CN114931756A

CN114931756A - Tail structure and pet robot

Info

Publication number: CN114931756A
Application number: CN202210645913.3A
Authority: CN
Inventors: 黄炫煜; 王凤昕; 甘泉; 谌振宇
Original assignee: Beijing Haqi Robot Technology Co ltd
Current assignee: Beijing Haqi Robot Technology Co ltd
Priority date: 2022-06-08
Filing date: 2022-06-08
Publication date: 2022-08-23
Anticipated expiration: 2042-06-08
Also published as: CN114931756B

Abstract

The invention relates to the technical field of pet robots and discloses a tail structure and a pet robot. The tail structure comprises a rack module, a tail module, a swinging module and a first human-computer interaction module, wherein at least part of the tail module penetrates through and is convexly arranged on the rack module; the swing module comprises a driving piece arranged on the rack module, and the driving piece is configured to drive the tail module to swing relative to the rack module; the first human-computer interaction module is configured to generate a first conversion signal when the user drives the tail module to change the position. The driving piece can drive the tail module to swing, so that the interestingness of the pet robot is improved; when the tail module is driven by a user to change the position, the first human-computer interaction module can generate a first conversion signal, and the first conversion signal can participate in the control of the pet robot; generally, the integrated level of afterbody structure is high, can realize multiple functions, and is succinct more and pleasing to the eye.

Description

Tail structure and pet robot

Technical Field

The invention relates to the technical field of pet robots, in particular to a tail structure and a pet robot.

Background

With the development of science and technology, the field of robots develops more and more rapidly, and various robots enter the daily life of people. Meanwhile, with more and more complete functions, from the beginning of simple movement, the requirements on attractive appearance, lighting effect, movement mode switching, local movement and the like are met. In recent years, even pet robots have appeared. The pet robot can implement a series of functions to play a "companion" role for the user.

In the prior art, the superposition of various functions of the pet robot causes the realization mode of the functions to generate a conflict relationship with the modeling. Different functions are usually arranged and controlled independently, so that the pet robot has excessive parts, a dispersed structure and a complex appearance.

Therefore, a tail structure and a pet robot are needed to solve the above problems.

Disclosure of Invention

Based on the above, the invention aims to provide a tail structure and a pet robot, which have high integration level, can realize multiple functions, and are more concise and beautiful.

In order to achieve the purpose, the invention adopts the following technical scheme:

a tail structure, comprising:

a rack module;

the tail module at least partially penetrates through the rack module and is convexly arranged on the rack module;

the swinging module comprises a driving piece arranged on the rack module, and the driving piece is configured to drive the tail module to swing relative to the rack module;

a first human-machine interaction module configured to generate a first converted signal when the position for driving the tail module changes.

As a preferred aspect of the tail structure, the tail structure further includes an intermediate component connected to the driving member, the tail module is disposed on the intermediate component, and the first human-machine interaction module is configured to recognize a change in position of the tail module relative to the intermediate component.

As a preferred scheme of afterbody structure, the intermediate module include the cam with the transmission shaft of cam butt, the cam set up in the drive end of driving piece, first human-computer interaction module set up in on the transmission shaft, the transmission shaft with frame module rotates and is connected.

As a preferred version of the tail structure, the first human-machine interaction module includes a first conversion component for connecting the intermediate component and the tail module so that the tail module can be fixed or changed in position relative to the intermediate component, and a first detection element configured to recognize a change in position of the tail module relative to the intermediate component and generate a first conversion signal.

As a preferable scheme of the tail structure, the first conversion assembly includes a conversion seat and a conversion piece which are rotatably connected, the first detection piece is disposed on the conversion seat and/or the conversion piece, the conversion seat is disposed on the middle assembly, and the tail module is disposed on the conversion piece.

As a preferable scheme of the tail structure, a locking member is arranged on the conversion seat, and the conversion member can be matched with the locking member to fix the tail module and the conversion seat.

As a preferred embodiment of the tail structure, the tail structure further includes a second human-machine interaction module, the first human-machine interaction module is disposed on the middle component, the tail module is disposed on the first human-machine interaction module, and the second human-machine interaction module is configured to generate a second conversion signal when the position of the tail module relative to the first human-machine interaction module changes.

As a preferred embodiment of the tail structure, the second human-computer interaction module includes a deformation element and a second detection element, the deformation element is used to connect the tail module and the first human-computer interaction module, the deformation element is configured to deform when the position of the tail module changes relative to the first human-computer interaction module, and the second detection element is configured to recognize the deformation of the deformation element and generate a second conversion signal.

As a preferable aspect of the tail structure, the first human-computer interaction module includes a positioning protrusion and two positioning grooves, one of the positioning protrusion and the positioning groove is disposed on the tail module, the other one is disposed on the swing module, the tail module can be driven by a user to make the positioning protrusion cooperate with one of the positioning grooves, and the first human-computer interaction module is configured to identify the positioning groove cooperating with the positioning protrusion and generate the first conversion signal.

As a preferable scheme of the tail structure, the first human-computer interaction module includes a first conducting piece disposed on the swing module and a second conducting piece disposed on the tail module, the positioning groove includes a first positioning groove and a second positioning groove disposed along a length direction of the tail module, and when the positioning protrusion is matched with the second positioning groove, the first conducting piece and the second conducting piece are in contact conduction to generate the first conversion signal.

As a preferable scheme of the tail structure, two first conduction pieces are provided, and when both the first conduction pieces are in contact with the second conduction piece, the two first conduction pieces are conducted to generate the first conversion signal.

As a preferable scheme of the tail structure, the first conducting piece is elastically disposed on the swing module, and is configured to reset the first conducting piece when the positioning protrusion is matched with the first positioning groove.

As a preferable scheme of the tail structure, the tail structure further includes a third human-computer interaction module, where the third human-computer interaction module includes a third detection piece, and the third detection piece is configured to generate a third conversion signal when the positioning protrusion is engaged with the second positioning groove and the tail module moves towards a direction away from the engagement of the positioning protrusion and the first positioning groove.

As a preferred scheme of the tail structure, the tail module comprises a light emitting member and a light guide member buckled on the light emitting member, and at least part of the light guide member penetrates through and is convexly arranged on the rack module.

As a preferable scheme of the tail structure, the rack module includes a rack body and an upper cover fastened to the rack body, the swing module is disposed on the rack body, and at least a part of the tail module passes through and protrudes from the upper cover.

A pet robot comprises a robot body and a tail structure which is arranged at the tail of the robot body and is in any scheme.

The invention has the beneficial effects that:

according to the invention, at least part of the tail module penetrates through and is convexly arranged on the rack module, so that the whole pet robot is more attractive; when the user drives the tail module to enable the position of the tail module to change, the first human-computer interaction module can generate a first conversion signal, and the first conversion signal can participate in the control of the pet robot; the swing module is arranged on the rack module, so that the driving part can drive the tail module to swing, and the interestingness of the pet robot is improved; generally, the integration level of afterbody structure is high, can realize multiple functions, and is succinct more and pleasing to the eye.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

FIG. 1 is a schematic diagram of a tail structure according to an embodiment of the present invention;

FIG. 2 is an exploded view of a tail structure provided in accordance with an embodiment of the present invention;

fig. 3 is a cross-sectional view of a tail module of a tail structure in a raised position according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view of a tail module of a tail structure according to an embodiment of the present invention in an operational position;

fig. 5 is an exploded view of a tail structure provided in the second embodiment of the present invention;

fig. 6 is a cross-sectional view of a tail module of the tail structure according to the second embodiment of the present invention in an operation position;

fig. 7 is a schematic diagram of a circuit board with a tail structure according to a second embodiment of the present invention.

In the figure:

1. a rack module; 11. a frame body; 111. a mounting seat; 12. an upper cover; 121. a through hole;

2. a tail module; 21. a light guide; 211. a second conduction member; 22. a soft shell; 23. a circuit board; 231. a light emitting member; 232. a first conduction member; 233. a third detecting member; 234. installing a groove;

3. a swing module; 31. a drive member; 32. an intermediate component; 321. a cam; 322. a drive shaft; 323. an elastic member;

4. a first human-computer interaction module; 41. a first conversion assembly; 411. a conversion seat; 412. a conversion member; 413. a locking member; 414. a limiting member; 42. a first detecting member; 43. positioning a projection; 441. a first positioning groove; 442. a second positioning groove;

51. a deformation member;

6. a reset member.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

The embodiment discloses a pet robot, which comprises a robot body and a tail structure arranged at the tail of the robot body. The pet robot can implement a series of functions to play a "companion" role for the user. The pet robot is high in integration level, can realize multiple functions and variable control modes, and is more concise and attractive in appearance. It is worth to explain that the pet robot is also provided with a control system for controlling the pet robot to operate according to a preset mode and a user demand mode.

As shown in fig. 1 to 4, the present embodiment provides a tail structure for the pet robot, which includes a rack module 1, a tail module 2, a swing module 3, and a first human-computer interaction module 4, wherein the tail module 2 at least partially penetrates through and protrudes from the rack module 1; the swing module 3 comprises a driving member 31 arranged on the rack module 2, and the driving member 31 is configured to drive the tail module 2 to swing relative to the rack module 1; the first human-machine interaction module 4 is configured to generate a first conversion signal when the user drives the tail module 2 to change position.

At least part of the tail module 2 penetrates through and is convexly arranged on the rack module 1, so that the whole pet robot is more attractive; when the user drives the tail module 2 to change the position of the tail module 2, the first human-computer interaction module 4 can generate a first conversion signal, and the first conversion signal can participate in the control of the pet robot; the swinging module 3 is arranged on the frame module 1, so that the driving piece 31 can drive the tail module 2 to swing, and the interestingness of the pet robot is improved; generally, the integrated level of afterbody structure is high, can realize multiple functions, and is succinct more and pleasing to the eye.

As an alternative of the tail structure, the rack module 1 is disposed at the tail of the robot body, the rack module 1 includes a rack body 11 and an upper cover 12 fastened to the rack body 11, the swing module 3 is disposed on the rack body 11, the upper cover 12 is provided with a through hole 121, and at least a portion of the tail module 2 passes through the through hole 121 and is protrudingly disposed on the upper cover 12. The rack body 11 and the upper cover 12 are arranged in a split and buckled mode, so that the arrangement and installation of the internal swing module 3 and other modules are facilitated.

As an alternative to the tail structure, the tail module 2 includes a light emitting member 231 and a light guiding member 21 fastened to the light emitting member 231, and when the light emitting member 231 emits light, the light is guided by the light guiding member 21; because the light guide part 21 at least partially penetrates through and is convexly arranged on the rack module 1, the tail part capable of emitting light can be observed by the appearance of the pet robot, the running state, the mode, the emotion and the like of the pet robot can be displayed through the color, the flickering state and the like of the light emitting part 231, and the attractiveness and the interestingness of the pet robot are improved.

In this embodiment, the tail module 2 further includes a circuit board 23, the circuit board 23 is disposed on the swing module 3, the light emitting element 231 is disposed on the circuit board 23, and the circuit board 23 can provide electric energy for the light emitting element 231.

Further, the outer portion of the light guide 21, especially the portion protruding from the rack module 1, is sleeved with a soft shell 22, and the soft shell 22 is clamped to the inner side of the through hole 121. The soft shell 22 is used for protecting the light guide part 21, and improves the touch feeling of the tail of the pet robot and the use experience feeling of the pet robot. It will be appreciated that the bladder 22 is light permeable.

It should be noted that, in order to reduce the interference of the soft shell 22 on the swing of the tail module 2, the soft shell 22 is provided with a corrugated structure, so that the movement of the tail module 2 is not hindered while the avoiding space is filled.

As an alternative to the tail structure, the tail structure further comprises a middle member 32 connected to the driving member 31, the tail module 2 is disposed on the middle member 32, and the first human-machine interaction module 4 is configured to recognize a change in position of the tail module 2 relative to the middle member 32. By arranging the intermediate component 32 and arranging the first human-computer interaction module 4 to be able to recognize the position change of the tail module 2 relative to the intermediate component 32, the interference of the normal swing of the tail module 2 to the first conversion signal is reduced.

In this embodiment, the intermediate assembly 32 includes a cam 321 and a transmission shaft 322 abutting against the cam 321, the rack body 11 of the rack module 1 is provided with a mounting seat 111, and the driving member 31 is provided on the mounting seat 111. The cam 321 is disposed at the driving end of the driving member 31, the first human-computer interaction module 4 is disposed on the transmission shaft 322, and the transmission shaft 322 is rotatably connected to the rack module 1, specifically, the transmission shaft 322 is rotatably connected to the mounting base 111. When the control system controls the driving element 31 to work, the driving end of the driving element 31 drives the transmission shaft 322 to swing back and forth, so as to realize regular swing of the tail module 2.

Further, the intermediate assembly 32 further includes an elastic member 323 so that the transmission shaft 322 can be constantly abutted against the outer sidewall of the cam 321. Illustratively, the elastic member 323 is a spring.

Preferably, a groove is formed in the periphery of the cam 321, and the groove is adapted to the transmission shaft 322 and is used for accommodating the transmission shaft 322, so that the position of the rotating shaft is more stable in the rotating process of the cam 321.

As an alternative to the tail structure, the first human-machine interaction module 4 includes a first conversion component 41 and a first detection component 42, the first conversion component 41 is used for connecting the middle component 32 and the tail module 2, specifically, the first conversion component 41 is disposed at an end of the transmission shaft 322 far away from the cam 321, the first conversion component 41 is disposed to enable the tail module 2 to be fixed or to change the position relative to the middle component 32, and when the tail module 2 is fixed relative to the middle component 32, the pet robot can operate in a certain mode; when the tail module 2 changes position relative to the middle assembly 32, the first sensing member 42 is configured to recognize the change in position and generate a first switching signal that may be used to change the operating mode of the pet robot.

It should be noted that the first conversion signal can be transmitted to the control system to participate in the control of the pet robot, and the transmission manner may be through an electrical connection or wireless communication such as bluetooth, and the like, which is not limited herein. In other embodiments, the first conversion signal may also be used to control lights, switches, and the like of the pet robot, and those skilled in the art may set the signals according to actual needs.

Specifically, the first converting assembly 41 includes a converting seat 411 and a converting element 412, which are rotatably connected, the converting seat 411 is disposed at an end of the transmission shaft 322 of the middle assembly 32 away from the cam 321, the circuit board 23 and the light guide element 21 of the rear module 2 are both disposed on the converting element 412, and the first detecting element 42 is disposed on the converting seat 411 and/or the converting element 412. When a user needs to switch the operation mode of the pet robot, the tail module 2 may be shifted to rotate the switching member 412 relative to the switching seat 411, and at this time, the first detecting member 42 may detect the rotation, so as to generate a first switching signal for switching the operation mode of the pet robot.

Optionally, the first detecting element 42 is disposed on the converting element 412, the tail module 2 may be a tail module 2 that is lifted up as shown in fig. 3, and the converting element 412 rotates relative to the converting base 411 while the tail module 2 is lifted up; after the movement mode is switched, the tail module 2 can be reset to the movement position shown in fig. 4 by pressing down, so that the switching piece 412 is fixed relative to the switching seat 411 to stop generating the first switching signal, and the pet robot can continue to operate according to the original movement mode.

Illustratively, the first detecting member 42 is a hall sensor. In other embodiments, the position of the tail module 2 relative to the middle assembly 32 may be detected by a proximity switch, a distance sensor, a pressure sensor, or the like, and is not limited herein.

Preferably, the converting base 411 and/or the converting element 412 are further provided with a limiting element 414 to limit the position of the converting element 412 rotating relative to the converting base 411 after the tail module 2 is pressed down, so as to avoid the converting element 412 from being reset excessively, impacting and damaging the first detecting element 42, and ensure the reliability of the first human-computer interaction module 4.

Further, be provided with locking piece 413 on conversion seat 411, locking piece 413 sets up on conversion seat 411, and conversion 412 can cooperate with locking piece 413 to make afterbody module 2 and conversion seat 411 rigidity, and then can avoid pet robot rocking of afterbody module 2 when normal operating effectively. Illustratively, the locking member 413 is a snap, and the converting member 412 can be snap-fitted to the snap.

As an alternative to the tail structure, the tail structure further comprises a second human-machine interaction module configured to generate a second switching signal when the position of the tail module 2 relative to the first human-machine interaction module 4 changes. Through setting up the second human-computer interaction module for produce the second and change signals, this second conversion signal can participate in the control to pet robot, has increased afterbody module 2's function, has improved the integrated nature of afterbody structure.

It should be noted that the second switching signal can be transmitted to the control system to participate in the control of the pet robot, and the transmission manner can be through an electrical connection or wireless communication such as bluetooth, and the like, which is not limited herein.

Specifically, the tail module 2 is arranged on the first human-computer interaction module 4, the first human-computer interaction module 4 is arranged on the middle assembly 32, the second human-computer interaction module comprises a deformable piece 51 and a second detection piece, and the deformable piece 51 is used for connecting the tail module 2 and the first human-computer interaction module 4. When the user drives the tail module 2 to change its position relative to the first human-computer interaction module 4, the deformation element 51 can deform accordingly, and at this time, the second detection element can recognize the deformation of the deformation element 51 and generate a second conversion signal.

In this embodiment, the deformation element 51 includes an annular gasket and a deformation lug disposed on the inner side of the annular gasket, and the annular gasket is disposed on the conversion element 412 of the first human-computer interaction module 4 and is connected to the circuit board 23; the light guide 21 of the tail module 2 is arranged on the deformation ear. The second detecting member is illustratively a micro switch disposed below the deformed ear, and is electrically connected to the circuit board 23. When the light guide member 21 for pressing the tail module 2, the deformation lug can deform relative to the annular gasket to trigger the micro switch, so that a second conversion signal is generated.

It should be noted that, in order to avoid generating the second switching signal for the malfunction when generating the first switching signal, a time parameter may be added when the control system acquires the second switching signal. For example, the control system may continuously acquire the second switching signal within a preset time period, and then further control the pet robot to perform corresponding mode switching. Wherein the preset time can be 2s-3 s.

Example two

As shown in fig. 5-7, this embodiment provides another arrangement of tail structures that can generate the first converted signal.

In this embodiment, the tail module 2 is disposed on the swing module 3, and the driving member 31 of the swing module 3 can drive the light guide member 21 and the circuit board 23 to swing relative to the rack module 1. The first human-computer interaction module 4 comprises a positioning protrusion 43 and two positioning grooves, one of the positioning protrusion 43 and the positioning grooves is arranged on the tail module 2, the other one of the positioning protrusion 43 and the positioning grooves is arranged on the circuit board 23, the tail module 2 can be driven by a user to enable the positioning protrusion 43 to be matched with a certain positioning groove, and the first human-computer interaction module 4 is configured to identify the positioning groove matched with the positioning protrusion 43 and generate a first conversion signal.

Specifically, the positioning grooves are arranged on the outer side wall of the light guide member 21, and the positioning grooves are arranged at the opposite positions of the outer side wall; correspondingly, the positioning protrusions 43 are disposed on the circuit board 23, and the positioning protrusions 43 are disposed at the inner opposite positions of the swing module 3 accommodating the tail module 2, so that the positioning protrusions are more stably matched with the positioning grooves.

Further, the positioning grooves include a first positioning groove 441 and a second positioning groove 442 disposed along the length direction of the rear module 2. As shown in fig. 6, when the positioning protrusion 43 is engaged with the second positioning groove 442, the tail module 2 is in the operation position, and the pet robot can operate according to the preset motion mode; when the tail module 2 is pulled upwards and the positioning protrusion 43 is engaged with the first positioning groove 441, the first human-computer interaction module 4 can generate a first conversion signal, and the tail module 2 is in the upward position and is used for converting the motion mode of the pet robot.

Illustratively, to generate the first conversion signal, the first human-computer interaction module 4 includes a first conduction piece 232 disposed on the circuit board 23 and a second conduction piece 211 disposed on the tail module 2, and when the positioning protrusion 43 is engaged with the second positioning groove 442, the first conduction piece 232 and the second conduction piece 211 are in contact conduction for normal operation of the pet robot; when the positioning protrusion 43 is engaged with the first positioning groove 441, the first conducting piece 232 and the second conducting piece 211 can be disconnected by being out of contact, and the disconnection signal is a first conversion signal.

In this embodiment, there are two first conduction pieces 232, when the positioning protrusion 43 is matched with the second positioning groove 442, both the first conduction pieces 232 are in contact with the second conduction piece 211, and the two first conduction pieces 232 are conducted; when the positioning protrusion 43 is engaged with the first positioning groove 441, both the first conduction pieces 232 are disengaged from the second conduction piece 211, and the first conduction pieces 232 are disconnected.

Preferably, the first conduction member 232 is elastically disposed on the circuit board 23, and is used for resetting the first conduction member 232 when the positioning protrusion 43 is matched with the first positioning groove 441. The first conduction piece 232 arranged elastically is beneficial to eliminating assembly errors, and the poor contact phenomenon between the first conduction piece 232 and the second conduction piece 211 when the positioning protrusion 43 is matched with the second positioning groove 442 is effectively avoided. It is understood that the first conducting member 232 cannot conduct with the second conducting member 211 after being reset, so as to avoid generating an erroneous first switching signal.

In other embodiments, the first conduction member 232 is configured as a pogo pin. In order to generate the first switching signal, the pogo pin and the second conduction member 211 may be replaced with other on/off sensors, as long as it is possible to generate different signals when the positioning protrusion 43 is engaged with the second positioning groove 442 and the positioning protrusion 43 is engaged with the first positioning groove 441.

In this embodiment, the tail structure further comprises a third human-machine interaction module, the third human-machine interaction module comprises a third detection member 233, the third detection member 233 is configured to generate a third conversion signal when the positioning protrusion 43 is engaged with the second positioning groove 442 and the tail module 2 moves away from the direction in which the positioning protrusion 43 is engaged with the first positioning groove 441. The third conversion signal can participate in the control of the pet robot, the function of the tail module 2 is added, and the integration of the tail structure is improved.

It should be noted that the third switching signal can be transmitted to the control system to participate in the control of the pet robot, and the transmission manner can be through an electrical connection or wireless communication such as bluetooth, and the like, which is not limited herein. Illustratively, the user may press the tail module 2 to generate a third transition signal, and a different third transition signal is generated by the press duration, the interval time and the press pressure.

Specifically, the third detection member 233 may be provided as a micro switch to detect the movement of the tail module 2 away from the direction in which the positioning projection 43 is engaged with the first positioning groove 441. Illustratively, the first conducting member 232 and the third detecting member 233 are both disposed on the circuit board 23, and the circuit board 23 is disposed on the swing module 3.

The tail structure further includes a reset member 6, and the reset member 6 is configured to drive the tail module 2 to move toward the direction in which the positioning protrusion 43 is engaged with the first positioning recess 441. The arrangement of the reset piece 6 is not only beneficial to avoiding the shaking of the tail module 2, but also can drive the second conduction piece 211 to be far away from the first conduction piece 232 when the positioning protrusion 43 is matched with the second positioning groove 442, so as to avoid generating an error third conversion signal; and the third detecting member 233 erroneously generates the first conversion signal when the positioning projection 43 and the first positioning groove 441 are engaged.

Further, the reset piece 6 is a reset spring, the circuit board 23 is provided with a mounting groove, one end of the reset spring abuts against the bottom of the mounting groove, and the other end of the reset spring abuts against the light guide piece 21.

It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the first feature "on" or "under" the second feature may include the first feature and the second feature being in direct contact, and may also include the first feature and the second feature being in contact not in direct contact but with another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Claims

1. A tail structure, comprising:

a rack module (1);

the tail module (2) at least partially penetrates through and is arranged on the rack module (1) in a protruding mode;

a swing module (3) comprising a driving member (31) arranged on the rack module (1), the driving member (31) being configured to drive the tail module (2) to swing relative to the rack module (1);

a first human-machine interaction module (4), wherein the first human-machine interaction module (4) is configured to generate a first conversion signal when a user drives the tail module (2) to change position.

2. Tail structure according to claim 1, further comprising a middle component (32) connected to the drive member (31), the tail module (2) being arranged on the middle component (32), the first human-machine-interaction module (4) being configured to be able to recognize a change in position of the tail module (2) relative to the middle component (32).

3. Tail structure according to claim 2, characterized in that the intermediate component (32) comprises a cam (321) and a transmission shaft (322) abutting against the cam (321), the cam (321) being arranged at the drive end of the drive member (31), the tail module (2) being arranged on the transmission shaft (322), the transmission shaft (322) being rotationally connected with the rack module (1).

4. Tail structure according to claim 2, characterized in that the first human-machine interaction module (4) comprises a first conversion component (41) and a first detection element (42), the first conversion component (41) being intended to connect the intermediate component (32) and the tail module (2) in order to enable the tail module (2) to be fixed or to undergo a change in position relative to the intermediate component (32), the first detection element (42) being configured to enable the change in position of the tail module (2) relative to the intermediate component (32) to be recognized and to generate a first conversion signal.

5. Tail structure according to claim 4, characterized in that the first conversion assembly (41) comprises a conversion base (411) and a conversion piece (412) which are rotatably connected, the first detection piece (42) is arranged on the conversion base (411) and/or the conversion piece (412), the conversion base (411) is arranged on the middle assembly (32), and the tail module (2) is arranged on the conversion piece (412).

6. Tail construction according to claim 5, characterized in that a locking element (413) is arranged on the changeover socket (411), the changeover element (412) being able to cooperate with the locking element (413) in order to fix the position of the tail module (2) with the changeover socket (411).

7. Tail structure according to claim 2, characterized in that it further comprises a second human-machine interaction module, the first human-machine interaction module (4) being arranged on the intermediate component (32), the tail module (2) being arranged on the first human-machine interaction module (4), the second human-machine interaction module being configured to generate a second transition signal upon a change in position of the tail module (2) relative to the first human-machine interaction module (4).

8. Tail structure according to claim 7, characterized in that the second human-machine interaction module comprises a deformation element (51) and a second detection element, the deformation element (51) is used for connecting the tail module (2) and the first human-machine interaction module (4), the deformation element (51) is configured to be deformed when the position of the tail module (2) changes relative to the first human-machine interaction module (4), and the second detection element is configured to recognize the deformation element (51) and generate a second conversion signal.

9. Tail structure according to claim 1, characterized in that the first human-machine-interaction module (4) comprises a positioning protrusion (43) and two positioning recesses, one of the positioning protrusion (43) and the positioning recess being provided on the tail module (2) and the other on the swing module (3), the tail module (2) being actuatable by a user to engage the positioning protrusion (43) with a certain one of the positioning recesses, the first human-machine-interaction module (4) being configured to recognize the positioning recess engaged by the positioning protrusion (43) and to generate the first conversion signal.

10. The tail structure of claim 9, wherein the first human-machine interaction module (4) comprises a first conducting piece (232) arranged on the swing module (3) and a second conducting piece (211) arranged on the tail module (2), the positioning groove comprises a first positioning groove (441) and a second positioning groove (442) arranged along the length direction of the tail module (2), and when the positioning protrusion (43) is matched with the second positioning groove (442), the first conducting piece (232) and the second conducting piece (211) are in contact conduction to generate the first conversion signal.

11. The tail structure of claim 10, wherein the first conduction member (232) is provided with two, and when both of the first conduction members (232) are in contact with the second conduction member (211), the two first conduction members (232) conduct.

12. The tail structure of claim 10, wherein the first conducting member (232) is elastically disposed on the swing module (3) for resetting the first conducting member (232) when the positioning protrusion (43) is engaged with the first positioning groove (441).

13. Tail structure according to claim 10, further comprising a third human-machine interaction module, the third human-machine interaction module comprising a third detection member (233), the third detection member (233) being configured to generate a third transition signal when the positioning protrusion (43) is engaged with the second positioning recess (442) and the tail module (2) is moved away from the direction in which the positioning protrusion (43) is engaged with the first positioning recess (441).

14. Tail structure according to any of claims 1-13, wherein the tail module (2) comprises a light emitter (231) and a light guide (21) snapped onto the light emitter (231), the light guide (21) at least partly passing through and protruding from the rack module (1).

15. The tail structure according to any one of claims 1 to 13, wherein the rack module (1) comprises a rack body (11) and an upper cover (12) fastened to the rack body (11), the swing module (3) is disposed on the rack body (11), and at least a portion of the tail module (2) passes through and protrudes from the upper cover (12).

16. A pet robot, characterized by comprising a robot body and a tail structure according to any one of claims 1-15 arranged at the tail of the robot body.