A companion robot

Abstract

The invention discloses a companion robot, which relates to the field of robot technology and comprises a motion mechanism, which comprises a motor bracket, wherein both ends of the motor bracket are respectively provided with traveling motors, and the output shaft of the traveling motor protrudes from the side of the motor bracket; a traveling wheel is fixedly arranged on the output shaft of the traveling motor; a body is fixedly arranged on the motor bracket, and arms are rotatably arranged on both sides of the body; a head is arranged on the top of the body; a first medicine box is arranged in the middle of the body; a second medicine box slide is opened on the upper part of the body, and a rotating medicine dispensing device is arranged in the body, and the rotating medicine dispensing device corresponds to the second medicine box slide, and the medicine in the rotating medicine dispensing device can be extended through the second medicine box slide; a display screen is fixedly arranged in front of the head, a camera and a sound sensor are fixedly arranged above the display screen, and loudspeakers are fixedly arranged on both sides of the head; the medicine can be provided to the elderly in a specific amount of medicine in a timely and quantitative manner to prevent the elderly from missing or taking too much medicine.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a companion robot. Background Art

[0002] With the development of my country's economy, the aging problem has become increasingly prominent. With the deepening of the aging of society, there are more and more empty-nest elderly people, which has become a social problem that cannot be ignored. When children leave home for work, study, marriage and other reasons, the middle-aged and elderly couples who are left alone in the "empty nest" will suffer from psychological disorders. By 2050, the number of elderly people without children at the end of their lives in my country will reach about 79 million, and the number of elderly people living alone and in empty nests will account for more than 54%. The elderly care problem of empty-nest elderly people has once again attracted attention. A series of technological products designed for the elderly, such as TV boxes, have emerged in society to improve the quality of life of the elderly in their later years and solve the loneliness of empty-nest elderly people to the greatest extent. In addition, there are also some robots that can provide simple massage, assist in turning over, and simple chat for the elderly. Due to the aging of their bodies, the elderly often need to take medicine. Due to the decline in memory, they are also prone to missing medicine or taking more medicine. At present, no service robots for the elderly to take medicine have been found. Summary of the invention

[0003] In order to solve the above problems that the elderly may miss or take more medicine due to memory loss, the present invention adopts the following technical solutions:

[0004] A companion robot includes a motion mechanism, a body, an arm and a head, wherein the motion mechanism includes a motor bracket, and the motor bracket is a hollow rectangular structure, with traveling motors fixedly arranged at both ends, and the output shaft of the traveling motor protrudes from the side of the motor bracket; traveling wheels are fixedly arranged on the output shaft of the traveling motor; adopting such a structure is relatively simple and can reduce weight, and more importantly, it is very convenient to move, and moving forward, backward or turning can be achieved by coordinating the speed and steering of the two traveling motors, and even turning in place will not take up much space.

[0005] The body is fixedly arranged on the motor bracket, and the arms are rotatably arranged on both sides of the body; the head is arranged on the top of the body; the body, arms and head adopt a structural design that simulates the shape of the human body. The purpose of such design is to look more friendly, psychologically easy to accept and close.

[0006] The body is a hollow structure, and a first medicine box slide is provided in the middle of the body. A first medicine box is slidably arranged in the first medicine box slide. The medicine box is mainly used for placing emergency medicines and can be opened manually for easy operation.

[0007] A second medicine box slide is provided on the upper part of the body, a rotating medicine dispensing device is provided inside the body, the rotating medicine dispensing device corresponds to the second medicine box slide, and the medicine in the rotating medicine dispensing device can be extended through the second medicine box slide;

[0008] A display screen is fixedly arranged in front of the head, a camera and a sound sensor are fixedly arranged above the display screen, and speakers are fixedly arranged on both sides of the head;

[0009] The body is also provided with a battery and a control circuit board, and the control circuit board is provided with a microcontroller and a network communication module, and the control circuit board is electrically connected to the travel motor, camera, sound sensor, speaker, and the actuator and sensor of the rotating medicine dispensing device. The network communication module enables the robot to communicate remotely, such as communicating with the robot through terminal software such as WeChat or QQ, so as to facilitate the interaction between the elderly and their children. In addition, the robot also has an artificial intelligence algorithm or an artificial intelligence chip, and has the ability of autonomous learning.

[0010] Preferably, a compression spring is fixedly provided on the inner wall of the first medicine box slide, and a locking mechanism is provided on the inner side wall of the first medicine box slide. When the first medicine box moves inward, the compression spring is compressed and locked by the locking mechanism.

[0011] Preferably, the locking mechanism is an L-shaped structure, which is horizontally arranged on the bottom inner wall of the first medicine box slide. A rotating shaft is passed through the middle of the locking mechanism of the L-shaped structure, and the locking mechanism can rotate back and forth along the rotating shaft to form a seesaw structure. The locking mechanism of the L-shaped structure lies flat on the bottom inner wall of the first medicine box slide. When the first medicine box moves inward, it is hooked by the front end of the L-shaped structure while compressing the compression spring, and will not be ejected by the compression spring. When the first medicine box needs to be taken out, press the front end of the L-shaped structure, and under the action of the compression spring, the first medicine box automatically pops out from the first medicine box slide. In this way, the inconvenience of taking medicine can be saved, and the medicine box can be prevented from being stuck inside the robot. This pop-up structure is not limited to the above-mentioned form, and can refer to the existing structure that can be ejected by pressing, such as setting a press-type bump bead between the first medicine box and the first medicine box slide to achieve locking, etc.

[0012] Preferably, the display screen is a touch screen, on which eyes and a nose are displayed. To further anthropomorphize, the eyes can be drawn large and round to show a cute and adorable appearance.

[0013] Preferably, a tail frame is fixedly provided on both sides of the rear of the motor bracket, and a balance wheel is rotatably provided at the end of the tail frame. After the balance wheel is provided, the robot can be well balanced, the cost of using a balance sensor or a balance algorithm is reduced, and the stability of the robot can be ensured from the hardware.

[0014] Preferably, the rotary medicine dispensing device comprises a base, on which a support column is fixedly arranged;

[0015] The support column is provided with a rack hole and a pusher motor mounting hole, the rack hole and the pusher motor mounting hole are vertically arranged, and the two are partially connected at the center;

[0016] A rack is slidably arranged in the rack hole;

[0017] A pusher motor is fixedly arranged in the pusher motor mounting hole, a pusher gear is sleeved and fixed on the output shaft of the pusher motor, and the pusher gear is meshed with the rack;

[0018] A turntable is rotatably arranged on the support column, and the turntable includes a turntable body. The turntable body is an annular structure, and 7 rotating medicine box slides are evenly opened in the radial direction. A rotating medicine box is slidably arranged in the rotating medicine box slides; the rotating medicine box slides correspond to the racks; 7 rotating medicine box slides and 7 rotating medicine boxes are arranged here, corresponding to the amount of medicine for one week. One rotating medicine box is pushed out every day for the elderly to take. After one week, the children come back to visit the elderly and put the medicines into the rotating medicine boxes respectively. In this way, the elderly can be guaranteed to take the medicines on time.

[0019] A gear ring is fixedly arranged at the bottom of the turntable body, a turntable motor is fixedly arranged on the base, a turntable driving gear is fixedly sleeved on the output shaft of the turntable motor, and the turntable driving gear is meshed with the gear ring;

[0020] A position detection sensor is also fixedly arranged on the base to detect the rotation position of the turntable; the position detection sensor can be implemented by a rotary encoder or a capacitive sensor, etc. If a capacitive sensor is used, a detected mark should be set under each corresponding rotating medicine box slide, such as an iron sheet or an induction sheet. A rack detection sensor is arranged in the rack hole to detect the moving position of the rack. The rack detection sensor can be a Hall sensor or a capacitive sensor, which can detect whether the rack is moved in place.

[0021] Preferably, the support column is a stepped cylindrical structure.

[0022] Preferably, the rotating medicine box slideway is a cylindrical structure, and guide slide grooves are symmetrically opened on both sides thereof;

[0023] The rotating medicine box is a hollow cylindrical structure with a medicine taking port on the top. The entire space inside the rotating medicine box is divided into three small spaces by partitions. Such a structure can hold three doses of medicine a day, with only a fixed amount of medicine exposed each time to prevent the elderly from taking too much.

[0024] Sliding wings corresponding to the guide slots are respectively arranged on both sides of the rotating medicine box.

[0025] Preferably, the length of the guide slot is less than the length of the rotating medicine box slideway. Such a structure can prevent the rotating medicine box from moving inwards beyond the travel range and affecting the movement of the entire turntable. When working, the rotating medicine box can only move within a limited position and cannot interfere with the operation of the turntable.

[0026] Preferably, the rotating medicine box is made of magnetic conductive material, or a magnetic material is pasted on the back of the rotating medicine box;

[0027] A magnet is fixedly arranged at one end of the rack. Such a structure enables the magnet to be in close contact with the rotating medicine box, and when the rack is retracted into the support column, the magnet exerts a pulling force on the rotating medicine box to move inward, so that the rotating medicine box moves inward and retracts, which can save a lot of mechanical structures, is simple and convenient, low cost and easy to maintain.

[0028] The present invention arranges the body, arms and head in a motion mechanism that can move with the person, and arranges a rotating medicine dispensing device inside the body. The rotating medicine dispensing device can provide a specific amount of medicine to the elderly in a timely and quantitative manner, thereby preventing the elderly from missing or taking too much medicine. Since the robot has an anthropomorphic design and a cute structure, it is very popular. The invention has a reasonable design, a clever structure and is easy to carry. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a front view of an embodiment provided by the present invention;

[0030] Figure 2 It is a left view of an embodiment provided by the present invention;

[0031] Figure 3 is a top view of an embodiment provided by the present invention;

[0032] Figure 4 It is an exploded schematic diagram of an embodiment provided by the present invention;

[0033] Figure 5 It is a schematic diagram of the overall structure of the rotary medicine dispensing device provided in the implementation of the present invention;

[0034] Figure 6 It is a schematic diagram of an explosion of a rotary medicine dispensing device in an implementation of the present invention;

[0035] Figure 7 It is a partial cross-sectional view of the rotary medicine dispensing device provided in the implementation of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the implementation mode of the present application clearer, the following will be combined with the implementation mode of the present application. Figures 1 to 7 , the technical solutions in the embodiments of the present application are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present application.

[0037] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0041] like Figures 1 to 7 As shown, a companion robot includes a motion mechanism 1, a body 2, an arm 3 and a head 4. The motion mechanism 1 includes a motor bracket 10, which is a hollow rectangular parallelepiped structure and can be made of aluminum profiles. Traveling motors are fixedly arranged at both ends of the motor bracket 10. The traveling motor can be a DC reduction motor or a stepping motor, etc. In order to save costs, the DC reduction motor is preferably used in this embodiment. The output shaft of the traveling motor protrudes from the side of the motor bracket 10. A traveling wheel 11 is fixedly arranged on the output shaft of the traveling motor. With such a structure, it is relatively simple and can reduce weight. More importantly, it is very convenient to move. Moving forward, backward or turning can be achieved by the rotation speed and steering coordination of the two traveling motors, and even turning in place will not take up much space. In addition, a tail frame 12 is fixedly arranged on both sides of the rear of the motor bracket 10, and a balance wheel 5 is rotatably arranged at the end of the tail frame 12. After the balance wheel 5 is set, the balance of the robot can be well achieved, the cost of using a balance sensor or a balance algorithm is reduced, and the stability of the robot can also be guaranteed from the hardware.

[0042] The motor bracket 10 is fixedly provided with a body 2, and arms 3 are rotatably provided on both sides of the body 2. A head 4 is provided on the top of the body 2. The body 2, arms 3 and head 4 are designed to simulate the shape of a human body, and the purpose of such design is to look more friendly, psychologically easy to accept and close.

[0043] The body 2 is a hollow structure and can be made of a combined shell structure. A first medicine box slide 20 is provided in the middle of the body 2, and a first medicine box 21 can be slidably arranged in the first medicine box slide 20. This medicine box is mainly used to place emergency medicines and can be opened manually for easy operation. Specifically, a compression spring is fixedly arranged on the inner wall of the first medicine box slide 20, and a locking mechanism is arranged on the inner side wall of the first medicine box slide 20. When the first medicine box 21 moves inward, the compression spring is compressed and locked by the locking mechanism. The locking mechanism is an L-shaped structure, which is horizontally arranged on the bottom inner side wall of the first medicine box slide 20. A rotating shaft is penetrated in the middle of the locking mechanism of the L-shaped structure, and the locking mechanism can rotate forward and backward along the rotating shaft to form a seesaw structure. The locking mechanism of the L-shaped structure lies flat on the bottom inner side wall of the first medicine box slide 20. When the first medicine box 21 moves inward, the compression spring is hooked by the front end of the L-shaped structure while being compressed, and will not be ejected by the compression spring. When the first medicine box 21 needs to be taken out, the front end of the L-shaped structure is pressed, and under the action of the compression spring, the first medicine box 21 automatically pops out from the first medicine box slide 20. This can save the inconvenience of taking medicine and prevent the medicine box from getting stuck inside the robot. This pop-up structure is not limited to the above-mentioned form, and can refer to the existing structure that can be popped out by pressing, such as setting a press-type bumper between the first medicine box 21 and the first medicine box slide 20 to achieve locking, etc.

[0044] The upper part of the body 2 is located at the chest, and a second medicine box slide 22 is provided, and this height is convenient for taking medicine. A rotating medicine dispensing device 23 is provided in the body 2, and the rotating medicine dispensing device 23 corresponds to the second medicine box slide 22, and the medicine in the rotating medicine dispensing device 23 can be extended through the second medicine box slide 22. More specifically, as Figures 5 to 7 As shown, the rotating medicine dispensing device 23 includes a base 230, on which a support column 231 is fixedly arranged, and the support column 231 is a stepped cylindrical structure. An arm bracket 24 is fixedly arranged on the top of the support column 231, and the arm bracket 24 includes a T-shaped frame 240, the bottom of the T-shaped frame 240 is fixedly connected to the top of the support column 231, and arm fixing plates 241 are rotatably arranged on both sides of the T-shaped frame 240, and the arm fixing plates 241 are fixedly connected to the root of the arm 3, and the entire arm can rotate 95 degrees up and down along the T-shaped frame 240.

[0045] A rack hole 2310 and a pusher motor mounting hole 2311 are provided in the middle of the support column 231. The rack hole 2310 and the pusher motor mounting hole 2311 are arranged vertically, and the two are partially connected at the center. A rack 2314 is slidably provided in the rack hole 2310. A pusher motor 2312 is fixedly provided in the pusher motor mounting hole 2311, and a pusher gear 2313 is sleeved and fixed on the output shaft of the pusher motor 2312, and the pusher gear 2313 and the rack 2314 are meshed with each other. A turntable 232 is rotatably provided on the support column 231, and the turntable 232 includes a turntable body 2320. The turntable body 2320 is an annular structure, and 7 rotating medicine box slideways 2322 are evenly provided in the radial direction, and a rotating medicine box 2324 is slidably provided in the rotating medicine box slideway 2322. The rotating medicine box slideway 2322 corresponds to the rack 2314. 7 rotating medicine box slideways 2322 and 7 rotating medicine boxes 2324 are arranged here, corresponding to the dosage of one week, and one rotating medicine box 2324 is introduced every day for the elderly to take. After one week, the children come back to visit the elderly and put the medicine into the rotating medicine box 2324 respectively, so that the elderly can take medicine on time. The bottom of the turntable body 2320 is fixedly provided with a toothed ring 2321, and the base 230 is fixedly provided with a turntable motor 233. The output shaft of the turntable motor 233 is fixedly provided with a turntable driving gear 2330, and the turntable driving gear 2330 is meshed with the toothed ring 2321. The base 230 is also fixedly provided with a position detection sensor for detecting the rotation position of the turntable 232. The position detection sensor can be implemented by a rotary encoder or a capacitive sensor, etc. If a capacitive sensor is used, a detected mark should be provided below each corresponding rotating medicine box slideway 2322, such as an iron sheet or an induction sheet. A rack detection sensor is provided in the rack hole 2310 to detect the moving position of the rack. The rack detection sensor can be a Hall sensor or a capacitive sensor, which can detect whether the rack is moved in place.

[0046] In another embodiment, the rotating medicine box slide 2322 is a cylindrical structure, and guide grooves 2323 are symmetrically provided on both sides thereof, so as to prevent the medicine from falling due to rotation. The rotating medicine box 2324 is a hollow cylindrical structure, and a medicine taking port is provided on the top thereof. The entire space in the rotating medicine box 2324 is also divided into three small spaces by a partition. Such a structure can place a dose of medicine three times a day, and only a fixed dose of medicine is exposed each time to prevent the elderly from taking too much. Sliding wings corresponding to the guide grooves 2323 are respectively provided on both sides of the rotating medicine box 2324. The length of the guide groove 2323 is less than the length of the rotating medicine box slide 2322. Such a structure can prevent the rotating medicine box 2324 from moving inwards and overtravel, affecting the movement of the entire turntable. When working, the rotating medicine box 2324 can only move within a limited position and cannot interfere with the work of the turntable. The rotating medicine box 2324 is made of a magnetic conductive material, or a magnetic material is pasted behind the rotating medicine box 2324. A magnet 2315 is fixedly provided at one end of the rack 2314. Such a structure allows the magnet 2315 to be in close contact with the rotating medicine box 2324. When the rack 2314 is retracted into the support column 231, the magnet exerts a pulling force on the rotating medicine box 2324 to move inward, thereby causing the rotating medicine box 2324 to move inward and retract. This saves a lot of mechanical structures, is simple and convenient, has low cost and is easy to maintain.

[0047] A display screen 40 is fixedly arranged in front of the head 4, a camera 42 and a sound sensor are fixedly arranged above the display screen 40, and speakers 41 are fixedly arranged on both sides of the head 4. The display screen 40 is a touch screen, and the touch screen displays eyes and a nose. For further anthropomorphism, the eyes can be drawn large and round to show a cute and adorable appearance.

[0048] The body 2 is also provided with a battery and a control circuit board, on which a microcontroller and a network communication module are provided, and the control circuit board is electrically connected to the travel motor, the camera 42, the sound sensor, the speaker 41, and the actuator and sensor of the rotating medicine dispensing device 23. The network communication module enables the robot to communicate remotely, such as communicating with the robot through terminal software such as WeChat or QQ, so as to facilitate the interaction between the elderly and their children. In addition, the robot also has an artificial intelligence algorithm or an artificial intelligence chip, and has the ability to learn autonomously.

[0049] When working, the robot automatically finds people at the time when they need to take medicine according to the settings of the camera and the built-in clock. The action of finding people is mainly performed by the camera to scan the human body, and then the traveling standby drives the traveling wheel to move. After moving to the side of the person, the control circuit controls the turntable motor 233 to rotate, and the turntable driving gear 2330 on the rotating shaft of the turntable motor 233 is also driven, and the gear ring 2321 and the turntable body 2320 are driven at the same time. When the corresponding rotating medicine box slide 2322 rotates in place, the sensor at the bottom receives the signal, and the turntable motor 233 stops rotating. Then, the pusher motor 2312 drives the pusher gear 2313 to rotate forward, and pushes the rack 2314 out of the rack hole 2310. One end of the rack 2314 conflicts with one of the rotating medicine boxes 2324, and the rotating medicine box 2324 is moved outward along the rotating medicine box slide 2322 and the guide slide 2323, and extends out of the robot body from the second medicine box slide 22 for people to take medicine. After the medicine is taken, the pusher motor 2312 drives the pusher gear 2313 to reverse, the rack 2314 moves inward, and the rotating medicine box 2324 is driven by the magnet to move and retract into the robot body, completing the entire drug administration process. The robot's control circuit has a voice chip that can record the voice of the elderly's children. The voice can be dropped by talking to the robot and played through the speaker 41. Since voice dialogue and artificial intelligence are relatively mature, and are not the specific content to be protected by this application, they will not be described in detail here.

[0050] The present invention arranges a body 2, an arm 3 and a head 4 on a motion mechanism 1 that can move with a person, and arranges a rotating medicine dispensing device 23 inside the body 2. The rotating medicine dispensing device 23 can provide a specific amount of medicine to the elderly in a timely and quantitative manner to prevent the elderly from missing or taking too much medicine. Since the robot has an anthropomorphic design and a cute structure, it is easy to be popular. The invention has a reasonable design, a clever structure and is easy to carry.

Claims

1. A companion robot, comprising a motion mechanism (1), a body (2), an arm (3) and a head (4), characterized in that: The motion mechanism (1) comprises a motor bracket (10), the motor bracket (10) being a hollow rectangular parallelepiped structure, with a traveling motor fixedly arranged at both ends thereof, and an output shaft of the traveling motor protruding from a side surface of the motor bracket (10); a traveling wheel (11) is fixedly arranged on the output shaft of the traveling motor; A body (2) is fixedly arranged on the motor bracket (10), and the arms (3) are rotatably arranged on both sides of the body (2); a head (4) is arranged on the top of the body (2); the body (2), the arms (3) and the head (4) are designed to simulate the shape of a human body; The body (2) is a hollow structure, a first medicine box slideway (20) is provided in the middle of the body (2), and a first medicine box (21) is slidably arranged in the first medicine box slideway (20); a compression spring is fixedly arranged on the inner wall of the first medicine box slideway (20), and a locking mechanism is arranged on the inner side wall of the first medicine box slideway (20); when the first medicine box (21) moves inward, the compression spring is compressed and locked by the locking mechanism; A second medicine box slideway (22) is provided on the upper part of the body (2), and a rotating medicine dispensing device (23) is provided inside the body (2), the rotating medicine dispensing device (23) corresponds to the second medicine box slideway (22), and medicines in the rotating medicine dispensing device (23) can be extended through the second medicine box slideway (22); The rotating medicine dispensing device (23) comprises a base (230), and a support column (231) is fixedly arranged on the base (230); The support column (231) is provided with a rack hole (2310) and a pusher motor mounting hole (2311), the rack hole (2310) and the pusher motor mounting hole (2311) are vertically arranged, and the two are partially connected at the center; A rack (2314) is slidably disposed in the rack hole (2310); A pusher motor (2312) is fixedly arranged in the pusher motor mounting hole (2311), a pusher gear (2313) is sleeved and fixed on the output shaft of the pusher motor (2312), and the pusher gear (2313) is meshed with the rack (2314); A turntable (232) is rotatably provided on the support column (231), and the turntable (232) comprises a turntable body (2320). The turntable body (2320) is an annular structure, and is evenly provided with 7 rotating medicine box slideways (2322) in the radial direction. A rotating medicine box (2324) is slidably provided in the rotating medicine box slideway (2322); the rotating medicine box slideway (2322) corresponds to the rack (2314). A gear ring (2321) is fixedly arranged at the bottom of the turntable body (2320), a turntable motor (233) is fixedly arranged on the base (230), a turntable driving gear (2330) is fixedly sleeved on the output shaft of the turntable motor (233), and the turntable driving gear (2330) and the gear ring (2321) are meshed with each other; A position detection sensor is also fixedly arranged on the base (230) for detecting the rotation position of the turntable (232); a rack detection sensor is arranged in the rack hole (2310) for detecting the movement position of the rack; The rotating medicine box slideway (2322) is a cylindrical structure, and guide slide grooves (2323) are symmetrically provided on both sides thereof; The rotating medicine box (2324) is a hollow cylindrical structure with a medicine taking port on the top. The entire space in the rotating medicine box (2324) is divided into three small spaces by partitions. Sliding wings corresponding to the guide slots (2323) are respectively arranged on both sides of the rotating medicine box (2324); A display screen (40) is fixedly arranged in front of the head (4), a camera (42) and a sound sensor are fixedly arranged above the display screen (40), and speakers (41) are fixedly arranged on both sides of the head (4); The body (2) is also provided with a battery and a control circuit board, and the control circuit board is provided with a microcontroller and a network communication module. The control circuit board is electrically connected to the travel motor, the camera (42), the sound sensor, the speaker (41), and the actuator and sensor of the rotating medicine dispensing device (23).

2. The companion robot according to claim 1, characterized in that: The locking mechanism is an L-shaped structure, which is horizontally arranged on the bottom inner wall of the first medicine box slide (20). A rotating shaft is passed through the middle of the locking mechanism of the L-shaped structure, and the locking mechanism can rotate forward and backward along the rotating shaft to form a seesaw structure.

3. The companion robot according to claim 1, characterized in that: The display screen (40) is a touch screen, and eyes and a nose are displayed on the touch screen.

4. The companion robot according to claim 1, characterized in that: A tail frame (12) is fixedly disposed on both sides of the rear of the motor bracket (10), and a balance wheel (5) is rotatably disposed at the end of the tail frame (12).

5. The companion robot according to claim 1, characterized in that: The support column (231) is a stepped cylindrical structure.

6. The companion robot according to claim 1, characterized in that: The length of the guide slide groove (2323) is smaller than the length of the rotating medicine box slideway (2322).

7. The companion robot according to claim 1, characterized in that: The rotating medicine box (2324) is made of a magnetic conductive material, or a magnetic material is pasted behind the rotating medicine box (2324); A magnet (2315) is fixedly disposed on one end of the rack (2314).

Images