 140; the rotational connection end of the rotational connection structure 110 is for rotational connection with the robot neck 300.

That is, the rotational coupling structure 110 is one detachable member constituting the body frame 100. The rotational connection structure 110 needs to be rotationally connected with the robot neck 300, so that the body frame 100 can realize a direct-view state and a low-head state along the rotation axis A1, which has a certain requirement on the precision of the rotational connection structure 110, and the rotational connection end of the rotational connection structure 110 needs to have a certain complexity. The body frame 100 is used to simulate the shape of the head of a human body, and the distance between the rotation axis A1 and the top of the head is relatively small (the rotation axis A1 is between the eyes and the top of the head), which means that the rotation connecting portion of the rotation connecting structure 110 is located inside the outline formed by the body frame 100, and the rotation connecting structure 110 is configured as a detachable component, which is beneficial to processing the rotation connecting end of the rotation connecting structure 110.

Referring to fig. 4, the rotary connection structure 110 has a groove shape;

The groove bottom of the groove shape is provided with a fifth connecting structure 111, the bionic top bone 140 is provided with a sixth connecting structure 141, and the fifth connecting structure 111 can be fixedly connected with the sixth connecting structure 141;

One groove wall of the groove shape is provided with a seventh connecting structure 112, and the other groove wall is provided with an eighth connecting structure 113; the seventh connecting structure 112 is used for fixedly connecting with an output shaft of the actuator of the robot neck 300, and the eighth connecting structure 113 is used for rotatably connecting with a shell of the actuator of the robot neck 300; the seventh connection structure 112 and the eighth connection structure 113 are each rotatable about the rotation axis A1.

Specifically, the fifth connection structure 111 is a through hole, the sixth connection structure 141 is a through hole, and the fifth connection structure 111 and the sixth connection structure 141 are fixedly connected by means of bolts or screws.

In this way, in the process of installing the head assembly, the rotating connection structure 110 may be installed on the robot neck 300, and then the fifth connection structure 111 and the sixth connection structure 141 are fixedly connected, and since the fifth connection structure 111 and the sixth connection structure 141 are through holes, the installation manner is also more convenient.

Specifically, the seventh connection structure 112 includes a plurality of through holes, the plurality of through holes of the seventh connection structure 112 are circular around, a receiving hole for receiving the protruding structure of the output end of the actuator is formed in the middle of the circle, and the plurality of through holes of the seventh connection structure 112 are fixedly connected with the output shaft of the actuator in the form of screws or bolts.

The eighth connecting structure 113 is a rotation through hole, and the rotation through hole is rotationally connected with a rotation shaft formed at the bottom shell of the actuator; or the eighth connection structure 113 is a rotation shaft (not shown in the drawings) which is embedded in a rotation hole formed at the bottom housing of the actuator.

In some possible implementations, the left and right contours of the body frame 100 are provided with one or more ninth connection structures 150, the ninth connection structures 150 for connecting the facial shell of the robot;

The ninth connection structure 150 is spaced from the center of the body frame 100 by a distance greater than the distance between the bionic eyebrow bone 130 and the center of the body frame 100 so that the facial shell covers the bionic eyebrow bone 130 and the image capturing apparatus 200 in the mounted state.

The facial shell is a shell simulating the face of a human body.

In some embodiments, the present application provides a robot comprising the head assembly of the robot provided in the previous embodiments.

The above description and the drawings illustrate embodiments of the application sufficiently to enable those skilled in the art to practice them. Other embodiments may include structural and other modifications. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The embodiment of the present application is not limited to the structure that has been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A robotic head assembly comprising:

2. The robotic head assembly of claim 1, wherein the body frame comprises a biomimetic brow bone shaped in-line from a left profile to a right profile of the body frame; the difference between the height of the bionic eyebrow and the height of the rotation axis is less than or equal to 1/5 of the height of the body frame, so that the bionic eyebrow and the rotation axis show a visual effect of being flush in an installation state;

3. The robot head assembly of claim 2, wherein the head assembly is configured to receive the robot head assembly,

The first end of the fixed connection structure comprises at least two first connection structures, the bionic eyebrow arch bone comprises at least two second connection structures, and the first connection structures and the second connection structures can be fixedly connected;

4. A head assembly of a robot according to claim 3, wherein,

The first connecting structure is a through hole, the second connecting structure is a through hole, and the first connecting structure and the second connecting structure are fixedly connected in a screw or bolt mode;

The third connecting structure is a through hole, the fourth connecting structure is a through hole, and the third connecting structure and the fourth connecting structure are fixedly connected in a screw or bolt mode.

5. The head assembly of the robot according to claim 2, wherein the first end of the fixed connection structure is in a flat plate shape, an abutment plane is formed at a forward-facing position of the bionic eyebrow bone, and one plate surface of the first end of the fixed connection structure is in abutting connection with the abutment plane;

6. The head assembly of a robot according to any one of claims 2 to 5, wherein the left and right contours of the body frame are provided with one or more ninth connection structures for connecting a face housing of the robot;

The distance between the ninth connecting structure and the center of the body frame is greater than the distance between the bionic eyebrow and the center of the body frame, so that the facial shell covers the bionic eyebrow and the camera device in an installation state.

7. The robotic head assembly of claim 1, wherein the body frame comprises a biomimetic top bone;

8. The robotic head assembly of claim 7, wherein the rotational connection is in the shape of a groove;

9. The robotic head assembly of claim 8, wherein the head assembly comprises a plurality of heads,

The fifth connecting structure is a through hole, the sixth connecting structure is a through hole, and the fifth connecting structure and the sixth connecting structure are fixedly connected through bolts or screws;

The seventh connecting structure comprises a plurality of through holes, the through holes of the seventh connecting structure are round, the round middle part is provided with a containing hole for containing the protruding structure of the output end of the actuator, and the through holes of the seventh connecting structure are fixedly connected with the output shaft of the actuator in a screw or bolt mode;

The eighth connecting structure is a rotating through hole, and the rotating through hole is rotationally connected with a rotating shaft formed at the bottom shell of the actuator.

10. A robot comprising a head assembly of the robot of any one of claims 1 to 9.