Interactive robots and vehicles

Abstract

This invention discloses an interactive robot and vehicle, relating to the field of vehicle-mounted robots. The head mechanism includes a head shell and a head drive assembly. The head drive assembly is mounted on a lifting mechanism, and its drive output end is connected to the head shell. The head drive assembly is configured to drive the head shell to pitch about a first axis and to drive it to deflect about a second axis. The lifting mechanism is configured to drive the head mechanism to lift. A rotation mechanism is configured to drive the lifting mechanism to rotate. Therefore, the interactive robot of this application, through the cooperation of the head mechanism, lifting mechanism, and rotation mechanism, can organically combine head movements with full-body lifting and rotation movements, simulating rich anthropomorphic body language, significantly improving the subtlety and emotional expressiveness of the interaction, facilitating immersive interaction, and enhancing the user experience.

Description

Technical Field

[0001] This invention relates to the field of vehicle-mounted robots, and in particular to an interactive robot and a vehicle. Background Technology

[0002] In related technologies, interactive robots can usually only achieve head shaking on a single axis. Some high-end products can achieve dual-axis movement combining head shaking and nodding, which enhances the vividness of the interaction to a certain extent. However, the movement dimension of existing interactive robots is limited to the head, lacking the coordination of whole-body limb movements. The design is not sophisticated enough, the body language is monotonous, and the subtlety and emotional expression of the interaction are insufficient, making it difficult to achieve immersive interaction and resulting in a poor user experience. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide an interactive robot capable of simulating rich anthropomorphic body language, significantly improving the subtlety and emotional expressiveness of the interaction, and enhancing the user experience.

[0004] The present invention further proposes a vehicle.

[0005] The interactive robot according to the present invention comprises: A lifting mechanism and a head mechanism; the head mechanism includes: a head housing and a head drive assembly, the head drive assembly being disposed on the lifting mechanism, and the drive output end of the head drive assembly being connected to the head housing, the head drive assembly being configured to drive the head housing to pitch about a first axis, and configured to drive the head housing to deflect about a second axis; the lifting mechanism is configured to drive the lifting action of the head mechanism; A rotating mechanism configured to drive the lifting mechanism to rotate.

[0006] The interactive robot of the present invention, through the cooperation of a head mechanism, a lifting mechanism, and a rotating mechanism, can organically combine head movements with full-body lifting and rotating movements, simulate rich anthropomorphic body language, significantly improve the subtlety and emotional expressiveness of the interaction, facilitate immersive interaction, and enhance the user experience.

[0007] In some examples of the present invention, the head drive assembly includes: a head fixing bracket, a head transmission bracket, a first drive member, and a second drive member. The first drive member and the second drive member are both disposed on the head fixing bracket. The head fixing bracket is oscillatingly disposed on the lifting mechanism about the first axis. The head transmission bracket is oscillatingly disposed on the head fixing bracket about the second axis. The head housing is connected to the head transmission bracket. The first drive member is configured to drive the head fixing bracket to oscillate about the first axis. The second drive member is configured to drive the head transmission bracket to oscillate about the second axis.

[0008] In some examples of the present invention, the head fixing bracket has a first rotating part, the lifting mechanism includes a mating part, the mating part has a second rotating part, the first rotating part and the second rotating part are rotatably mated, and the rotation axis of the first rotating part is collinear with the first axis. The mating component also has a first tooth, the drive shaft of the first drive component meshes with the first tooth, and the first tooth is arranged around the second rotating part.

[0009] In some examples of the present invention, the head transmission bracket has a third rotating part, the head fixing bracket has a fourth rotating part, the third rotating part and the fourth rotating part are rotatably coupled, and the rotation axis of the third rotating part is collinear with the second axis; The head transmission bracket has a second toothed portion, the drive shaft of the second drive member meshes with the second toothed portion, and the second toothed portion is arranged around the third rotating portion.

[0010] In some examples of the present invention, the lifting mechanism includes: a lifting base, a multi-link assembly, and a lifting drive assembly. The multi-link assembly includes a fixed link, a head link, and multiple intermediate links. The fixed link and the lifting drive assembly are both disposed on the lifting base. The intermediate links are rotatably connected to the fixed link and the head link. The head mechanism is disposed on the head link. The lifting drive assembly is configured to drive one of the intermediate links to move, so that the head link drives the head mechanism to move up and down.

[0011] In some examples of the present invention, the lifting drive assembly includes: a lifting drive component, a lifting screw, and a connecting sleeve, wherein the lifting screw passes through the connecting sleeve and is configured to drive the connecting sleeve to move along the extension direction of the lifting screw during rotation, wherein one of the intermediate connecting rods is rotatably engaged with the connecting sleeve, and the lifting drive component is configured to drive the lifting screw to rotate.

[0012] In some examples of the present invention, the lifting drive assembly further includes: a lifting transmission component, wherein the drive shaft of the lifting drive component extends along the height direction of the interactive robot, the extension direction of the lifting screw is orthogonal to the height direction of the interactive robot, and the lifting transmission component is tractively connected between the lifting drive component and the lifting screw. And / or, the lifting base defines a receiving space in which at least a portion of the lifting screw and at least a portion of the connecting sleeve are received; And / or, the connecting sleeve has a fifth rotating part, and the intermediate connecting rod that cooperates with the connecting sleeve has a sixth rotating part, and the fifth rotating part and the sixth rotating part are rotatably engaged.

[0013] In some examples of the present invention, the rotating mechanism includes a rotating drive member configured to drive the lifting base to rotate.

[0014] In some examples of the present invention, the rotating mechanism further includes: a fixed base, the fixed base being sleeved on the lifting base, and the rotating drive member being disposed on the fixed base; And / or, the rotating mechanism further includes: a rotating drive shaft and a rotating drive wheel, the rotating drive shaft meshing with the rotating drive wheel, the rotating drive wheel being connected to the lifting base, and the rotating drive member being configured to drive the rotating drive shaft to rotate, so as to drive the lifting base to rotate via the rotating drive wheel.

[0015] The vehicle according to the present invention includes the aforementioned interactive robot.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a front view of the interactive robot according to an embodiment of the present invention; Figure 2 yes Figure 1 Schematic diagram of the cross section at point AA; Figure 3 This is a side view of the interactive robot according to an embodiment of the present invention; Figure 4 yes Figure 3 Schematic diagram of the cross section at point BB; Figure 5 This is a structural schematic diagram of the interactive robot according to an embodiment of the present invention (hiding part of the shell component). Figure 6 This is a schematic diagram of the structure of the fixed base according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the lifting base according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the head fixation bracket according to an embodiment of the present invention.

[0018] Figure label: Interactive robot 100; Head mechanism 1; head housing 11; head outer shell 111; head cover 112; curtain panel 113; LED display screen 114; receiving space 115; head drive assembly 12; head fixing bracket 121; first rotating part 1211; fourth rotating part 1212; first mounting part 1213; second mounting part 1214; head transmission bracket 122; third rotating part 1221; first driving component 123; first mounting flange 1231; second driving component 124; second mounting flange 1241; Lifting mechanism 2; mating part 21; second rotating part 211; lifting base 22; accommodating space 221; first assembly part 222; assembly flange 223; multi-link assembly 23; fixed link 231; head link 232; intermediate link 233; sixth rotating part 2331; lifting drive assembly 24; lifting drive component 241; lifting screw 242; connecting sleeve 243; fifth rotating part 2431; lifting transmission component 244; lifting transmission shaft 2441; lifting transmission wheel 2442; Rotating mechanism 3; Rotating drive component 31; Fixed base 32; Upper base 321; Lower base 322; Second assembly part 3211; Rotating transmission shaft 33; Rotating transmission wheel 34; First axis 10; Second axis 20. Detailed Implementation

[0019] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0020] The following is for reference. Figures 1-8 An interactive robot 100 and a vehicle according to embodiments of the present invention are described.

[0021] like Figures 1-5As shown, the interactive robot 100 according to an embodiment of the present invention includes: a lifting mechanism 2, a head mechanism 1, and a rotating mechanism 3. The head mechanism 1 includes: a head shell 11 and a head drive assembly 12. The head drive assembly 12 is disposed on the lifting mechanism 2, and the drive output end of the head drive assembly 12 is connected to the head shell 11. The head drive assembly 12 is configured to drive the head shell 11 to pitch about a first axis 10 and to drive the head shell 11 to deflect about a second axis 20. The lifting mechanism 2 is configured to drive the head mechanism 1 to lift. The rotating mechanism 3 is configured to drive the lifting mechanism 2 to rotate.

[0022] The head drive assembly 12 is disposed on the lifting mechanism 2. As some embodiments of this application, the head drive assembly 12 is disposed at the end connected to the lifting mechanism 2, and the lifting mechanism 2 can drive the head drive assembly 12 to move up and down.

[0023] As some embodiments of this application, the head drive assembly 12 can be connected by a connector, which is disposed on the lifting mechanism 2. The lifting mechanism 2 can drive the connector to rise and fall, thereby driving the head drive assembly 12 to rise and fall.

[0024] As some embodiments of this application, the head drive assembly 12 is disposed within and connected to the head housing 11. As some embodiments of this application, the head housing 11 defines a receiving space 115, and the head drive assembly 12 is received within the receiving space 115 and connected to the head housing 11.

[0025] The head drive assembly 12 is configured to drive the head housing 11 to pitch about a first axis 10, and to drive the head housing 11 to deflect about a second axis 20. As some embodiments of this application, the pitching motion of the head housing 11 about the first axis 10 is equivalent to a nodding motion, and the deflection motion of the head housing 11 about the second axis 20 is equivalent to a head-shaking motion. As some embodiments of this application, the nodding and head-shaking motions can be combined within a specified range to create any trajectory.

[0026] The lifting mechanism 2 is configured to drive the lifting action of the head mechanism 1. As some embodiments of this application, the lifting mechanism 2 can be constructed as a telescopic rod mechanism and includes: a fixed member, a telescopic rod, and a telescopic drive member. The telescopic rod is movably disposed on the fixed member and has two opposing ends along its extension direction. The head mechanism 1 and the telescopic drive member are respectively disposed at the opposing ends of the telescopic rod. The telescopic drive member can drive the telescopic rod to extend and retract relative to the fixed member, thereby driving the lifting action of the head mechanism 1. As some embodiments of this application, the extension direction of the telescopic rod is parallel to the height direction of the interactive robot 100 (i.e.,...). Figures 1-3 , Figure 5 (The Z direction shown is the same).

[0027] As some embodiments of this application, the lifting mechanism 2 can be constructed as a screw and nut mechanism and includes: a screw, a screw nut, and a screw drive member. The screw nut is threadedly engaged with the screw. The head mechanism 1 is located at the screw nut along the extension direction of the screw. The screw drive member is located at one end of the screw and can drive the screw to rotate, thereby driving the screw nut to move along the extension direction of the screw, thus driving the head mechanism 1 to lift. As some embodiments of this application, the extension direction of the screw is parallel to the height direction of the interactive robot 100 (i.e.,...). Figures 1-3 , Figure 5 (The Z direction shown is the same).

[0028] As some embodiments of this application, the lifting mechanism 2 can be constructed as a multi-link mechanism and includes: a lifting drive 241, a fixed link 231, a head link 232, and multiple intermediate links 233. The intermediate links 233 are rotatably connected to the fixed link 231 and the head link 232. The head mechanism 1 is disposed on the head link 232. The fixed link 231 is fixed relative to the intermediate links 233. The lifting drive 241 can drive one of the intermediate links 233 to move, so that the head link 232 drives the head mechanism 1 to move up and down.

[0029] The rotating mechanism 3 is configured to drive the lifting mechanism 2 to rotate. As some embodiments of this application, the transmission connection between the rotating mechanism 3 and the lifting mechanism 2 can be, but is not limited to, gear transmission connection, chain transmission connection, worm gear transmission connection, etc.

[0030] It should be noted that this application, by mounting the head drive component 12 on the lifting mechanism 2 and connecting the drive output end of the head drive component 12 to the head shell 11, and configuring the head drive component 12 to drive the head shell 11 to pitch and swing about the first axis 10, and to drive the head shell 11 to deflect and swing about the second axis 20, can form a two-degree-of-freedom head posture. This allows the interactive robot 100 to achieve nodding, shaking, and composite postures combining nodding and shaking, enhancing the vividness and anthropomorphism of the interaction. Furthermore, the lifting mechanism 2 can drive the head mechanism 1 to lift and lower, increasing the vertical dimension of motion and allowing for the expression of emotions requiring height variations, effectively enriching the layers of body language and enhancing emotional expressiveness. In addition, the lifting mechanism 2 can be driven to rotate by the rotation mechanism 3, enabling the interactive robot 100 to perform panoramic movements in the horizontal direction, such as turning and following, and circling interaction, further enriching body language, enhancing the flexibility of the interaction, and thus improving the subtlety and emotional expressiveness of the interaction, thereby improving the user experience.

[0031] Therefore, the interactive robot 100 of this application, through the cooperation of the head mechanism 1, the lifting mechanism 2, and the rotating mechanism 3, is ingeniously designed to organically combine head movements with full-body lifting and rotating movements, and can simulate rich anthropomorphic body language, significantly improving the subtlety and emotional expressiveness of the interaction, which is conducive to achieving immersive interaction and improving the user's experience.

[0032] The interactive robot 100 described in this application exhibits delicate and human-like emotional expression. Through head movements, lifting, and rotation combinations, it can simulate a wide range of complex and subtle emotional states, such as surprise (tilting back and looking up), agreement (nodding and slightly leaning forward), and shyness (looking down and turning to the side), making the interactive experience more human. Furthermore, it has a high degree of mechanical integration and rich functionality, enabling it to achieve four basic movements and their infinite combinations within a limited space. The structure is compact and the functions are comprehensive. In addition, it can support novel interactive modes that were previously impossible, such as "stage performance-style" lifting and rotation, and spatially-oriented follow-along interaction, thus expanding the application boundaries of the product.

[0033] In some embodiments of the present invention, such as Figure 1 and Figure 5 As shown, the head drive assembly 12 includes: a head fixing bracket 121, a head transmission bracket 122, a first drive member 123, and a second drive member 124. The first drive member 123 and the second drive member 124 are both disposed on the head fixing bracket 121. The head fixing bracket 121 is oscillatingly disposed on the lifting mechanism 2 about the first axis 10. The head transmission bracket 122 is oscillatingly disposed on the head fixing bracket 121 about the second axis 20. The head housing 11 is connected to the head transmission bracket 122. The first drive member 123 is configured to drive the head fixing bracket 121 to oscillate about the first axis 10. The second drive member 124 is configured to drive the head transmission bracket 122 to oscillate about the second axis 20.

[0034] In this embodiment, the first driving member 123 and the second driving member 124 are both located on the head fixing bracket 121. As some embodiments of this application, the connection between the first driving member 123 and the second driving member 124 and the head fixing bracket 121 can be, but is not limited to, snap-fit ​​connection, bolt connection, etc. However, this application is not limited to this. The first driving member 123 and the second driving member 124 can also be connected to the head fixing bracket 121 in other ways, as long as the first driving member 123 and the second driving member 124 are both located on the head fixing bracket 121.

[0035] In a specific embodiment of this application, the first driving member 123 has a first mounting flange 1231, the second driving member 124 has a second mounting flange 1241, and the head fixing bracket 121 has a first mounting portion 1213 and a second mounting portion 1214, which are respectively adapted to the first mounting flange 1231 and the second mounting flange 1241. The first mounting flange 1231 is bolted to the first mounting portion 1213, and the second mounting portion 1214 is bolted to the second mounting portion 1214, so that both the first driving member 123 and the second driving member 124 are located on the head fixing bracket 121.

[0036] As some embodiments of this application, the head fixing bracket 121 can be constructed as a cross-shaped bracket, and the first driving member 123 and the second driving member 124 can both be constructed as motors, and the axis of the driving shaft of the first driving member 123 is perpendicular to the axis of the driving shaft of the second driving member 124.

[0037] The head fixing bracket 121 is oscillatingly mounted on the lifting mechanism 2 with the first axis 10 as the axis. As some embodiments of this application, the head fixing bracket 121 can be oscillatingly mounted on the lifting mechanism 2 through, but not limited to, a rotating shaft connection, a hinge connection, etc.

[0038] In some embodiments of this application, a first driving member 123 is disposed on a head fixing bracket 121. The first driving member 123 is connected to or engaged with a lifting bracket 2. When the driving output end of the first driving member 123 outputs power, it drives itself to rotate about a first axis 10, thereby causing the head fixing bracket 121 to swing about the first axis 10. A head transmission bracket 122 is oscillatingly disposed on the head fixing bracket 121 about a second axis 20. In some embodiments of this application, the head transmission bracket 122 can be oscillatingly disposed on the head fixing bracket 121 through, but not limited to, a rotating shaft connection, a hinge connection, etc.

[0039] As some embodiments of this application, the second driving member 124 is disposed on the head fixing bracket 121. The second driving member 124 is connected or engaged with the head transmission bracket 122. When the driving output end of the first driving member 123 outputs power, it drives the head transmission bracket 122 to swing about the second axis 20.

[0040] It is understandable that when the first driving member 123 drives the head fixing bracket 121 to swing about the first axis 10, the head transmission bracket 122 swings together with the head fixing bracket 121. At this time, the head shell 11, the head transmission bracket 122 and the head fixing bracket 121 swing together about the first axis 10, that is, the interactive robot 100 performs a nodding motion. When the second driving member 124 drives the head transmission bracket 122 to swing about the second axis 20, it does not affect the state of the head fixing bracket 121. At this time, the head shell 11 and the head transmission bracket 122 swing together about the second axis 20, that is, the interactive robot 100 performs a head shaking motion.

[0041] The head housing 11 is connected to the head transmission bracket 122. As some embodiments of this application, the connection method between the head housing 11 and the head transmission bracket 122 can be, but is not limited to, snap-fit ​​connection, bolt connection, etc. Alternatively, the head housing 11 and the head transmission bracket 122 can be connected by other components.

[0042] The first driving member 123 is configured to drive the head fixing bracket 121 to swing about the first axis 10. In some embodiments of this application, the first driving member 123 is fixed to the head fixing bracket 121 and is in transmission cooperation with the lifting mechanism 2 to drive the head fixing bracket 121 to swing about the first axis 10. In some embodiments of this application, the first driving member 123 and the lifting mechanism 2 can be connected by gear transmission, or by cam transmission, or by fixed connection. It is understood that during the output of power by the first driving member 123, the first driving member 123 swings together with the head fixing bracket 121. Specifically, the central axis of the drive shaft of the first driving member 123 coincides with the first axis 10.

[0043] The second driving member 124 is configured to drive the head transmission bracket 122 to swing about the second axis 20. In some embodiments of this application, the second driving member 124 is fixed to the head fixing bracket 121 and engages with the head transmission bracket 122 to drive the head transmission bracket 122 to swing about the second axis 20. In some embodiments of this application, the second driving member 124 and the head transmission bracket 122 can be engaged by gear transmission, or by cam transmission, or the second driving member 124 and the head transmission bracket 122 can be fixedly connected.

[0044] Understandably, when the first driving member 123 drives the head fixing bracket 121 to swing around the first axis, the head transmission bracket 122 swings together with the head fixing bracket 121. At this time, the head shell 11, the head transmission bracket 122 and the head fixing bracket 121 swing together around the first axis, that is, the interactive robot 100 performs a nodding motion. When the second driving member 124 drives the head transmission bracket 122 to swing around the second axis, it does not affect the state of the head fixing bracket 121. At this time, the head shell 11 and the head transmission bracket 122 swing together around the second axis, that is, the interactive robot 100 performs a head shaking motion.

[0045] This setup allows the interactive robot 100 to perform nodding and head-shaking movements via the first drive component 123 and the second drive component 124, respectively. This enables a two-degree-of-freedom head posture, allowing for independent control and coordinated action of nodding and head-shaking movements, which enhances the liveliness and human-likeness of the interaction.

[0046] In some embodiments of the present invention, such as Figure 5 and Figure 8 As shown, the head fixing bracket 121 has a first rotating part 1211, and the lifting mechanism 2 includes a mating part 21. The mating part 21 has a second rotating part 211. The first rotating part 1211 and the second rotating part 211 are rotatably mated, and the rotation axis of the first rotating part 1211 is collinear with the first axis 10. The mating part 21 also has a first tooth. The drive shaft of the first driving member 123 meshes with the first tooth. The first tooth is arranged around the second rotating part 211.

[0047] As some embodiments of this application, the first rotating part 1211 can be constructed as one of a rotating shaft and a rotating hole, and the second rotating part 211 can be constructed as the other of a rotating shaft and a rotating hole, with the rotating shaft passing through the rotating hole and rotatably engaging with it. Furthermore, the rotation axis of the first rotating part 1211 is collinear with the first axis 10, so that the head fixing bracket 121 swings about the first axis 10.

[0048] As some embodiments of this application, the drive shaft of the first drive member 123 is adapted to and meshes with the first tooth.

[0049] It is understandable that, since the first driving member 123 is fixed to the head fixing bracket 121, when the drive shaft of the first driving member 123 rotates relative to the first tooth, the first driving member 123 drives the head fixing bracket 121 to rotate together relative to the mating member 21. That is, the head fixing bracket 121 swings about the first axis 10. At this time, the head shell 11, the head transmission bracket 122 and the head fixing bracket 121 swing together about the first axis 10 to realize the nodding action.

[0050] By rotatably engaging the first rotating part 1211 and the second rotating part 211, and by meshing the drive shaft of the first driving member 123 with the first tooth, the interactive robot 100 can be precisely controlled to perform a nodding motion through the first driving member 123, which effectively improves the reliability and smoothness of the transmission. Furthermore, this transmission method is simple and helps to simplify the structural layout of the interactive robot 100.

[0051] In some embodiments of the present invention, such as Figure 5 and Figure 8 As shown, the head transmission bracket 122 has a third rotating part 1221, and the head fixing bracket 121 has a fourth rotating part 1212. The third rotating part 1221 and the fourth rotating part 1212 are rotatably engaged, and the rotation axis of the third rotating part 1221 is collinear with the second axis 20. The head transmission bracket 122 has a second tooth, and the drive shaft of the second drive member 124 meshes with the second tooth. The second tooth is arranged around the third rotating part 1221.

[0052] As some embodiments of this application, the third rotating part 1221 can be constructed as one of a rotating shaft and a rotating hole, and the fourth rotating part 1212 can be constructed as the other of a rotating shaft and a rotating hole, with the rotating shaft passing through the rotating hole and rotatably engaged with it. Furthermore, the rotation axis of the third rotating part 1221 is collinear with the second axis 20, so that the head transmission bracket 122 swings about the second axis 20.

[0053] As some embodiments of this application, the drive shaft of the second drive member 124 is adapted to the second tooth and meshes externally with the second tooth.

[0054] It is understandable that, since the second driving member 124 is fixed to the head fixing bracket 121, when the drive shaft of the second driving member 124 outputs power, it can drive the head transmission bracket 122 to rotate relative to the head fixing bracket 121, that is, the head transmission bracket 122 swings about the second axis 20. At this time, the head shell 11 and the head transmission bracket 122 swing together about the second axis 20 to achieve the head shaking action.

[0055] By rotatably engaging the third rotating part 1221 and the fourth rotating part 1212, and by meshing the drive shaft of the second driving member 124 with the second tooth, the interactive robot 100 can be precisely controlled to perform head-shaking motion through the second driving member 124, which effectively improves the reliability and smoothness of the transmission. Furthermore, this transmission method is simple and helps to simplify the structural layout of the interactive robot 100.

[0056] In some embodiments of the present invention, such as Figure 2 and Figure 7As shown, the lifting mechanism 2 includes: a lifting base 22, a multi-link assembly 23, and a lifting drive assembly 24. The multi-link assembly 23 includes a fixed link 231, a head link 232, and multiple intermediate links 233. The fixed link 231 and the lifting drive assembly 24 are both located on the lifting base 22. The intermediate links 233 are rotatably connected to the fixed link 231 and the head link 232. The head mechanism 1 is located on the head link 232. The lifting drive assembly 24 is configured to drive one of the intermediate links 233 to move, so that the head link 232 drives the head mechanism 1 to move up and down.

[0057] The fixed connecting rod 231 and the lifting drive assembly 24 are both located on the lifting base 22. As some embodiments of this application, at least a portion of the fixed connecting rod 231 and the lifting drive assembly 24 can be fixed to the lifting base 22 by means of, but not limited to, snap-fit, screw-fit, etc.

[0058] The intermediate connecting rod 233 can be rotatably connected to the fixed connecting rod 231 and the head connecting rod 232. As some embodiments of this application, the intermediate connecting rod 233 can be rotatably connected to the fixed connecting rod 231 and the head connecting rod 232 through, but not limited to, shaft connection, hinge connection, etc.

[0059] As some embodiments of this application, the multi-link assembly 23 can be constructed as a four-link assembly, wherein there are two intermediate links 233, and the head link 232 is rotatably connected between the two intermediate links 233. The head link 232 can be driven along the height direction of the interactive robot 100 by the swing of any one of the intermediate links 233 (i.e., Figures 1-3 , Figure 5 The head mechanism 1 is raised and lowered by making an approximate pitch swing in the Z direction (as shown).

[0060] As some embodiments of this application, the intermediate link 233 may be a single link, or the intermediate link 233 may be constructed as two sub-links rotatably connected together.

[0061] The head mechanism 1 is located on the head link 232. As some embodiments of this application, the mating part 21 is located on the head link 232. The head mechanism 1 is located on the mating part 21. As some embodiments of this application, the mating part 21 and the head link 232 can be connected by means of, but not limited to, welding, snap-fitting, screwing, etc., or the mating part 21 and the head link 232 can be integrally formed.

[0062] The lifting drive assembly 24 is configured to drive one of the intermediate links 233 to move, so that the head link 232 drives the head mechanism 1 to move up and down. As some embodiments of this application, the intermediate link 233 is hinged to the fixed link 231. One of the intermediate links 233 has three hinge points: a first hinge point, a second hinge point, and a third hinge point. The first and second hinge points are hinged to the fixed link 231 and the lifting drive assembly 24, respectively. The third hinge point is hinged to the head link 232. The second hinge point is closer to the end of the intermediate link 233 than the first hinge point. The lifting drive assembly 24 can drive this intermediate link 233 to swing about the first hinge point as an axis, so that the head link 232 drives the head mechanism 1 along the height direction of the interactive robot 100 (i.e.,...). Figures 1-3 , Figure 5 The head mechanism 1 moves up and down, i.e., it makes an approximate pitch swing in the Z direction (as shown).

[0063] This configuration allows the lifting drive component 24 to drive the intermediate link 233, which in turn causes the head link 232 to move the head mechanism 1. The transmission path is simple and reliable, and the lifting action of the head mechanism 1 can be precisely controlled. Furthermore, the use of the multi-link component 23 can increase the lifting range of the head mechanism 1, which can express emotions that require height changes, such as excitement and alertness, further enriching the sense of layering of body language and improving the subtlety and emotional expressiveness of the interaction. In addition, the multi-link component 23 can extend outward without occupying a large bottom space, which is conducive to improving the structural compactness of the interactive robot 100.

[0064] In some embodiments of the present invention, such as Figure 2 and Figure 5 As shown, the lifting drive assembly 24 includes: a lifting drive component 241, a lifting screw 242, and a connecting sleeve 243. The lifting screw 242 passes through the connecting sleeve 243 and is configured to drive the connecting sleeve 243 to move along the extension direction of the lifting screw 242 during rotation. One of the intermediate connecting rods 233 is rotatably engaged with the connecting sleeve 243. The lifting drive component 241 is configured to drive the lifting screw 242 to rotate.

[0065] One of the intermediate connecting rods 233 and the connecting sleeve 243 can be rotatably engaged. As some embodiments of this application, one of the intermediate connecting rods 233 and the connecting sleeve 243 can be rotatably engaged by means of, but not limited to, shaft connection, hinge connection, etc.

[0066] As a specific embodiment of this application, one of the intermediate connecting rods 233 has three hinge points, namely a first hinge point, a second hinge point, and a third hinge point. The first hinge point is hinged to the fixed connecting rod 231, the second hinge point is closer to the end of the intermediate connecting rod 233 than the first hinge point and is hinged to the connecting sleeve 243, and the third hinge point is hinged to the head connecting rod 232.

[0067] The lifting drive component 241 is configured to drive the lifting screw 242 to rotate. As some embodiments of this application, the lifting drive component 241 can be constructed as a motor. The lifting drive component 241 and the lifting screw 242 are connected in a transmission manner, and the connection method can be, but is not limited to, gear and rack transmission connection, worm gear transmission connection, chain transmission connection, etc.

[0068] As some embodiments of this application, the lifting base 22 is formed with a first assembly part 222, and the lifting drive member 241 is assembled with the first assembly part 222.

[0069] This configuration allows the lifting drive component 241 to drive the lifting screw 242 to rotate, causing the connecting sleeve 243 to move along the extension direction of the lifting screw 242 and drive the intermediate connecting rod 233 to swing around the first hinge point. This, in turn, causes the head connecting rod 232 to drive the head mechanism 1 to lift and lower, which improves transmission accuracy and reliability, enhances the stability and smoothness of the lifting action, and improves the interactive effect.

[0070] In some embodiments of the present invention, such as Figure 2 and Figure 5 As shown, the lifting drive assembly 24 further includes: a lifting transmission component 244, the drive shaft of the lifting drive component 241 being along the height direction of the interactive robot 100 (i.e., Figures 1-3 , Figure 5 The lifting screw 242 extends in the Z direction (as shown), and its extension direction is parallel to the height direction of the interactive robot 100 (i.e., the Z direction). Figures 1-3 , Figure 5 The lifting transmission component 244 is orthogonal to the lifting drive component 241 and the lifting screw 242 (as shown in the Z direction).

[0071] As some embodiments of this application, such as Figure 5 As shown, the lifting transmission component 244 includes: a lifting transmission shaft 2441 and a lifting transmission wheel 2442. The lifting transmission shaft 2441 is connected to the drive shaft of the lifting drive component 241 and their axes coincide. The lifting transmission shaft 2441 meshes with the lifting transmission wheel 2442. The lifting transmission wheel 2442 is connected to the lifting screw 242 and their axes coincide. The lifting drive component 241 is configured to drive the lifting transmission shaft 2441 to rotate, so as to drive the lifting screw 242 to rotate through the lifting transmission wheel 2442.

[0072] As some embodiments of this application, the lifting transmission shaft 2441 can be constructed as a worm gear, and the lifting transmission wheel 2442 can be constructed as a worm wheel. This setting of the transmission ratio is reasonable and the transmission is reliable.

[0073] As some embodiments of this application, the outer wall of the lifting base 22 is formed with an assembly flange 223, and at least a portion of the lifting drive wheel 2442 is located between the assembly flange 223 and the outer wall of the lifting base 22. This effectively protects the lifting drive wheel 2442, reduces the risk of the lifting drive wheel 2442 failing due to interference from external dust, water vapor, etc., and helps to extend the service life of the interactive robot 100.

[0074] This configuration allows for a change in the direction of power transmission. By vertically arranging the lifting drive component 241, it can fully utilize the power transmission direction along the height of the interactive robot 100 (i.e., Figures 1-3 , Figure 5 The space in the Z direction (as shown) is used to improve space utilization and enhance the structural compactness of the interactive robot 100.

[0075] In some embodiments of the present invention, such as Figure 2 and Figure 7 As shown, the lifting base 22 defines a receiving space 221, in which at least a portion of the lifting screw 242 and at least a portion of the connecting sleeve 243 are received.

[0076] As some embodiments of this application, a portion of the lifting screw 242 is housed in the receiving space 221, or all of the lifting screw 242 is housed in the receiving space 221.

[0077] As some embodiments of this application, a portion of the connecting sleeve 243 is received in the receiving space 221, or all of the connecting sleeve 243 is received in the receiving space 221.

[0078] This design effectively protects the lifting screw 242 and the connecting sleeve 243, reduces the risk of failure of the lifting drive assembly 24 due to external dust, water vapor and other interference, and helps to extend the service life of the interactive robot 100. In addition, the reasonable use of space makes the lifting drive assembly 24 structurally neat and compact, which helps to improve the integration and operational reliability of the lifting drive assembly 24.

[0079] In some embodiments of the present invention, such as Figure 2 and Figure 5 As shown, the connecting sleeve 243 has a fifth rotating part 2431, and the intermediate connecting rod 233 that cooperates with the connecting sleeve 243 has a sixth rotating part 2331. The fifth rotating part 2431 and the sixth rotating part 2331 are rotatably engaged.

[0080] As some embodiments of this application, the fifth rotating part 2431 can be constructed as one of a rotating shaft and a rotating hole, and the sixth rotating part 2331 can be constructed as the other of a rotating shaft and a rotating hole, with the rotating shaft passing through the rotating hole and rotatably engaging with the rotating hole.

[0081] This structural design is reasonable and allows the connecting sleeve 243 and the intermediate connecting rod 233 to rotate and engage.

[0082] In some embodiments of the present invention, such as Figure 2 and Figure 5 As shown, the rotating mechanism 3 includes a rotating drive 31, which is configured to drive the lifting base 22 to rotate.

[0083] As some embodiments of this application, the rotary drive 31 can be configured as a motor that can drive the lifting base 22 to rotate.

[0084] As some embodiments of this application, the connection between the rotary drive component 31 and the lifting base 22 can be, but is not limited to, a gear and rack transmission connection, a worm gear transmission connection, a chain transmission connection, etc., or, along the height direction of the interactive robot 100 (i.e., Figures 1-3 , Figure 5 (As shown in the Z direction), the rotary drive 31 is located below the lifting base 22, and the drive shaft of the rotary drive 31 can directly drive the lifting base 22 to rotate when it rotates.

[0085] This configuration allows the lifting base 22 to rotate via the rotary drive component 31, which in turn causes the lifting mechanism 2 and the head mechanism 1 to rotate together, enabling the interactive robot 100 to perform panoramic movements in the horizontal direction. This allows for actions such as turning and following, and interactive circling, effectively enriching body language, enhancing the flexibility of interaction, and further improving the subtlety and emotional expressiveness of the interaction.

[0086] In some embodiments of the present invention, such as Figures 1-3 , Figure 6 As shown, the rotating mechanism 3 also includes: a fixed base 32, which is sleeved on the lifting base 22, and a rotating drive component 31 is disposed on the fixed base 32.

[0087] As some embodiments of this application, the fixed base 32 includes: an upper base 321 and a lower base 322, along the height direction of the interactive robot 100 (i.e., Figures 1-3 , Figure 5 (As shown in the Z direction), the upper base 321 and the lower base 322 are arranged and connected in sequence. The connection method can be, but is not limited to, snap-fit ​​connection, bolt connection, etc.

[0088] As some embodiments of this application, the rotary drive member 31 is disposed on the upper base 321, specifically, as shown in the example below. Figure 6 As shown, the upper base 321 has a second assembly part 3211, and the rotary drive member 31 is assembled with the second assembly part 3211.

[0089] By mounting the fixed base 32 onto the lifting base 22, the lifting base 22 and the lifting drive assembly 24 can be effectively protected, improving the operational reliability of the lifting base 22 and the lifting drive assembly 24, which is beneficial to extending the service life of the interactive robot 100. Furthermore, it enables the interactive robot 100 to have a regular and compact structure, which is beneficial to improving the integration and operational reliability of the interactive robot 100.

[0090] In some embodiments of the present invention, such as Figure 5 As shown, the rotating mechanism 3 also includes: a rotating transmission shaft 33 and a rotating transmission wheel 34. The rotating transmission shaft 33 meshes with the rotating transmission wheel 34, and the rotating transmission wheel 34 is connected to the lifting base 22. The rotating drive member 31 is configured to drive the rotating transmission shaft 33 to rotate, so as to drive the lifting base 22 to rotate through the rotating transmission wheel 34.

[0091] As some embodiments of this application, the connection between the rotating transmission wheel 34 and the lifting base 22 can be, but is not limited to, snap-fit ​​connection, bolt connection, etc.

[0092] As some embodiments of this application, the rotary transmission shaft 33 is connected to the drive shaft of the rotary drive member 31 and their axes coincide. The drive shaft of the rotary drive member 31 can transmit power to the rotary transmission shaft 33 and drive the lifting base 22 to rotate through the rotary transmission wheel 34.

[0093] As some embodiments of this application, the rotary transmission shaft 33 can be constructed as a worm gear, and the rotary transmission wheel 34 can be constructed as a worm wheel. This setting provides a reasonable transmission ratio and reliable transmission.

[0094] This configuration can change the direction of power transmission, making it easier to place the rotary drive component 31 on the fixed base 32. This allows for full utilization of the internal space of the fixed base 32, improving space utilization and enhancing the structural compactness of the interactive robot 100. Furthermore, it can effectively prevent the rotary drive component 31 from interfering with other components, thus improving the layout rationality of the interactive robot 100.

[0095] As some embodiments of this application, along the height direction of the interactive robot 100 (i.e. Figures 1-3 , Figure 5 (As shown in the Z direction), the connecting sleeve 243 is located above the rotating transmission wheel 34, and the connecting sleeve 243 has one of the first mating part and the second mating part, and the rotating transmission wheel 34 has the other of the first mating part and the second mating part. The first mating part and the second mating part are respectively constructed as a mating protrusion and a mating groove, wherein the mating groove extends along the extension direction of the lifting screw 242, and at least a portion of the mating protrusion is located in the mating groove and is limited to the mating groove.

[0096] In another embodiment of this application, the first mating part and the second mating part may also be constructed as a slide rail and a slider, respectively.

[0097] As some embodiments of this application, such as Figure 3 As shown, the head housing 11 includes a head shell 111, a head cover 112, a curtain panel 113, and an LED display screen 114. There are two head covers 112, which are respectively located on both sides of the head shell 111. The head shell 111 forms a display area. The curtain panel 113 and the LED display screen 114 are respectively located in the display area of ​​the head shell 111. The curtain panel 113 is located on the side of the LED display screen 114 that is away from the inside of the head shell 111. The curtain panel 113 can transmit the light emitted by the LED display screen 114 to realize the display function and can display a variety of screen expressions.

[0098] As some embodiments of this application, the program control of the interactive robot 100 can coordinate the triggering of body movements such as head movements, lifting, and rotation with screen expressions in specific scenarios (e.g., when moving to the rhythm of music, the body rises and falls, the head nods slightly, and is accompanied by a cheerful expression). This setting can deeply integrate rich body language with facial expression language to achieve an emotional expression effect of "1+1>2", significantly enhance the realism and emotional value of the interaction, and make the interactive experience warmer.

[0099] As some embodiments of this application, the interactive robot 100 also includes a gyroscope, which can recognize actions such as vehicle acceleration, turning, reversing, and parking, thereby switching the expressions and actions of the interactive robot 100 according to the scenario. For example, if turning too fast, the interactive robot 100 stands up and displays a dangerous and tense expression.

[0100] As some embodiments of this application, the interactive robot 100 also includes: an acoustic system that can realize a variety of sound functions, such as a sound source localization function that can activate the face orientation of the interactive robot 100 according to the location where the sound occurs; a voiceprint recognition function that responds differently to different people calling; and a voice cloning function that imitates the speaker's voice.

[0101] The vehicle according to an embodiment of the present invention includes the interactive robot 100 of the above embodiment. Through the cooperation of the head mechanism 1, the lifting mechanism 2, and the rotating mechanism 3, it is ingeniously designed to organically combine head movements with full-body lifting and rotating movements, and can simulate rich anthropomorphic body language, significantly improving the subtlety and emotional expressiveness of the interaction, which is conducive to achieving immersive interaction and improving the user's user experience.

[0102] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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. Therefore, they should not be construed as limitations on this invention.

[0103] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0104] In the description of this invention, "a plurality of" means two or more.

[0105] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0106] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature.

[0107] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0108] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An interactive robot, characterized in that, include: Lifting mechanism, head mechanism; The head mechanism includes: a head housing and a head drive assembly. The head drive assembly is disposed on the lifting mechanism, and the drive output end of the head drive assembly is connected to the head housing. The head drive assembly is configured to drive the head housing to pitch about a first axis and to drive the head housing to deflect about a second axis. The lifting mechanism is configured to drive the head mechanism to lift. A rotating mechanism configured to drive the lifting mechanism to rotate.

2. The interactive robot according to claim 1, characterized in that, The head drive assembly includes: a head fixing bracket, a head transmission bracket, a first drive member, and a second drive member. The first drive member and the second drive member are both disposed on the head fixing bracket. The head fixing bracket is oscillatingly disposed on the lifting mechanism about the first axis. The head transmission bracket is oscillatingly disposed on the head fixing bracket about the second axis. The head housing is connected to the head transmission bracket. The first drive member is configured to drive the head fixing bracket to oscillate about the first axis, and the second drive member is configured to drive the head transmission bracket to oscillate about the second axis.

3. The interactive robot according to claim 2, characterized in that, The head fixing bracket has a first rotating part, the lifting mechanism includes a cooperating part, the cooperating part has a second rotating part, the first rotating part and the second rotating part are rotatably engaged, and the rotation axis of the first rotating part is collinear with the first axis. The mating component also has a first tooth, the drive shaft of the first drive component meshes with the first tooth, and the first tooth is arranged around the second rotating part.

4. The interactive robot according to claim 2, characterized in that, The head transmission bracket has a third rotating part, and the head fixing bracket has a fourth rotating part. The third rotating part and the fourth rotating part are rotatably coupled, and the rotation axis of the third rotating part is collinear with the second axis. The head transmission bracket has a second toothed portion, the drive shaft of the second drive member meshes with the second toothed portion, and the second toothed portion is arranged around the third rotating portion.

5. The interactive robot according to any one of claims 1-4, characterized in that, The lifting mechanism includes: a lifting base, a multi-link assembly, and a lifting drive assembly. The multi-link assembly includes a fixed link, a head link, and multiple intermediate links. The fixed link and the lifting drive assembly are both located on the lifting base. The intermediate links are rotatably connected to the fixed link and the head link. The head mechanism is located on the head link. The lifting drive assembly is configured to drive one of the intermediate links to move, so that the head link drives the head mechanism to move up and down.

6. The interactive robot according to claim 5, characterized in that, The lifting drive assembly includes: a lifting drive component, a lifting screw, and a connecting sleeve. The lifting screw passes through the connecting sleeve and is configured to drive the connecting sleeve to move along the extension direction of the lifting screw during rotation. One of the intermediate connecting rods is rotatably engaged with the connecting sleeve. The lifting drive component is configured to drive the lifting screw to rotate.

7. The interactive robot according to claim 6, characterized in that, The lifting drive assembly further includes: a lifting transmission component, wherein the drive shaft of the lifting drive component extends along the height direction of the interactive robot, the extension direction of the lifting screw is orthogonal to the height direction of the interactive robot, and the lifting transmission component is tractively connected between the lifting drive component and the lifting screw. And / or, the lifting base defines a receiving space in which at least a portion of the lifting screw and at least a portion of the connecting sleeve are received; And / or, the connecting sleeve has a fifth rotating part, and the intermediate connecting rod that cooperates with the connecting sleeve has a sixth rotating part, and the fifth rotating part and the sixth rotating part are rotatably engaged.

8. The interactive robot according to claim 5, characterized in that, The rotating mechanism includes a rotating drive member configured to drive the lifting base to rotate.

9. The interactive robot according to claim 8, characterized in that, The rotating mechanism further includes: a fixed base, which is sleeved on the lifting base, and the rotating drive component is disposed on the fixed base; And / or, the rotating mechanism further includes: a rotating drive shaft and a rotating drive wheel, the rotating drive shaft meshing with the rotating drive wheel, the rotating drive wheel being connected to the lifting base, and the rotating drive member being configured to drive the rotating drive shaft to rotate, so as to drive the lifting base to rotate via the rotating drive wheel.

10. A vehicle, characterized in that, Including the interactive robot according to any one of claims 1-9.

Images