Accompanying robot

Abstract

The invention relates to an accompanying robot, and belongs to the technical field of robots. The accompanying robot comprises a head and two blinking mechanisms, the head is provided with two eye sockets, the two eye sockets are symmetrically located on the same side of the head, the blinking mechanisms correspond to the eye sockets in a one-to-one mode, each blinking mechanism comprises a back plate and two eyelids, the back plates are installed in the corresponding eye sockets, and the two eyelids are installed on the back plates. The back plates are arranged on the outer sides of the eye sockets, the front faces of the back plates face the outer sides of the eye sockets, and the two eyelids can be installed in the corresponding eye sockets in a relative movement mode and are both located on the front faces of the corresponding back plates. The accompanying robot disclosed by the invention can express relatively complex emotional information.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and particularly to a companion robot. Background Art

[0002] With the rapid development of artificial intelligence and robotics technologies, affective computing, as an emerging field, has been attracting increasing attention. Affective computing aims to enable computers and robots to recognize, understand, and express human emotions, thereby improving the human-computer interaction experience. However, the emotional expression methods of related companion robots mainly rely on speech, text analysis, and screen images, etc., making it difficult to convey complex emotional information, and thus difficult to meet the diverse needs of users for emotional companionship. Summary of the Invention

[0003] In view of this, embodiments of the present disclosure provide a companion robot that can express relatively complex emotional information. The technical solution is as follows:

[0004] The companion robot includes a head and two blinking mechanisms;

[0005] The head has two eye sockets, and the two eye sockets are symmetrically located on the same side of the head;

[0006] The blinking mechanisms correspond to the eye sockets one by one, and each blinking mechanism includes a back plate and two eyelids;

[0007] The back plate is installed in the corresponding eye socket, and the front surface of the back plate faces the outside of the eye socket;

[0008] The two eyelids are movably installed in the corresponding eye socket relatively, and both of the two eyelids are located on the front surface of the corresponding back plate.

[0009] In a possible implementation, the two eyelids of each blinking mechanism are distributed vertically.

[0010] In a possible implementation, the blinking mechanism further includes a pulley and two driving components;

[0011] The pulley is installed inside the corresponding head, above the corresponding two eyelids;

[0012] The driving components correspond to the eyelids one by one, and each driving component includes two wire ropes and two winding and unwinding members;

[0013] The pull wires correspond to the retractable components one by one, the first ends of the two pull wires are respectively connected to the two ends of the corresponding eyelids, the second ends of the pull wires are connected to the corresponding retractable components through the pulleys, and the retractable components are installed inside the head for retracting and releasing the corresponding pull wires.

[0014] In a possible implementation, the eyelid includes a plurality of curtain pieces, and the plurality of curtain pieces are distributed sequentially from top to bottom;

[0015] The curtain piece has two through-holes, and the two through-holes of each curtain piece are respectively located at two ends of the corresponding curtain piece and correspond to one of the pull wires respectively;

[0016] The pull wire passes through the corresponding perforations on the plurality of curtain sheets in sequence, and the pull wire has a plurality of knots, and the plurality of knots are spaced apart along the pull wire;

[0017] At least one knot of each pull wire is located on the lower side of each corresponding curtain sheet, and at least one knot of each pull wire is provided between every two adjacent curtain sheets, and the diameter of the knot is greater than the diameter of the through hole.

[0018] In a possible implementation, the companion robot further includes a neck and a waist, and the neck includes a first turntable, a first mechanical arm, a second mechanical arm, and a second turntable;

[0019] The first turntable is rotatably mounted on the waist around a first axis, the first end of the first robotic arm is rotatably connected to the first turntable around a second axis, the first end of the second robotic arm is rotatably connected to the second end of the first robotic arm around a third axis, the second turntable is rotatably connected to the second end of the second robotic arm around a fourth axis, and the head is rotatably mounted on the second turntable around a fifth axis;

[0020] The first axis is perpendicular to the second axis, the second axis and the third axis are parallel to the fourth axis, and the fifth axis is perpendicular to the fourth axis.

[0021] In a possible implementation, the first turntable has a first accommodating slot, which is located on the side of the first turntable away from the waist. The first end of the first robotic arm is rotatably connected to the first accommodating slot, and the first accommodating slot is used to accommodate the first robotic arm.

[0022] In a possible implementation, the companion robot further includes a waist, wherein the waist includes a support structure and an elastic belly;

[0023] The elastic belly surrounds the support structure, and the top and bottom of the elastic belly are enclosed with the support structure to form a closed cavity;

[0024] The head is connected to the top of the support structure and is located outside the sealed cavity.

[0025] In a possible implementation, the waist further includes a pneumatic regulator, which is installed on the support structure and is located inside the sealed cavity, and the pneumatic regulator is used to adjust the pressure inside the sealed cavity.

[0026] In a possible implementation, the support structure includes a fixed part and a movable part, and the movable part is movably connected to the fixed part in the height direction;

[0027] The elastic belly surrounds the fixed part and the movable part, and the top of the elastic belly is connected to the movable part, and the bottom of the elastic belly is connected to the fixed part, thus forming the sealed cavity.

[0028] In a possible implementation, the companion robot further includes a vibration member, which is installed on the waist and is used to vibrate the waist.

[0029] In the solution shown in the present disclosure, the head has two eye sockets on the same side, and the blinking mechanism installed in the eye sockets can simulate the action of human blinking through the relative movement of the two eyelids, so that it can realize more complex emotional expressions by simulating the eye movements that a person may make in various emotions, and further meet the diverse needs of users for emotional companionship. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 It is a schematic structural diagram of a companion robot provided by an embodiment of the present disclosure;

[0032] Figure 2 It is a schematic structural diagram of a head provided by an embodiment of the present disclosure;

[0033] Figure 3 It is a schematic structural diagram of a blinking mechanism provided by an embodiment of the present disclosure;

[0034] Figure 4 It is a schematic structural diagram of a first state of a blinking mechanism provided by an embodiment of the present disclosure;

[0035] Figure 5It is a schematic structural diagram of the second state of a blinking mechanism provided by an embodiment of the present disclosure;

[0036] Figure 6 It is a schematic structural diagram of the third state of a blinking mechanism provided by an embodiment of the present disclosure;

[0037] Figure 7 It is a schematic structural diagram of the fourth state of a blinking mechanism provided by an embodiment of the present disclosure;

[0038] 1] Figure 8 It is a schematic structural diagram of the split structure of a companion robot provided by an embodiment of the present disclosure;

[0039] Figure 9 It is a schematic structural diagram of a companion robot with an elastic belly removed provided by an embodiment of the present disclosure; [[ID=]18]

[0040] Figure 10 It is a schematic structural diagram of a pneumatic regulating member provided by an embodiment of the present disclosure;

[0041] Figure 11 It is a schematic connection structure diagram of a vibrating member provided by an embodiment of the present disclosure.

[0042] Description of reference numerals

[0043] 1. Head; 11. Orbit; 2. Neck; 21. First turntable; 211. First receiving groove; 22. First robotic arm; 221. Second receiving groove; 23. Second robotic arm; 24. Second turntable; 25. Driving member; 3. Waist; 31. Support structure; 311. Fixed part; 3111. Base; 312. Moving part; 3121. Mounting seat; 3122. Mounting groove; 32. Elastic belly; 321. Projection area; 33. Pneumatic regulating member; 331. First ventilation pipeline; 3311. First branch pipeline; 332. Second ventilation pipeline; 3321. Second branch pipeline; 4. Blinking mechanism; 41. Back plate; 42. Eyelid; 421. Curtain sheet; 4211. Perforation; 43. Pulley; 44. Pull wire; 441. Knot; 45. Retracting and releasing member; 5. Vibrating member; 6. Projection device; 7. Annular light belt; 8. Camera. Detailed implementation manners

[0044] To make the objectives, technical solutions, and advantages of the present disclosure clearer, the following will further describe the embodiments of the present disclosure in detail with reference to the accompanying drawings.

[0045] This embodiment relates to a companion robot, as Figure 1 shown in the schematic structural diagram of the companion robot, Figure 2 shown in the schematic structural diagram of the head 1, Figure 3 shown in the schematic structural diagram of the blinking mechanism 4, Figure 4The following is a schematic structural diagram of the first state of the blinking mechanism 4, Figure 5 The following is a schematic structural diagram of the second state of the blinking mechanism 4, Figure 6 The following is a schematic structural diagram of the third state of the blinking mechanism 4, Figure 7 The following is a schematic structural diagram of the fourth state of the blinking mechanism 4, Figure 8 The following is a schematic exploded view of the companion robot, Figure 9 The following is a schematic structural diagram of the companion robot with the elastic belly 42 removed, Figure 10 The following is a schematic structural diagram of the air pressure regulating member 33, Figure 11 The following is a schematic connection diagram of the vibrating member 5.

[0046] Refer to Figure 1 As shown, the companion robot includes a head 1 and two blinking mechanisms 4. Among them, refer to Figure 2 As shown, the head 1 has two eye sockets 11, and the two eye sockets 11 are symmetrically located on the same side of the head 1.

[0047] Continue to refer to Figure 2 As shown, the blinking mechanisms 4 correspond to the eye sockets 11 one by one. The blinking mechanism 4 includes a back plate 41 and two eyelids 42. Among them, the back plate 41 is installed in the corresponding eye socket 11, and the front surface of the back plate 41 faces the outside of the eye socket 11. The two eyelids 42 are movably installed relative to each other in the corresponding eye socket 11, and the two eyelids 42 are both located on the front surface of the corresponding back plate 41.

[0048] As described above, the head 1 has two eye sockets 11 located on the same side, and the blinking mechanism 4 installed in the eye socket 11 can simulate the blinking action of a human through the relative movement of the two eyelids 42, so that it can achieve more complex emotional expressions by simulating the eye movements that a person may make in various emotions, thereby meeting the diverse needs of users for emotional companionship.

[0049] For example, when the companion robot is confused, the distance between the two eyelids 42 of the two blinking mechanisms 4 can be relatively small, simulating the expression of a human squinting when confused. When the companion robot is happy, the distance between the two eyelids 42 of the two blinking mechanisms 4 can be relatively large, simulating the expression of a human opening their eyes wide when happy. It is also possible to make the distance between the two eyelids 42 of one blinking mechanism 4 relatively close, while the distance between the two eyelids 42 of the other blinking mechanism 4 is relatively far, imitating a human's playful expression.

[0050] In one example, the two eyelids 42 of each blinking mechanism 4 are distributed vertically. For example Figure 4 and Figure 5As shown, the two eyelids 42 distributed vertically can move up and down, so the anthropomorphic effect can be better, and thus it is beneficial to make the emotional information expressed by the companion robot easier to be understood by people.

[0051] In one example, referring to Figure 3 As shown, the blinking mechanism 4 further includes a pulley 43 and two driving components. Among them, the pulley 43 is installed inside the corresponding head 1, as Figure 3 shown, on the upper side of the corresponding two eyelids 42. The driving components correspond to the eyelids 42 one by one. The driving component includes two guy wires 44 and two winding and unwinding members 45. The guy wires 44 correspond to the winding and unwinding members 45 one by one. The first ends of the two guy wires 44 are respectively connected to the two ends of the corresponding eyelid 42. The second end of the guy wire 44 is wound around the pulley 43 and connected to the corresponding winding and unwinding member 45. The winding and unwinding member 45 is installed inside the head 1 for winding and unwinding the corresponding guy wire 44.

[0052] For example, the inside of the head 1 can be a first hollow structure or the inside of the head 1 can have a cavity for installing the pulley 43 and the driving components. Taking the inside of the head 1 as the first hollow structure as an example, the eye socket 11 can be a through hole connecting the first hollow structure and the outside. Among them, the outside of the eye socket 11 is the outside, and the inside of the eye socket 11 is the first hollow structure.

[0053] As Figure 3 shown, since the pulley 43 is on the upper side of the corresponding two eyelids 42, the second end of the guy wire 44 can be wound around the upper side of the pulley 43 and then connected to the winding and unwinding member 45. And, in order to realize the winding and unwinding of the corresponding guy wire 44, the winding and unwinding member 45 can be a reel driven by a motor, and the second end of the guy wire 44 can be fixedly connected to the reel.

[0054] Among them, when the motor rotates forward, it can drive the reel to rotate forward, so that the guy wire 44 can be wound on the reel, thereby pulling the corresponding end of the eyelid 42 to rise. When the motor rotates in reverse, it can drive the reel to rotate in reverse, so that the guy wire 44 can be released from the reel, and the corresponding end of the eyelid 42 can be lowered by gravity. Thus, the up and down movement of the corresponding eyelid 42 is realized. And, since the two ends of the eyelid 42 are respectively connected to a guy wire 44, when the corresponding two winding and unwinding members 45 perform the winding and unwinding actions synchronously, the lifting and lowering of the eyelid 42 can be realized, and when the corresponding one winding and unwinding member 45 performs the winding and unwinding action alone or the winding and unwinding speeds of the corresponding two winding and unwinding members 45 are different, the inclination angle of the eyelid 42 can be changed, which is beneficial to expressing more emotional information.

[0055] For example Figure 6As shown, it can be that the distance between the two eyelids 42 in the same eye socket 11 on the side where the two blinking mechanisms 4 are close to each other is greater than the distance between the two eyelids 42 in the same eye socket 11 on the side where the two blinking mechanisms 4 are far from each other, so that expressions such as confusion, dizziness or embarrassment can be expressed.

[0056] For another example Figure 7 As shown, it can also be that the distance between the two eyelids 42 in the same eye socket 11 on the side where the two blinking mechanisms 4 are close to each other is less than the distance between the two eyelids 42 in the same eye socket 11 on the side where the two blinking mechanisms 4 are far from each other, so that expressions such as pain and anger can be expressed.

[0057] Still for another example Figure 8 As shown, it can also be that the distance between the two eyelids 42 in the same eye socket 11 on the side where the two blinking mechanisms 4 are close to each other is less than the distance between the two eyelids 42 in the same eye socket 11 on the side where the two blinking mechanisms 4 are far from each other, and the lower eyelids 42 in the two eye sockets 11 are horizontal, so that expressions such as seriousness or anger can be expressed.

[0058] In one example, referring to Figure 3 As shown, the eyelid 42 includes a plurality of curtain sheets 421, and the plurality of curtain sheets 421 are distributed in sequence from top to bottom. For example, in Figure 3 , each eyelid 42 may include four curtain sheets 421, but each eyelid 42 may also include three curtain sheets 421, five curtain sheets 421 or six curtain sheets 421, etc. In this embodiment, the number of curtain sheets 421 included in each eyelid 42 is not limited. Among them, in Figure 3 , the shape of the curtain sheet 421 may be rectangular, but the shape of the curtain sheet 421 may also be a rounded rectangle, a trapezoid, etc.

[0059] Continuing to refer to Figure 3 As shown, each curtain sheet 421 has two perforations 4211, and the two perforations 4211 of each curtain sheet 421 are respectively located at both ends of the corresponding curtain sheet 421 and are respectively corresponding to a pull wire 44.

[0060] And, the pull wire 44 sequentially passes through the corresponding perforations 4211 on the plurality of curtain sheets 421, and the pull wire 44 has a plurality of knots 441, and the plurality of knots 441 are distributed at intervals along the pull wire 44.

[0061] Among them, at least one knot 441 of each stay wire 44 is located on the lower side of each corresponding curtain sheet 421, and at least one knot 441 of each stay wire 44 is provided between every two adjacent curtain sheets 421. The diameter of the knot 441 is greater than the diameter of the perforation 4211. Thus, the curtain sheet 421 can be suspended on the stay wire 44 through the lowermost knot 441 of the stay wire 44, and the two adjacent curtain sheets 421 can be separated by the knots 441 between the two adjacent curtain sheets 421.

[0062] For example, in Figure 3 , one knot 441 of each stay wire 44 is located on the lower side of each corresponding curtain sheet 421, and at least one knot 441 of each stay wire 44 is provided between every two adjacent curtain sheets 421. However, it can also be that two knots 441 of each stay wire 44 are located on the lower side of each corresponding curtain sheet 421, and at least two knots 441 of each stay wire 44 are provided between every two adjacent curtain sheets 421. Or, it can also be that two knots 441 of each stay wire 44 are located on the lower side of each corresponding curtain sheet 421, and at least two knots 441 of one stay wire 44 are provided between every two adjacent curtain sheets 421.

[0063] Taking the lower eyelid 42 as an example, when the retractor 45 releases the stay wire 44 until each corresponding curtain sheet 421 is in the lowest position, a plurality of curtain sheets 421 can overlap with each other. Thus, the area occupied by the eyelid 42 can be reduced. When the retractor 45 winds up the stay wire 44, due to the existence of the knots 441, a plurality of curtain sheets 421 can rise one by one from top to bottom, and thus the plurality of curtain sheets 421 can be misaligned to reduce overlap, thereby increasing the area of the eyelid 42 so that the eyelid 42 is sufficient to cover the area of the lower half part within the eye socket 11.

[0064] Taking the upper eyelid 42 as an example, when the retractor 45 winds up the stay wire 44 until each corresponding curtain sheet 421 is in the highest position, a plurality of curtain sheets 421 can overlap with each other. Thus, the area occupied by the eyelid 42 can be reduced. When the retractor 45 releases the stay wire 44, due to the existence of the knots 441, a plurality of curtain sheets 421 can descend one by one from bottom to top, and the plurality of curtain sheets 421 can be misaligned to reduce overlap, thereby increasing the area of the eyelid 42 so that the eyelid 42 is sufficient to cover the area of the upper half part within the eye socket 11.

[0065] As described above, the eyelid 42 includes a plurality of curtain sheets 421, which is beneficial to reducing the space occupied by the eyelid 42 during the lifting and lowering process.

[0066] In one example, referring to Figure 1 and Figure 8As shown, the companion robot further includes a neck 2 and a waist 3. The neck 2 includes a first turntable 21, a first robotic arm 22, a second robotic arm 23, and a second turntable 24.

[0067] As Figure 8 shown, the first turntable 21 is rotatably mounted on the waist 3 about a first axis. The first end of the first robotic arm 22 is rotatably connected to the first turntable 21 about a second axis. The first end of the second robotic arm 23 is rotatably connected to the second end of the first robotic arm 22 about a third axis. The second turntable 24 is rotatably connected to the second end of the second robotic arm 23 about a fourth axis. The head 1 is rotatably mounted on the second turntable 24 about a fifth axis.

[0068] Wherein, the first axis is perpendicular to the second axis, the second axis and the third axis are both parallel to the fourth axis, and the fifth axis is perpendicular to the fourth axis.

[0069] For example Figure 8 shown, the first turntable 21 can be mounted on the top of the waist 3. The first axis can extend in the vertical direction. The second axis, the third axis, and the fourth axis can all extend in the horizontal direction. And since the two eye sockets 11 of the companion robot are located on the same side of the head 1, the two eye sockets 11 can both face a direction perpendicular to the fifth direction.

[0070] Thus, when the first turntable 21 rotates about the first axis, and / or when the second turntable 24 rotates about the fifth axis, the head 1 can perform a head-turning action.

[0071] When the orientations of the two eye sockets 11 are perpendicular to the second axis, when at least one of the actions of the first robotic arm 22 rotating about the second axis, the second robotic arm 23 rotating about the third axis, and the second turntable 24 rotating about the fourth axis is performed, the head 1 can perform actions such as nodding or raising the head.

[0072] When the orientations of the two eye sockets 11 are parallel to the second axis, when at least one of the actions of the first robotic arm 22 rotating about the second axis, the second robotic arm 23 rotating about the third axis, or the second turntable 24 rotating about the fourth axis is performed, the head 1 can perform actions such as shaking the head or tilting the head.

[0073] When the first robotic arm 22 rotates about the second axis, and / or when the second robotic arm 23 rotates about the third axis, actions such as stretching or shrinking the neck can be achieved. For example, stretching the neck can be used to express emotions related to anger, curiosity, etc., and shrinking the neck can be used to express emotions related to fear, dread, etc.

[0074] As described above, the companion robot can perform more anthropomorphic actions, making the emotional information expressed by the companion robot easier to understand by people, and thus facilitating the satisfaction of users' diverse needs for emotional companionship.

[0075] In one example, in order to enable the first turntable 21 to rotate around the first axis, the first robotic arm 22 to rotate around the second axis, the second robotic arm 23 to rotate around the third axis, the second turntable 24 to rotate around the fourth axis, and the head 1 to rotate around the fifth axis, the companion robot also includes five driving members 25, and the five driving members 25 are used to respectively drive the first turntable 21 to rotate around the first axis, the first robotic arm 22 to rotate around the second axis, the second robotic arm 23 to rotate around the third axis, the second turntable 24 to rotate around the fourth axis, and the head 1 to rotate around the fifth axis.

[0076] For example, the driving member 25 can be a motor or a steering gear. For example, if the motor drives the first turntable 21 to rotate about the first axis, the motor can be fixedly mounted on the waist portion 3, with the output shaft of the motor extending along the first axis and fixedly connected to the first turntable 21. When the motor is started, the first turntable 21 can rotate about the first axis.

[0077] Taking the example of a motor driving the first robotic arm 22 to rotate about the second axis, the motor can be fixedly mounted on the first turntable 21, and the output shaft of the motor extends along the second axis and is fixedly connected to the first end of the first robotic arm 22. When the motor is started, the first robotic arm 22 can rotate about the second axis.

[0078] Taking the example of driving the head 1 to rotate about the fifth axis by a motor, the motor can be fixedly mounted on the head 1, and the output shaft of the motor extends along the fifth axis and is fixedly connected to the second turntable 24. When the motor is started, the head 1 can rotate about the fifth axis.

[0079] In one example, reference Figure 8 As shown, the first rotating disk 21 has a first receiving groove 211, which is located on the side of the first rotating disk 21 away from the waist 3. The first end of the first mechanical arm 22 is rotatably connected to the first receiving groove 211, and the first receiving groove 211 is used to receive the first mechanical arm 22. Figure 8 As shown, the first receiving slot 211 can be located on the upper surface of the first turntable 21. Thus, when the companion robot performs a neck-retracting action, the first robotic arm 22 can be accommodated in the first receiving slot 211, thereby shortening the neck 2 and making it easier to express relevant emotions, such as grievance and fear. This also improves the integrity of the companion robot and helps avoid excessive spacing between the head 1 and waist 3 of the companion robot.

[0080] In one example, reference Figure 8 As shown, the top of the waist portion 3 may have a mounting groove 3122, and the first turntable 21 may be rotatably mounted in the mounting groove 3122. Figure 8As shown, the top of the waist 3 may have a mounting base 3121, and a mounting groove 3122 may be formed on the upper surface of the mounting base 3121. The first turntable 21 may be rotatably mounted in the mounting groove 3122. Thus, the length of the neck 2 can be shorter, making it easier to express relevant emotions such as grievance and fear. At the same time, the integrity of the companion robot can be improved, which is beneficial to avoiding an excessive gap between the head 1 and the waist 3 of the companion robot.

[0081] In one example, referring to Figure 8 As shown, the first robotic arm 22 or the second robotic arm 23 may have a second receiving groove 221. When the first robotic arm 22 has the second receiving groove 221, the second receiving groove 221 is used to receive the second robotic arm 23. When the companion robot makes a neck - shrinking movement, the second robotic arm 23 can be received into the second receiving groove 221. When the second robotic arm 23 has the second receiving groove 221, the second receiving groove 221 is used to receive the first robotic arm 22. When the companion robot makes a neck - shrinking movement, the first robotic arm 22 can be received into the second receiving groove 221. Thus, the length of the neck 2 can be shorter, making it easier to express relevant emotions such as grievance and fear. At the same time, the integrity of the companion robot can be improved, which is beneficial to avoiding an excessive gap between the head 1 and the waist 3 of the companion robot.

[0082] In one example, referring to Figure 8 As shown, when the first robotic arm 22 has the second receiving groove 221, the second robotic arm 23 can be a second hollow structure. When the second robotic arm 23 has the second receiving groove 221, the first robotic arm 22 can be a second hollow structure. Among them, the second hollow structure can be used for fixedly installing two driving members 25.

[0083] For example Figure 8 As shown, taking the second robotic arm 23 being a second hollow structure as an example. Both driving members 25 located in the second hollow structure are servos. The output shaft of one of the two servos can extend along the third axis and be connected to the first robotic arm 22, so as to drive the second robotic arm 23 to rotate around the third axis. The output shaft of the other servo can extend along the fourth axis and be connected to the second turntable 24, so as to drive the second turntable 24 to rotate around the fourth axis.

[0084] As described above, the two driving members 25 can be hidden in the second hollow structure, which can reduce the space occupied by the driving members 25 and is beneficial to improving the aesthetics of the companion robot.

[0085] In one example, referring to Figure 1 and Figure 9 As shown, the companion robot further includes a waist 3, and the waist 3 includes a support structure 31 and an elastic belly 32.

[0086] Among them, referring toFigure 1 and with reference to Figure 9 As shown, the elastic belly 32 surrounds the support structure 31, and the top and bottom of the elastic belly 32 and the support structure 31 enclose to form a sealed cavity. For example, the top and bottom of the elastic belly 32 can be fixedly connected to the top and bottom of the support structure 31 by gluing.

[0087] Continuing to refer to Figure 1 and and Figure 9 As shown, the head 1 is connected to the top of the support structure 31 and is located outside the sealed cavity. For example Figure 9 As shown, the mounting base 3121 can be located at the top of the support structure 31, and the top of the elastic belly 32 can be connected to the periphery of the mounting base 3121.

[0088] As described above, the support structure 31 can serve as a support, while the elastic belly 32 is made of a soft and elastic material, which can simulate a warm and comfortable touch, so as to be able to adapt to the tactile needs of users and is suitable for limb contacts such as hugging or relying on.

[0089] In one example, with reference to Figure 10 As shown, the waist 3 further includes a pneumatic regulator 33. The pneumatic regulator 33 is installed on the support structure 31 and is located inside the sealed cavity. The pneumatic regulator 33 is used to adjust the pressure inside the sealed cavity.

[0090] Thus, since the pneumatic regulator 33 can adjust the air pressure inside the sealed cavity, on the one hand, the air pressure can be adjusted according to different needs to adapt to the tactile needs of different users, and on the other hand, the size of the volume of the elastic belly 32 can be changed, which is beneficial to expressing more emotional information. For example, the volume of the elastic belly 32 can be made to be large and small suddenly to simulate the emotion of a human being being angry.

[0091] Among them, the pneumatic regulator 33 can be a compressor, the support structure 31 can be a third hollow structure, and the compressor can be fixedly installed in the third hollow structure. The compressor can have a first air pipe 331 and a second air pipe 332. The first air pipe 331 can be communicated with the outside through a plurality of first branch pipes 3311, and the second air pipe 332 can be communicated with the inside of the sealed cavity through a plurality of second branch pipes 3321.

[0092] And, the compressor can inhale air from the sealed cavity through the second air pipe 332 and exhaust air to the outside through the first air pipe 331 to reduce the air pressure in the sealed cavity. At the same time, the compressor can inhale air from the outside through the first air pipe 331 and exhaust air to the sealed cavity through the second air pipe 332 to increase the air pressure in the sealed cavity.

[0093] In one example, with reference to Figure 9 As shown and in combination withFigure 1 As shown, the support structure 31 includes a fixed part 311 and a moving part 312. The moving part 312 is movably connected to the fixed part 311 in the height direction. For example, the fixed part 311 and the moving part 312 can be connected through structures such as a lead screw slider mechanism or a pneumatic telescopic cylinder to realize the movement of the moving part 312 on the fixed part 311.

[0094] Among them, the elastic belly 32 surrounds the fixed part 311 and the moving part 312. The top of the elastic belly 32 is connected to the moving part 312, and the bottom of the elastic belly 32 is connected to the fixed part 311, thus forming a sealed cavity.

[0095] For example, the top of the moving part 312 can have a mounting seat 3121, and the top of the elastic belly 32 can be connected to the periphery of the mounting seat 3121. The mounting seat 3121 and the moving part 312 can be integrally formed or independent structural members, and are fixedly connected together by bolts, welding, etc. The bottom of the fixed part 311 can have a base 3111, and the top of the elastic belly 32 can be connected to the periphery of the base 3111. Among them, the base 3111 and the fixed part 311 can be integrally formed or independent structural members, and are fixedly connected together by bolts, welding, etc.

[0096] As described above, the height of the waist 3 can be changed by the movement of the moving part 312, and then the height of the companion robot can be changed, so that more emotional information can be expressed. For example, making the height of the waist 3 low and high, and at the same time matching the happy expression of the blinking mechanism 4, can express emotions related to excitement, happiness, etc. Or, the height of the waist 3 can be made low and high, and at the same time matching the angry expression of the blinking mechanism 4, which can express a stronger angry emotion.

[0097] Moreover, while changing the height of the waist 3, the volume of the elastic belly 32 will also change accordingly, which is beneficial to convey stronger emotions.

[0098] In one example, the companion robot can further include a projection device 6. And, as shown in Figure 1 As shown, the elastic belly 32 can have a projection area 321. The projection device 6 is installed on the support structure 31 and is used for projecting towards the projection area 321. For example, the projection device 6 can be a projector. As shown in Figure 9 As shown, the projector can be fixedly installed on the surface of the fixed part 311 and project towards the projection area 321.

[0099] Thus, a person can see the image or animation projected by the projection device 6 from the projection area 321. In this way, the emotional state of the companion robot can be displayed in real time through the image or animation. This visual feedback combined with the robot's body movements can provide users with an intuitive and rich emotional communication experience.

[0100] In one example, the elastic belly 32 can be an elastic plastic film.

[0101] In one example, the companion robot further includes a vibration member 5. The vibration member 5 is installed on the waist 3 and is used to vibrate the waist 3. Refer to Figure 11 and in combination with Figure 9 As shown, the vibration member 5 can include a plurality of vibrators. The plurality of vibrators can be all installed on the base 3111 and are distributed at intervals around the support structure 31. Thus, the companion robot can be vibrated through the vibration member 5. Furthermore, through some gentle vibration effects, a sense of warmth and comfort can be transmitted to provide emotional comfort for users.

[0102] In one example, the companion robot further includes a sound - emitting device. The sound - emitting device can be installed on the head 1 or the waist 3. For example, the sound - emitting device can be a speaker. The speaker can be fixedly installed in the first hollow structure or can be installed in the third hollow structure fixedly installed. Thus, it can make sounds in coordination with various actions of the companion robot, which is beneficial to improving the effect of emotional expression. For example, the companion robot can produce slight vibrations, the speaker can emit the purring sound of a cat, the blinking mechanism 4 can be in a closed - eye state, and the volume of the elastic belly 32 can be enlarged and reduced, thus simulating the actions of a cat when sleeping to meet the more complex emotional needs of users.

[0103] In one example, the back panel 41 can be a color - changeable light - emitting back panel. Thus, by emitting lights of different colors through the light - emitting back panel, it can cooperate with the emotional expression of the companion robot, which is beneficial to enriching the emotions of the companion robot.

[0104] In one example, the companion robot further includes an annular light - emitting band 7. The annular light - emitting band 7 can be installed at the bottom of the support structure 31 and surround the support structure 31, and the annular light - emitting band 7 is located inside the sealed cavity. For example Figure 9 As shown, the annular light - emitting band 7 can be fixedly installed on the upper surface of the base 3111. Thus, through the annular light - emitting band 7, the lower area of the waist 3 can be lit up, and in cooperation with the sound - emitting device, more interactive feedback can be provided.

[0105] In one example, the companion robot can further include a moving device and a camera 8. Refer to Figure 2As shown, the camera 8 can be installed at the position of the mouth of the head 1, and the mobile device can be installed at the bottom of the waist 3, outside the sealed cavity. The mobile device and the camera 8 can be signal-connected to the controller. The camera 8 can transmit external image information to the controller, and the controller can control the operation of the mobile device according to the obtained image information and the user's instructions, so as to perform autonomous navigation according to requirements, or perform autonomous following according to the user's position, which is beneficial to increasing the interactivity with the user and further improving the companionship effect.

[0106] In the embodiment of the present disclosure, the head 1 has two eye sockets 11 on the same side, and the blinking mechanism 4 installed in the eye sockets 11 can simulate the action of human blinking through the relative movement of the two eyelids 42, so as to be able to achieve more complex emotional expressions by simulating the eye movements that may occur when people are in various emotions, and further meet the diverse needs of users for emotional companionship.

[0107] It should be noted that the terms "first", "second", etc. in the description and claims of the present disclosure are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / ", generally represents an "or" relationship between the front and rear related objects.

[0108] The above are only the preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. An accompanying robot, characterized in that, The companion robot includes a head (1) and two blinking mechanisms (4); The head (1) has two eye sockets (11), and the two eye sockets (11) are symmetrically located on the same side of the head (1); The blinking mechanisms (4) correspond to the eye sockets (11) one by one, and each blinking mechanism (4) includes a back plate (41) and two eyelids (42); The back plate (41) is installed in the corresponding eye socket (11), and the front face of the back plate (41) faces the outside of the eye socket (11); The two eyelids (42) are movably installed relative to each other in the corresponding eye socket (11), and both of the two eyelids (42) are located on the front face of the corresponding back plate (41).

2. The companion robot according to claim 1, wherein The two eyelids (42) of each blinking mechanism (4) are distributed vertically.

3. The companion robot according to claim 2, characterized in that The blinking mechanism (4) further includes a pulley (43) and two driving components; The pulley (43) is installed inside the corresponding head (1), and is located above the corresponding two eyelids (42); The driving components correspond to the eyelids (42) one by one, and each driving component includes two wire ropes (44) and two winding and unwinding members (45); The wire ropes (44) correspond to the winding and unwinding members (45) one by one. The first ends of the two wire ropes (44) are respectively connected to the two ends of the corresponding eyelid (42), the second ends of the wire ropes (44) are wound around the pulley (43) and connected to the corresponding winding and unwinding member (45), and the winding and unwinding member (45) is installed inside the head (1) for winding and unwinding the corresponding wire rope (44).

4. The companion robot according to claim 3, characterized in that, The eyelid (42) includes a plurality of curtain sheets (421), and the plurality of curtain sheets (421) are distributed in sequence from top to bottom; The curtain sheet (421) has two perforations (4211), and the two perforations (4211) of each curtain sheet (421) are respectively located at both ends of the corresponding curtain sheet (421) and respectively correspond to one wire rope (44); The wire rope (44) sequentially passes through the corresponding perforations (4211) on the plurality of curtain sheets (421), the wire rope (44) has a plurality of knots (441), and the plurality of knots (441) are distributed at intervals along the wire rope (44); At least one knot (441) of each wire rope (44) is located below the corresponding curtain sheet (421), and at least one knot (441) of each wire rope (44) is provided between every two adjacent curtain sheets (421), and the diameter of the knot (441) is larger than the diameter of the perforation (4211).

5. The companion robot according to claim 1, characterized in that, The companion robot further includes a neck (2) and a waist (3), and the neck (2) includes a first turntable (21), a first robotic arm (22), a second robotic arm (23) and a second turntable (24); The first turntable (21) is rotatably mounted on the waist (3) around a first axis, the first end of the first mechanical arm (22) is rotatably connected to the first turntable (21) around a second axis, the first end of the second mechanical arm (23) is rotatably connected to the second end of the first mechanical arm (22) around a third axis, the second turntable (24) is rotatably connected to the second end of the second mechanical arm (23) around a fourth axis, and the head (1) is rotatably mounted on the second turntable (24) around a fifth axis; The first axis is perpendicular to the second axis, the second axis and the third axis are parallel to the fourth axis, and the fifth axis is perpendicular to the fourth axis.

6. The companion robot according to claim 5, wherein, The first turntable (21) has a first accommodating groove (211), the first accommodating groove (211) is located on a side of the first turntable (21) away from the waist (3), the first end of the first mechanical arm (22) is rotatably connected to the first accommodating groove (211), and the first accommodating groove (211) is used to accommodate the first mechanical arm (22).

7. The companion robot according to claim 1, wherein The companion robot further comprises a waist (3), wherein the waist (3) comprises a supporting structure (31) and an elastic belly (32); The elastic belly (32) surrounds the support structure (31), and the top and bottom of the elastic belly (32) are enclosed with the support structure (31) to form a closed cavity; The head (1) is connected to the top of the support structure (31) and is located outside the closed cavity.

8. The companion robot according to claim 7, characterized in that, The waist portion (3) further comprises an air pressure regulating member (33), which is mounted on the supporting structure (31) and is located inside the sealed cavity. The air pressure regulating member (33) is used to regulate the pressure inside the sealed cavity.

9. The companion robot according to claim 7, characterized in that, The supporting structure (31) comprises a fixed portion (311) and a movable portion (312), wherein the movable portion (312) is movably connected to the fixed portion (311) along a height direction; The elastic belly (32) surrounds the fixed portion (311) and the movable portion (312), and the top of the elastic belly (32) is connected to the movable portion (312), and the bottom of the elastic belly (32) is connected to the fixed portion (311), thereby forming the closed cavity.

10. The companion robot according to claim 5 or 7, characterized in that, The companion robot further comprises a vibrating member (5), which is mounted on the waist (3) and is used to vibrate the waist (3).

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