Robot

Abstract

The present application relates to a robot, comprising a torso, a head, a connecting member and a driving assembly. The connecting member includes a first connecting portion and a second connecting portion. The first connecting portion is rotatably connected to the head, and the second connecting portion is rotatably connected to the torso. The driving assembly is configured to drive the head to swing relative to the torso in a first direction and / or a second direction, wherein the first direction and the second direction are different from each other. For the robot of the present application, by using the two connecting portions of the connecting member, both the head and the torso are rotatably connected to the connecting member, thereby improving the flexibility of the movement of the head relative to the torso, enriching the postures of the head relative to the torso of the robot, and the connecting member connecting the head and the torso can achieve the effect of simulating a neck, thus enhancing the overall simulation effect of the robot.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to robots. Background Art

[0002] At present, robots such as four-legged robot dogs and robot cats usually only achieve simulation effects in terms of appearance and structure. For example, the posture of the robot's head is single, the simulation effect is poor, and the overall interest is not good. Summary of the invention

[0003] The present application provides a robot to solve the technical problem of poor simulation effect.

[0004] The present application provides a robot, comprising:

[0005] trunk;

[0006] head;

[0007] a connecting member comprising a first connecting portion and a second connecting portion, wherein the first connecting portion is rotatably connected to the head, and the second connecting portion is rotatably connected to the torso;

[0008] A driving assembly is used to drive the head to swing relative to the torso in a first direction and / or a second direction, wherein the first direction and the second direction are different from each other.

[0009] In the above-mentioned robot, the connecting part includes a first connecting part and a second connecting part, so that the head and the connecting part can rotate, and the connecting part and the torso can also rotate, so that the head can flexibly adjust its posture relative to the torso to enrich the posture of the head relative to the torso, and the connecting part connecting the head and torso can achieve the effect of simulating a neck, thereby improving the overall simulation effect of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] Figure 1 A schematic three-dimensional diagram of a robot provided in one embodiment;

[0012] Figure 2 Schematic diagram of the connection structure between the head and torso of a robot according to one embodiment;

[0013] Figure 3 for Figure 2Schematic diagram of the exploded structure of the partial structure of the shown robot;

[0014] Figure 4 is Figure 2 Another perspective schematic diagram of the exploded structure of the partial structure of the shown robot;

[0015] Figure 5 In a robot of an embodiment, schematic diagram of the connection structure between the first driving mechanism and the head;

[0016] Figure 6 Another perspective schematic diagram of the connection structure between the head and the torso of a robot of an embodiment;

[0017] Figure 7 Another perspective schematic diagram of the connection structure between the first driving mechanism and the head in a robot of an embodiment;

[0018] Figure 8 is Figure 6 Top view schematic diagram of the partial structure of the shown robot;

[0019] Figure 9 is along Figure 8 Schematic diagram of the sectional structure of the I-I sectional line;

[0020] Figure 10 Schematic diagram of the structure of the head of a robot of an embodiment provided with a sensing module;

[0021] Figure 11 Schematic diagram of the structure of the head of a robot of another embodiment provided with a sensing module;

[0022] Figure 12 Schematic diagram of the structure of a connecting member of a robot of an embodiment. Detailed implementation manners

[0023] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0024] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present application.

[0025] In addition, the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0026] In the present application, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0027] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0028] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0029] Referring to Figure 1 As shown, the present application provides a robot 10, including a torso 100, a head 200, a connecting member 300 and a driving assembly 400. The head 200 is connected to the torso 100 through the connecting member 300 and can rotate relative to the torso 100 in a first direction and / or swing in a second direction under the drive of the driving assembly 400. That is to say, the head 200 can only swing relative to the torso 100 in the first direction under the drive of the driving assembly 400, or can only swing relative to the torso 100 in the second direction under the drive of the driving assembly 400, or the head 200 can swing relative to the torso 100 in the first direction and can also swing relative to the torso 100 in the second direction under the drive of the driving assembly 400. It is understandable that the first direction and the second direction are different from each other.

[0030] The first direction and the second direction are perpendicular to each other. For example, among the first direction and the second direction, one corresponds to the vertical direction when the robot 10 is on the ground, and the other corresponds to the horizontal direction when the robot 10 is on the ground. Specifically, taking the Figure 1 shown robot as an example, in some embodiments, the first direction refers to the vertical direction when the robot 10 is on the ground (such as the Figure 1 shown up and down direction), and the second direction refers to the horizontal direction when the robot 10 is on the ground (such as the Figure 1 shown left and right direction). In other embodiments, the first direction refers to the horizontal direction when the robot 10 is on the ground, and correspondingly, the second direction refers to the vertical direction when the robot 10 is on the ground.

[0031] For the sake of easy understanding, the movement of the head 200 will be further described below by taking the Figure 1 shown robot as an example. When the first direction is the left and right direction of the robot and the second direction is the up and down direction of the robot, the head 200 swings relative to the torso 100 in the first direction, that is, the head 200 will simulate the action of shaking the head left and right. The head 200 swings relative to the torso 100 in the second direction, that is, the head 200 will simulate the action of nodding up and down.

[0032] The above-mentioned robot 10 uses a connecting member 300 to connect the head 200 to the torso 100. The driving assembly 400 can drive the head 200 to move relative to the torso 100, thereby enriching the posture of the head 200 of the robot 10 relative to the torso 100. Moreover, the connecting member 300 can achieve the effect of simulating a neck to enhance the overall simulation effect of the robot 10.

[0033] Further, the robot 10 includes a leg assembly 500. The leg assembly 500 is used to support the torso 100. When the leg assembly 500 supports the torso 100 on a horizontal plane, one of the first direction and the second direction is parallel to the horizontal plane, and the other is perpendicular to the horizontal plane.

[0034] Since the head 200 assembly can rotate relative to the torso 100 under the drive of the driving assembly 400, when the leg assembly 500 supports the robot 10 on a horizontal plane, the head 200 can perform an up-and-down nodding motion relative to the horizontal plane, or the head 200 can perform a horizontal swaying motion relative to the torso 100. This makes the posture of the head 200 of the robot 10 relative to the torso 100 rich, so as to achieve a simulation effect. Exemplarily, when the robot 10 is a quadruped simulation robot 10 such as a robot dog or a robot cat, by using the rotation of the head 200 relative to the torso 100, it is possible to truly simulate postures such as nodding up and down (with the ground as a reference) or shaking the head left and right relative to the torso 100, so as to enrich the simulation effect of the robot 10 and improve the playability and interestingness during the interaction between the robot 10 and the user.

[0035] It can be understood that when the robot 10 is a quadruped simulation robot 10 such as a robot dog or a robot cat, the robot 10 includes four leg assemblies 500 connected to the torso 100 to respectively correspond to the four limbs of the animal simulated by the robot 100.

[0036] For the convenience of further describing the structure of the robot 10 below, the following will be combined with Figure 1 Taking the shown robot 10 as an example, the left-right direction of the robot 10 when it is located on the ground is defined as the first direction, and the up-down direction of the robot 10 when it is located on the ground is defined as the second direction.

[0037] Combined with Figure 2 and Figure 3 As shown, the connecting member 300 includes a first connecting portion 301 and a second connecting portion 302. The first connecting portion 301 is rotatably connected to the head 200, and the second connecting portion 302 is rotatably connected to the torso 100. Thus, the first connecting portion 301 can meet the rotation requirement between the head 200 and the connecting member 300, and the second connecting portion 302 can meet the rotation requirement between the connecting member 300 and the torso 100. Subsequently, the head 200 can flexibly adjust its posture relative to the torso 100 to enrich the simulation effect of the robot 10.

[0038] Furthermore, as shown in combination with Figure 3 and Figure 4 One of the first connecting portion 301 and the head 200 is provided with a first shaft hole 301a, and the other is provided with a first rotating shaft 201 that is rotationally engaged with the first shaft hole 301a. That is to say, the installation positions of the first shaft hole 301a and the first rotating shaft 201 on the first connecting portion 301 and the head 200 can be interchanged. As long as the two are rotationally engaged, the rotational connection between the first connecting portion 301 and the head 200 can be achieved, so that the head 200 can adjust its posture relative to the torso 100 by rotating relative to the connecting member 300, enriching the movements of the head 200 of the robot 10, enhancing the simulation effect of the robot 10, and improving the user experience.

[0039] One of the second connecting portion 302 and the torso 100 is provided with a second shaft hole 302a, and the other is provided with a second rotating shaft 101 that is rotationally engaged with the second shaft hole 302a. That is to say, the installation positions of the second shaft hole 302a and the second rotating shaft 101 on the second connecting portion 302 and the torso 100 can be interchanged. As long as the two are rotationally engaged, the rotational connection between the second connecting portion 302 and the torso 100 can be achieved, so that when the connecting member 300 rotates relative to the torso 100, the head 200 connected to the connecting member 300 also rotates relative to the torso 100 together, thereby adjusting the posture of the head 200 relative to the torso 100, enriching the movements of the head 200 of the robot 10, enhancing the simulation effect of the robot 10, and improving the user experience.

[0040] It should be noted that the rotation axis of the first rotating shaft 201 is perpendicular to the first direction. Thus, when the head 200 rotates relative to the connecting member 300 around the first rotating shaft 201, the head 200 swings relative to the torso 100 in the first direction, and then the head movement of simulating left - right swinging of the head 200 is realized.

[0041] The rotation axis of the second rotating shaft 101 is perpendicular to the second direction. Thus, when the connecting member 300 rotates relative to the torso 100 around the second rotating shaft 101, the head 200 connected to the connecting member 300 swings relative to the torso 100 together with the connecting member 300 in the second direction, and then the head movement of simulating up - down nodding of the head 200 is realized.

[0042] As shown in combination with Figures 3 to 5 The driving assembly 400 includes a first driving mechanism 410, and the first driving mechanism 410 is used to drive the head 200 to swing relative to the torso 100 in the first direction.

[0043] Specifically, the first driving mechanism 410 includes a first motor 411, a driving gear 412, a belt 413, and a transmission gear 414. The driving gear 412 is connected to the output shaft of the first motor 411 and is used to drive the transmission gear 414 to rotate through the belt 413 under the drive of the first motor 411. The transmission gear 414 is connected to the head 200, so that when the output shaft of the first motor 411 rotates, the transmission gear 414 drives the head 200 to swing relative to the torso 100 around the rotation axis of the transmission gear 414 in the first direction, simulating the left and right head swinging movement of the head 200.

[0044] Combined with Figure 5 and Figure 6 As shown, the driving assembly 400 includes a second driving mechanism 420, and the second driving mechanism 420 is used to drive the head 200 to swing relative to the torso 100 in the second direction, simulating the up and down nodding movement of the head 200.

[0045] The torso 100 is connected with a mounting plate 100a. The mounting plate 100a can be integrally formed with the housing 110 of the torso 100, or can be connected to the torso 100 by means of welding, screw connection, etc. The connection method between the torso 100 and the mounting plate 100a is not limited herein.

[0046] The second driving mechanism 420 includes a slider 421, a connecting rod 422, and a driving member 423. The slider 421 is slidably connected to the mounting plate 100a and is used to move along the third direction under the drive of the driving member 423. The connecting rod 422 is connected between the slider 421 and the head 200. When the slider 421 moves relative to the mounting plate 100a along the third direction, the slider 421 drives the head 200 to swing relative to the torso 100 in the second direction through the connecting rod 422.

[0047] It should be noted that the third direction can be a direction perpendicular to the first direction and the second direction. Specifically, the first direction, the second direction, and the third direction are perpendicular to each other in pairs. In other embodiments, the third direction can be only perpendicular to the first direction and form an acute angle with the second direction, as long as when the slider 421 moves relative to the mounting plate 100a along the third direction, the connecting rod 422 connected to the slider 421 can drive the head 200 to swing relative to the torso 100 in the second direction.

[0048] Furthermore, combined with Figure 7 As shown, the mounting plate 100a is provided with a slide rail 100b, and the slide rail 100b is slidably matched with the slider 421, so that the slider 421 can slide relative to the mounting plate 100a. In this way, when the slider 421 slides relative to the mounting plate 100a under the drive of the driving member 423, the slider 421 drives the head 200 to rotate relative to the torso 100 through the connecting rod 422.

[0049] In this embodiment, there are various possibilities for the connection structure of the connecting rod 422 between the slider 421 and the head 200, as long as the connecting rod 422 can drive the head 200 to swing relative to the torso 100 in the second direction when the slider 421 moves relative to the mounting plate 100a in the third direction.

[0050] It should be noted that in the embodiment where the head 200 can swing relative to the torso 100 in both the first direction and the second direction, both ends of the connecting rod 422 are ball-joint connected to the head 200 and the slider 421 respectively. Thus, by means of the ball-joint connection, the connecting rod 422 can meet the need for the head 200 to swing relative to the torso 100 in the first direction and also meet the need for the head 200 to swing relative to the torso 100 in the second direction. Specifically, with this structural arrangement, both ends of the connecting rod 422 have rotational degrees of freedom in the first direction and the second direction relative to the head 200 and the slider 421 respectively, so that the head 200 of the robot 10 can rotate flexibly relative to the torso 100, enriching the postures of the head 200 of the robot 10 to improve the simulation effect and enhance the user experience.

[0051] Combined with Figure 6 and Figure 7 As shown, the driving member 423 includes a cylinder 4231, and the telescopic rod of the cylinder 4231 is connected to the slider 421. Thus, when the telescopic rod of the cylinder 4231 expands and contracts, it can drive the slider 421 to move relative to the mounting plate 100a, so that the slider 421 drives the head 200 to act relative to the torso 100 through the connecting rod 422.

[0052] Combined with Figure 8 and Figure 9 As shown, in some embodiments, the driving member 423 includes a driving motor 4232, and the output shaft of the driving motor 4232 is provided with a threaded transmission part or connected with a screw rod. The slider 421 is provided with a threaded hole 421a extending in the third direction, and the threaded transmission part or the screw rod is engaged with the threaded hole 421a. In this embodiment, when the output shaft of the driving motor 4232 rotates, it can drive the slider to slide relative to the mounting plate 100a through the threaded transmission part or the screw rod.

[0053] Furthermore, the connecting member 300 and the mounting plate 100a are connected to the side of the torso 100 close to the head 200 at intervals, and both the first driving mechanism 410 and the second driving mechanism 420 are located between the connecting member 300 and the mounting plate 100a. This structural arrangement is compact, making the head 200 of the robot 10 relatively small and light as much as possible, and improving the driving performance of the driving assembly 400 on the head 200.

[0054] It should be noted that the structures of the first driving mechanism 410 and the second driving mechanism 420 are not limited to the above-mentioned cases. In other embodiments, transmission structures such as ratchets, Geneva wheels, half gears, and cam intermittent mechanisms can also be adopted to realize the movement of the head 200 relative to the torso 100. The structures of the first driving mechanism 410 and the second driving mechanism 420 will not be elaborated here.

[0055] Continuing to refer to Figure 9 As shown, a receiving groove 110a is formed in the housing 110 of the torso 100. The driving member 423 (such as the driving motor 4232) is connected to the mounting plate 100a, and at least part of the structure of the driving member 423 is received in the receiving groove 110a, so as to make full use of the space of the torso 100 to arrange the driving member 423, reduce the internal structure arrangement of the head 200, so that the overall weight of the head 200 is lighter, thus facilitating the rotation of the head 200 relative to the torso 100.

[0056] The head 200 can rotate around the third direction to simulate the head-shaking action. For example, the head 200 includes a housing cover, a rotating disk and a rotating driving member. The rotating driving member is arranged in the space enclosed by the rotating disk and the housing cover and is used to drive the housing cover to rotate relative to the rotating disk around the third direction. The connecting member 300 and the connecting rod 422 are both connected to the rotating disk.

[0057] The robot 10 includes a control module. At least one of the head 200 and the torso 100 is provided with a sensing module. The sensing module is connected to the control module. The sensing module is used to sense the object control operation for the robot 10, and the control module is used to control the driving component 400 according to the operation information corresponding to the object control operation to drive the head 200 to rotate relative to the torso 100.

[0058] Further, taking the case where the head 200 is provided with a sensing module as an example, in combination with Figure 8 As shown, the sensing module includes a first sensor 200a and a second sensor 200b arranged at intervals. When the first sensor 200a and the second sensor 200b successively sense the object control operation, the control module controls the driving component 400 to drive the head 200 to swing relative to the torso 100 in the first direction. Then when the first direction is the left-right direction, the head 200 can perform a left-right head-shaking action relative to the torso 100.

[0059] There are various possible settings for the positions of the first sensor 200a and the second sensor 200b. For example, the first sensor 200a and the second sensor 200b are arranged at intervals along the first direction. In this way, when the user strokes the head 200 of the robot 10 along the first direction, the head 200 of the robot 10 makes a head-shaking action relative to the torso 100 in the first direction.

[0060] In combination with Figure 10As shown, in some embodiments, the sensing module includes a third sensor 200c and a fourth sensor 200d that are spaced apart; when the third sensor 200c and the fourth sensor 200d successively sense an object control operation, the control module controls the driving assembly 400 to drive the head 200 to swing relative to the torso 100 in a second direction. Subsequently, when the second direction is the up-and-down direction, the head 200 can nod up and down relative to the torso 100.

[0061] There are various possible settings for the positions of the third sensor 200c and the fourth sensor 200d. For example, the third sensor 200c and the fourth sensor 200d are spaced apart along a third direction. In this way, when the user strokes the head 200 of the robot 10 along the third direction, the head 200 of the robot 10 nods relative to the torso 100 in the second direction.

[0062] In some other embodiments, in combination with Figure 11 As shown, the sensing module includes a first sensor 200a, a second sensor 200b, and a third sensor 200c that are spaced apart. When the first sensor 200a and the second sensor 200b successively sense an object control operation, the control module controls the driving assembly 400 to drive the head 200 to swing relative to the torso 100 in a first direction. Subsequently, when the first direction is the left-and-right direction, the head 200 can swing left and right relative to the torso 100.

[0063] When the first sensor 200a and the third sensor 200c successively sense an object control operation, the control module controls the driving assembly 400 to drive the head 200 to swing relative to the torso 100 in a second direction. Subsequently, when the second direction is the up-and-down direction, the head 200 can nod up and down relative to the torso 100.

[0064] Furthermore, when the first sensor 200a, the second sensor 200b, and the third sensor 200c simultaneously sense an object control operation, the control module controls the driving assembly 400 to drive the head 200 to swing relative to the torso 100 in the first direction and in the second direction. In this way, the head 200 of the robot 10 can present a twisted posture, which is vivid and improves the user experience when interacting with the robot 10.

[0065] It should be noted that the structure of the connecting member 300 has various possibilities. For example, in some embodiments, the connecting member 300 can be plate-shaped, and the first connecting portion 301 and the second connecting portion 302 are respectively provided at both ends of the connecting member 300.

[0066] In some other embodiments, in combination with Figure 12As shown, the connecting member 300 includes a telescopic portion 303, and the telescopic portion 303 is connected between the first connecting portion 301 and the second connecting portion 302. Thus, when using the connecting member 300 to simulate the neck movement, the telescopic portion 303 can realistically simulate the telescopic movement of the neck, improving the simulation effect.

[0067] Furthermore, the telescopic portion 303 includes two groups of hinges 303a that are staggered with each other. Under the drive of an external force, the telescopic portion 303 makes a telescopic movement, so that the head 200 approaches or moves away from the torso 100 to simulate the telescopic movement of the neck.

[0068] In some embodiments, the robot 10 includes a telescopic driving member (not shown in the figure), which is used to drive the telescopic movement of the telescopic portion 303 to adjust the distance between the first connecting portion 301 and the second connecting portion 302, and then achieve the action of simulating the telescopic movement of the neck. The telescopic driving member can be a telescopic cylinder, or a push rod driven by a driving member such as a motor or an electric cylinder. The structure of the telescopic driving member is not limited herein, as long as it can drive the telescopic portion 303 to make a telescopic movement to simulate the telescopic movement of the neck of the robot 10.

[0069] In some other embodiments, the robot 10 includes a linkage mechanism (not shown in the figure). When the driving assembly 400 drives the head 200 to swing relative to the torso 100 in the first direction and / or the second direction, the driving assembly 400 drives the telescopic driving member to make a telescopic movement through the linkage mechanism.

[0070] In some embodiments, the head 200 includes a main body portion and a simulation shell cover. The simulation shell cover is detachably connected to the main body portion, so that the simulation shell cover with different shapes can be conveniently replaced, enabling the robot 10 to imitate different animal shapes. For example, in some embodiments, the simulation shell cover is shaped like a cat, a dog, or a sheep. When the robot 10 needs to be used to simulate a cat, the simulation shell cover in the shape of a cat can be installed on the main body portion. When the robot 10 needs to be used to simulate a dog, only the simulation shell cover in the shape of a dog needs to be replaced. Correspondingly, when other animal shapes need to be simulated, only the corresponding simulation shell cover needs to be replaced.

[0071] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0072] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several variations and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A robot, characterized in that, Comprising: A torso; A head; A connecting member including a first connecting portion and a second connecting portion, the first connecting portion being rotatably connected to the head, and the second connecting portion being rotatably connected to the torso; A driving assembly for driving the head to swing relative to the torso in a first direction and a second direction, wherein the first direction and the second direction are different from each other; The driving assembly includes a first driving mechanism and a second driving mechanism. The first driving mechanism is used to drive the head to swing relative to the torso in the first direction. An installation plate is connected to the torso. The second driving mechanism includes a slider, a connecting rod, and a driving member. The slider is slidably connected to the installation plate and is used to move along a third direction under the drive of the driving member. Two ends of the connecting rod are respectively ball-joint connected to the head and the slider. When the slider moves relative to the installation plate along the third direction, the slider drives the head to swing relative to the torso in the second direction through the connecting rod.

2. The robot according to claim 1, wherein, One of the first connecting portion and the head is provided with a first shaft hole, and the other of them is provided with a first rotating shaft rotatably engaged with the first shaft hole. The rotation axis of the first rotating shaft is perpendicular to the first direction or the second direction.

3. The robot according to claim 2, wherein One of the second connecting portion and the torso is provided with a second shaft hole, and the other of them is provided with a second rotating shaft rotatably engaged with the second shaft hole; the rotation axis of the second rotating shaft is perpendicular to the rotation axis of the first rotating shaft.

4. The robot according to claim 1, wherein Including a leg assembly for supporting the torso. When the leg assembly supports the torso on a horizontal plane, one of the first direction and the second direction is parallel to the horizontal plane, and the other of them is perpendicular to the horizontal plane.

5. The robot according to claim 1, characterized in that, The first driving mechanism includes a first motor, a driving gear, a belt, and a transmission gear. The driving gear is connected to the output shaft of the first motor and is used to drive the transmission gear to rotate through meshing with the belt under the drive of the first motor. The transmission gear is connected to the head, so that when the output shaft of the first motor rotates, the transmission gear drives the head to swing relative to the torso around the rotation axis of the transmission gear in the first direction.

6. The robot according to claim 1, characterized in that, The driving member includes a cylinder, and the telescopic rod of the cylinder is connected to the slider.

7. The robot according to claim 1, characterized in that, The driving member includes a driving motor, and a threaded transmission portion is provided on the output shaft of the driving motor or a screw rod is connected to the output shaft of the driving motor. The slider is provided with a threaded hole extending along the third direction, and the threaded transmission portion or the screw rod is engaged with the threaded hole.

8. The robot according to claim 1, characterized in that, The connecting member and the installation plate are connected to one side of the torso close to the head at intervals, and both the first driving mechanism and the second driving mechanism are located between the connecting member and the installation plate.

9. The robot according to claim 8, characterized in that, A receiving groove is formed in the housing of the torso. The driving member is connected to the installation plate, and at least part of the structure of the driving member is received in the receiving groove.

10. The robot according to claim 1, characterized in that, The first direction, the second direction, and the third direction are perpendicular to each other in pairs.

11. The robot according to claim 10, wherein, The head can rotate around the third direction.

12. The robot according to claim 11, wherein, The head includes a housing cover, a rotating disk, and a rotation driving member. The rotation driving member is disposed in the space enclosed by the rotating disk and the housing cover and is used to drive the housing cover to rotate relative to the rotating disk about a third direction. The connecting member and the connecting rod are both connected to the rotating disk.

13. The robot according to claim 1, wherein The connecting member includes a telescopic portion, and the telescopic portion is connected between the first connecting portion and the second connecting portion.

14. The robot according to claim 13, wherein It includes a telescopic driving member for driving the telescopic portion to perform a telescopic movement to adjust the distance between the first connecting portion and the second connecting portion.

15. The robot according to claim 14, characterized in that, It includes a linkage mechanism. When the driving assembly drives the head to swing relative to the torso in a first direction and / or a second direction, the driving assembly drives the telescopic driving member to perform a telescopic movement through the linkage mechanism.

16. The robot according to claim 1 or 13, characterized in that, The head includes a main body portion and a simulation housing cover, and the simulation housing cover is detachably connected to the main body portion.

17. The robot according to claim 1, characterized in that, The robot includes a control module. At least one of the head and the torso is provided with a sensing module. The sensing module is connected to the control module. The sensing module is used to sense an object control operation on the robot, and the control module is used to control the driving assembly to drive the head to rotate relative to the torso according to the operation information corresponding to the object control operation.

18. The robot according to claim 17, wherein, The sensing module includes a first sensor and a second sensor that are disposed at intervals. When the first sensor and the second sensor successively sense the object control operation, the control module controls the driving assembly to drive the head to swing relative to the torso in a first direction.

19. The robot according to claim 17 or 18, characterized in that, The sensing module includes a third sensor and a fourth sensor that are disposed at intervals. When the third sensor and the fourth sensor successively sense the object control operation, the control module controls the driving assembly to drive the head to swing relative to the torso in a second direction.

20. The robot according to claim 17, wherein, The sensing module includes a first sensor, a second sensor, and a third sensor that are disposed at intervals. When the first sensor and the second sensor successively sense the object control operation, the control module controls the driving assembly to drive the head to swing relative to the torso in a first direction. When the first sensor and the third sensor successively sense the object control operation, the control module controls the driving assembly to drive the head to swing relative to the torso in a second direction.

21. The robot according to claim 20, wherein, When the first sensor, the second sensor, and the third sensor simultaneously sense the object control operation, the control module controls the driving assembly to drive the head to swing relative to the torso in a first direction and in a second direction.

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