AI child accompanying robot

Abstract

The invention provides an AI child accompanying robot, and belongs to the technical field of robots. The technical problems of poor technical interaction experience and the like are solved. The AI child accompanying robot comprises a trunk, a head, two hands and two legs are arranged on the trunk, two movable ear bodies are arranged on the head, the ear bodies are connected with ear body driving mechanisms, display devices are arranged at the positions of two eyes of the head respectively, an opening is formed in the position of the mouth of the head, and the display devices are connected with the ear body driving mechanisms. A jaw which is hinged to the head and can swing around the hinge axis is arranged in the opening, a jaw moving part which can enable the jaw to move in the radial direction of the hinge axis when the jaw and the head swing around the hinge axis is arranged between the jaw and the head, and the head is connected with the trunk through a head rotating mechanism. The ear body driving mechanism, the display device, the jaw moving part and the head rotating mechanism are electrically connected to the controller, and the controller is further electrically connected with a voice receiver and a sound generator. The method has the advantages of being good in simulation effect, multiple in interaction form, good in interaction experience and the like.

Description

Technical Field

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

[0002] The AI ​​companion robot is an interactive doll that can respond to voice input to achieve a question-and-answer dialogue function. In the existing technology, the question-and-answer function alone cannot meet the user's needs for product appearance and interactive experience. To this end, people have conducted long-term explorations and proposed various solutions.

[0003] For example, a Chinese patent document discloses a voice recognition interactive doll [application number: 200310101622.5], which mainly includes a microphone, a voice control device, a player and peripheral devices fixedly arranged in a doll body with an anthropomorphic appearance.

[0004] Although the above scheme designs a doll body with an anthropomorphic appearance, it only has a simple external shape and the interactive experience is average, so it still cannot meet the needs of users. Summary of the invention

[0005] The purpose of the present invention is to provide a flexible and movable AI child companion robot in view of the above problems.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions: an AI child companion robot comprises a torso, wherein the torso is provided with a head, two hands and two legs, the head is provided with two movable ears, the ear bodies are connected to an ear body driving mechanism, the two eye positions of the head are respectively provided with display devices, the mouth position of the head is provided with an opening, a chin hingedly connected to the head and capable of swinging around a hinge axis is provided in the opening, and a chin movable part is provided between the chin and the head, which can move the chin radially along the hinge axis when swinging around the hinge axis, the head is connected to the torso through a head rotating mechanism, the ear body driving mechanism, the display device, the chin movable part and the head rotating mechanism are electrically connected to a controller, and the controller is also electrically connected to a voice receiver and a sound generator.

[0007] By setting a head, two hands and two feet on the torso, the product is given an anthropomorphic appearance. The head, ears and mouth are flexible and movable through the ear drive mechanism, the chin movable part and the head rotation mechanism. A display device can display visual information, and a voice receiver and a sound generator can feedback sound information, creating an excellent interactive effect from the three aspects of action, vision and hearing.

[0008] In the above-mentioned AI child companion robot, the ear body is installed on the head shell of the head, the ear body hinge shaft in the head shell is installed in the ear body hinge hole of the ear body, and the ear body is connected to the ear body driving mechanism through an elastic member. The ear body is installed in the ear body hinge hole of the head shell through the ear body hinge shaft, and such a structure enables the ear body to swing flexibly around the hinge shaft. And due to the presence of the elastic member, the external force impact on the ear body can be effectively buffered, thereby increasing the durability of the ear body.

[0009] In the above-mentioned AI child companion robot, the ear body driving mechanism includes a lifting bracket and a lifting driving assembly, the lifting bracket is connected to the ear body through the elastic member, and both ear bodies are arranged on the same lifting bracket; the lifting driving assembly includes a linear rack connected to the lifting bracket, the linear rack is driven by a lifting gear, the lifting gear is connected to a rotary driver, the linear rack is connected to the radial limit axial sliding of the head shell, one end of the lifting gear is provided with the rotary driver, and the other end is connected to an angle position sensor, and the rotary driver and the angle position sensor are connected to the controller. Through the cooperation of the lifting bracket and the lifting driving assembly, the ear body can be driven to perform lifting motion. Driven by the lifting gear, the linear rack can drive the lifting bracket and the ear body connected thereto to move accordingly. And the rotary driver and the angle position sensor are both connected to the controller, so that the entire ear body driving mechanism can be easily integrated into the control system of the AI ​​child companion robot to realize intelligent control and adjustment.

[0010] In the above-mentioned AI child companion robot, a rack slide rail is provided in the head shell, and the linear rack is connected to the rack slide rail through a rack slider; A guide groove is also provided in the head shell, and a guide slider capable of sliding in the guide groove is provided on the lifting bracket; A guide column is also provided in the head shell, and the lifting bracket is sleeved on the guide column through the strip hole. The design of the guide groove and the guide slider as well as the guide column and the strip hole cooperate with each other, which can enhance the stability of the entire lifting mechanism, so that the lifting bracket can move stably during the lifting process, and prevent it from tilting or collapsing during use.

[0011] In addition, a rotation limiting structure is provided between the ear body and the head shell, which can be used to limit the rotation angle of the ear body when it rotates.

[0012] The rotation limiting structure includes a rotating sleeve arranged at one end of the ear body hinge hole, the rotating sleeve is provided with a travel limiting hole, a limit block connected to the head shell is arranged in the travel limiting hole, and a swing gap is provided between the travel limiting hole and the limit block in the circumferential direction of the ear body around the hinge hole.

[0013] The elastic member comprises a double torsion spring arranged on a lifting bracket, and two spring legs of the double torsion spring are arranged on a linkage column which is deviated from the rotation center of the ear body.

[0014] In the above-mentioned AI child companion robot, the chin movable part includes a chin seat, the chin is arranged on the chin seat, the chin seat is hinged on the head shell, a swing drive mechanism capable of driving the chin seat to swing around the hinge axis is provided between the chin seat and the head shell, a radial guide block is provided on the chin seat, the chin is passed through the radial guide block, and a radial drive component is provided between the chin and the head shell, capable of causing the chin to move radially along the hinge axis of the chin seat when the chin swings.

[0015] A wear-resistant sleeve is provided between the chin and the radial guide block. The precise coordination of the swing drive mechanism and the radial drive assembly enables the movement of the chin to be precisely controlled. This precision is reflected not only in the angle and speed of the chin swing, but also in the accuracy of the radial movement of the chin along the hinge axis. This precision and controllability enables the AI ​​Child Companion Robot to simulate movement more accurately during interaction, thereby improving the user's interactive experience.

[0016] In the above-mentioned AI child companion robot, the radial drive assembly includes a strip elastic plate connected to the head shell, the upper end of the strip elastic plate is connected to the head shell, the lower end is abutted and connected to the inner end of the chin, and the axis of the strip elastic plate is inclined to the radial movement axis of the chin, and the strip elastic plate can move radially outward from the chin when the outer end of the chin rotates downward around the hinge axis; The strip-shaped elastic plates have two pieces and are respectively located on both sides of the chin; The head shell is provided with a head rubber sleeve, and the outer side of the chin abuts against the inner wall of the head rubber sleeve, which can be used to radially reset the chin after the outer end of the chin rotates and resets around the hinge axis. The design of the strip elastic plate realizes the radial movement of the chin, and the head rubber sleeve can provide a stable reset force after the outer end of the chin rotates and resets around the hinge axis. This reset force helps to ensure that the chin can accurately return to its initial position after moving, thereby maintaining the overall stability and accuracy of the AI ​​child companion robot.

[0017] The swing drive mechanism includes a chin hinge shaft passing through the chin seat, the chin hinge shaft is connected to the chin seat in a circumferential limit direction, the chin hinge shaft and the chin seat are respectively connected to the head shell in rotation, and the chin hinge shaft and the rotation axis of the chin seat and the head shell are located on the same straight line to form the hinge axis, and the chin hinge shaft is connected to the rotation drive unit; the rotation drive unit includes an arc-shaped rack arranged at a position where the chin hinge shaft deviates from the rotation center, the arc-shaped rack is connected to the chin hinge shaft through a connecting piece, a driving gear is meshed on the arc-shaped rack, the driving gear is connected to the swing drive motor, the driving gear is connected to the angle sensor, and the swing drive motor and the angle sensor are electrically connected to the controller; The connecting member is provided with a strip-shaped arc hole, the arc of the strip-shaped arc hole is the same as the arc of the arc rack and is concentrically arranged, and the linkage shaft of the driving gear passes through the strip-shaped arc hole and is connected to the angle sensor; The chin seat is connected to the circumferential limiting hole of the connecting piece through an L-shaped insertion rod for circumferential limiting; The chin hinge shaft is connected to the head shell through a first pin shaft, and the chin seat is connected to the head shell through a second pin shaft. The first pin shaft is inserted into the chin hinge shaft and the head shell respectively, and the second pin shaft is inserted into the chin seat and the head shell respectively; An axial support spring is provided between the chin seat and the chin hinge axis.

[0018] In the above-mentioned AI child companion robot, the head rotation mechanism includes a rotating shaft, the upper end of the rotating shaft is connected to the rotating seat on the head, and the lower end is connected to the trunk. The rotating seat is connected to the rotating shaft axially limited and circumferentially rotating. A transmission spring is provided between the rotating shaft and the rotating seat. The rotating seat is provided with an arc-shaped tooth portion arranged concentrically with the rotating shaft, and the arc-shaped tooth portion is meshed and connected with the head turning gear. The head turning gear is connected to the output shaft of the head turning motor, and the head turning motor is arranged in the trunk, and the head turning motor is electrically connected to the controller. The provision of the transmission spring helps to reduce the impact and vibration during the rotation process, thereby achieving a smoother transmission. The head turning motor is electrically connected to the controller, so that the head rotation mechanism can be accurately controlled by the controller, and the controller can adjust the speed and direction of the head turning motor as needed, thereby achieving accurate rotation of the head rotation mechanism at different angles and speeds.

[0019] In the above-mentioned AI child companion robot, the display device is a display screen, and a convex lens is provided outside the display screen; The voice receiver, sound generator and controller are all arranged in the head, and a plurality of sound holes corresponding to the sound generator are arranged on the back of the head, and a sound receiving port corresponding to the voice receiver is arranged on the top of the head. The display screen as a display device can intuitively display information, images or videos and other contents, providing a rich visual interaction means for the AI ​​child companion robot. The setting of the convex lens can magnify the image on the display screen, so that the viewer can see the content on the screen more clearly and achieve a better visual effect. The sound receiving port is located on the top of the head. This design helps to capture sounds from different directions and improve the accuracy and sensitivity of voice recognition.

[0020] In the above-mentioned AI child companion robot, the controller is also connected to a manual control component, a USB interface and a built-in power supply; The manual control assembly and USB interface are arranged on the back of the torso; The manual control assembly includes a volume up button, a volume down button, and a power switch. Placing the manual control assembly and the USB interface on the back of the torso not only avoids the visual interference caused by setting buttons and interfaces in conspicuous locations such as the head or limbs, but also makes these functions easier to access and operate. This design not only maintains the overall aesthetics of the AI ​​Child Companion Robot, but also improves its practicality.

[0021] In the above-mentioned AI child companion robot, the hands are movably connected to the trunk, and the legs are fixedly connected to the trunk; Alternatively, the hands are fixedly connected to the trunk, and the legs are movably connected to the trunk; Alternatively, the hands and legs are movably connected to the trunk.

[0022] The hands and legs are movably connected to the torso, allowing the product to be positioned in a variety of postures, which increases playability.

[0023] The tail is installed in a tail mounting seat, and the tail mounting seat is fixedly connected to the rear side of the trunk. The hands are movably connected to the trunk through hand latches, and the hand latches are arranged in hand mounting holes on both sides of the trunk.

[0024] Compared with existing technologies, the advantages of this AI child companion robot are: 1. It has a variety of simulated motion structures with good simulation effects. 2. It has a variety of sensors and can accept more types of input signals, with various forms of interaction. 3. It has a central processor to coordinate and control a variety of mechanisms, which can achieve a better interactive experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram provided by the present invention.

[0026] Figure 2It is a schematic diagram of the back structure provided by the present invention.

[0027] Figure 3 It is a schematic diagram of the cross-sectional structure provided by the present invention.

[0028] Figure 4 It is a schematic diagram of the internal structure of the rubber sleeve provided by the present invention.

[0029] Figure 5 It is a schematic diagram of the internal structure provided by the present invention.

[0030] Figure 6 It is a schematic diagram of the internal back structure provided by the present invention.

[0031] Figure 7 It is a schematic diagram of the front structure of the ear body and the head shell provided by the present invention.

[0032] Figure 8 It is a schematic diagram of the back structure of the ear body and the head shell provided by the present invention.

[0033] Fig. 9 It is a schematic diagram of the internal structure of the ear body provided by the present invention.

[0034] Fig.10 It is a schematic diagram of the internal back structure of the ear body provided by the present invention.

[0035] Fig.11 It is a schematic diagram of the head structure provided by the present invention.

[0036] Fig.12 It is a schematic diagram of the internal structure of the chin provided by the present invention.

[0037] Fig.13 It is a schematic diagram of the internal structure of the chin from another angle provided by the present invention.

[0038] Fig.14 It is a schematic diagram of the internal front structure of the chin provided by the present invention.

[0039] Fig.15 It is a schematic diagram of the internal structure of the trunk provided by the present invention.

[0040] Fig.16 It is a schematic diagram of the internal structure of the torso provided by the present invention from another angle.

[0041] Fig.17 It is a circuit schematic diagram provided by the present invention.

[0042] In the figure, the trunk 1, the hand 11, the leg 12, the tail 13, the trunk rubber sleeve 14, the head 2, the opening 21, the head shell 22, the ear body hinge shaft 221, the rack slide rail 222, the guide groove 223, the guide column 224, the first pin 225, the second pin 226, the head rubber sleeve 23, the sound hole 24, the sound receiving port 25, the ear body 3, the ear body drive mechanism 31, the lifting bracket 311, the lifting drive assembly 312, the linear rack 313, the lifting gear 314, the rotation driver 315, the angle position sensor 316, the rack slider 317, the guide slider 318, the strip hole 319, the ear body hinge hole 32, the elastic member 33, the double torsion spring 331, the spring foot 332, the linkage column 333, the rotation limit structure 34, the rotating sleeve 341, the travel limit hole 342, the limit block 343, the swing gap 344, the display device 4, and the display screen 41 , convex lens 42, chin 5, chin seat 51, radial guide block 511, L-shaped rod 512, swing drive mechanism 52, chin hinge shaft 521, hinge axis 522, rotation drive unit 523, arc rack 524, driving gear 525, swing drive motor 526, angle sensor 527, linkage shaft 528, radial drive assembly 53, strip elastic plate 531, wear-resistant sleeve 54, connecting piece 55, strip arc hole 551, circumferential limit hole 552, chin movable part 56, head rotation mechanism 6, rotation shaft 61, head gear 611, rotation seat 62, arc tooth portion 621, transmission spring 63, head motor 64, controller 7, voice receiver 71, sound generator 72, manual control assembly 73, volume up key 731, volume down key 732, power switch 733, USB interface 74, built-in power supply 75. DETAILED DESCRIPTION

[0043] like Figures 1 to 17 As shown, an AI child companion robot includes a torso 1, a head 2, two hands 11 and two legs 12 are provided on the torso 1, two movable ear bodies 3 are provided on the head 2, and the ear bodies 3 are connected to an ear body driving mechanism 31, display devices 4 are respectively provided at the two eye positions of the head 2, an opening 21 is provided at the mouth position of the head 2, a chin 5 hingedly connected to the head and capable of swinging around a hinge axis 522 is provided in the opening 21, and a chin movable component 56 is provided between the chin 5 and the head 2, which can move the chin 5 radially along the hinge axis 522 when swinging around the hinge axis 522, the head 2 is connected to the torso 1 through a head rotating mechanism 6, the ear body driving mechanism 31, the display device 4, the chin movable component 56 and the head rotating mechanism 6 are electrically connected to a controller 7, and the controller 7 is also electrically connected to a voice receiver 71 and a sound generator 72.

[0044] In this embodiment, the head shell 22 and the torso shell that are split and spliced ​​together form an overall basic frame, the two hands 11, the two legs 12 and the tail 13 form the basic shape, and the head 2 and the torso 1 are covered with a head rubber sleeve 23 and a torso rubber sleeve 14 to form the shape of the product together, and the head 2 is connected to the torso 1 axially limited and circumferentially rotating.

[0045] Furthermore, the ear body driving mechanism 31 drives the ear body 3 to swing, the chin 5 swings around the hinge axis 522, and the head rotation mechanism 6 controls the head rotation to achieve further simulated movement. The controller 7 connects and controls the ear body driving mechanism 31, the display device 4, the chin movable part 56 and the head rotation mechanism 6 as well as the voice receiver 71 and the sound generator 72 to achieve a good interactive effect of voice interaction, action interaction and display interaction collaboration.

[0046] More specifically, the ear body 3 is inserted into the head shell 22 of the head 2 , the ear body hinge shaft 221 in the head shell 22 is inserted into the ear body hinge hole 32 of the ear body 3 , and the ear body 3 is connected to the ear body driving mechanism 31 through an elastic member 33 .

[0047] More specifically, the ear body driving mechanism 31 includes a lifting bracket 311 and a lifting driving assembly 312. The lifting bracket 311 is connected to the ear body 3 through an elastic member 33, and both ear bodies are arranged on the same lifting bracket 311; the lifting driving assembly 312 includes a linear rack 313 connected to the lifting bracket 311, and the linear rack 313 is driven by a lifting gear 314. The lifting gear 314 is connected to a rotation driver 315. The linear rack 313 is radially limited and axially slidingly connected to the head shell 22. One end of the lifting gear 314 is provided with a rotation driver 315, and the other end is connected to an angle position sensor 316. The rotation driver 315 and the angle position sensor 316 are connected to the controller 7.

[0048] More specifically, a rack slide 222 is provided in the head housing 22, and the linear rack 313 is connected to the rack slide 222 via a rack slider 317; A guide groove 223 is further provided in the head shell 22, and a guide slider 318 capable of sliding in the guide groove 223 is provided on the lifting bracket 311; A guide column 224 is further provided in the head shell 22 , and the lifting bracket 311 is sleeved on the guide column 224 through the strip hole 319 .

[0049] In this embodiment, the ear body 3 and the ear body driving mechanism 31 are both arranged above the inside of the head shell 22, and the ear body 3 partially extends out of the head shell 22 through the ear body holes arranged on both sides of the upper end of the head shell 22. The ear body 3 is connected to both sides of the lifting bracket 311 through an elastic member 33, and a linear rack 313 extending vertically downward is fixedly connected to the middle of the lifting bracket 311, and the other end of the linear rack 313 is connected to a lifting gear 314, and the lifting gear 314 is arranged on a horizontal lifting shaft body, and the two ends of the lifting shaft body are respectively connected to a rotation driver 315 and an angle position sensor 316, and the rotation driver 315 and the angle position sensor 316 are respectively installed in the mounting seats at the corresponding positions of the head shell 22.

[0050] More specifically, a rotation limiting structure 34 is provided between the ear body 3 and the head shell 22 to limit the rotation angle of the ear body 3 when the ear body 3 rotates.

[0051] The rotation limiting structure 34 includes a rotating sleeve 341 arranged at one end of the ear body hinge hole 32, a travel limiting hole 342 is opened on the rotating sleeve 341, a limit block 343 connected to the head shell 22 is arranged in the travel limiting hole 342, and a swing gap 344 is arranged between the travel limiting hole 342 and the limit block 343 in the circumferential direction of the ear body around the hinge hole 32.

[0052] The elastic member 33 includes a double torsion spring 331 disposed on the lifting bracket 311 , and two spring legs 332 of the double torsion spring 331 are disposed on a linkage column 333 of the ear body 3 that is offset from the rotation center.

[0053] More specifically, the chin movable part 56 includes a chin seat 51, the chin 5 is arranged on the chin seat 51, the chin seat 51 is hinged on the head shell 22, a swing driving mechanism 52 capable of driving the chin seat 51 to swing around the hinge axis is provided between the chin seat 51 and the head shell 22, a radial guide block 511 is provided on the chin seat 51, the chin 5 is passed through the radial guide block 511, and a radial driving assembly 53 capable of radially moving the chin 5 along the hinge axis of the chin seat 51 when the chin 5 swings is provided between the chin 5 and the head shell 22. A wear-resistant sleeve 54 is provided between the chin 5 and the radial guide block 511.

[0054] More specifically, the radial drive assembly 53 includes a strip elastic plate 531 connected to the head shell 22, the upper end of the strip elastic plate 531 is connected to the head shell 22, the lower end is abutted against the inner end of the chin 5, and the axis of the strip elastic plate 22 is inclined to the radial movement axis of the chin 5, and the strip elastic plate 531 can move radially outward from the chin 5 when the outer end of the chin 5 rotates downward around the hinge axis; There are two strip elastic plates 531, which are respectively located on both sides of the chin 5; A head rubber sleeve 23 is provided on the head shell 22, and the outer side of the chin 5 abuts against the inner wall of the head rubber sleeve 23, which can be used for radially resetting the chin 5 after the outer end of the chin 5 is rotated and reset around the hinge axis.

[0055] In this embodiment, the simulated motion of the chin 5 is achieved by combining radial translation and swinging motions. The radial translation of the chin 5 is driven by the radial driving assembly 53, and the swinging motion of the chin 5 is driven by the swing driving mechanism 52. The control of the two types of motions is controlled by the control center 7. The superposition control of the two types of motions can achieve more precise control effects through richer control methods.

[0056] More specifically, the swing drive mechanism 52 includes a chin hinge shaft 521 that is passed through the chin seat 51, the chin hinge shaft 521 is connected to the chin seat 51 in a circumferential limit manner, the chin hinge shaft 521 and the chin seat 51 are respectively connected to the head shell 22 in rotation, and the rotation axes of the chin hinge shaft 521, the chin seat 51 and the head shell 22 are located on the same straight line to form a hinge axis 522, and the chin hinge shaft 521 is connected to the rotation drive unit 523; the rotation drive unit 523 includes an arc-shaped rack 524 that is arranged at a position deviating from the rotation center of the chin hinge shaft 521, the arc-shaped rack 524 is connected to the chin hinge shaft 521 through a connecting member 55, a driving gear 525 is meshed on the arc-shaped rack 524, the driving gear 525 is connected to the swing drive motor 526, the driving gear 525 is connected to the angle sensor 527, and the swing drive motor 526 and the angle sensor 527 are electrically connected to the controller 7; The connecting member 55 is provided with a strip-shaped arc hole 551, the arc of the strip-shaped arc hole 551 is the same as the arc of the arc rack 524 and is concentrically arranged, and the linkage shaft 528 of the driving gear 525 passes through the strip-shaped arc hole 551 and is connected to the angle sensor 527; The chin seat 51 is connected to the circumferential limiting hole 552 of the connecting member 55 through the L-shaped insertion rod 512 for circumferential limiting; The chin hinge shaft 521 is connected to the head shell 22 via a first pin shaft 225, and the chin seat 51 is connected to the head shell 22 via a second pin shaft 226. The first pin shaft 225 is inserted into the chin hinge shaft 521 and the head shell 22, respectively, and the second pin shaft 226 is inserted into the chin seat 51 and the head shell 22, respectively. An axial support spring is provided between the chin seat 51 and the chin hinge shaft 521 .

[0057] More specifically, the head rotation mechanism 6 includes a rotating shaft 61, the upper end of the rotating shaft 61 is connected to the rotating seat 62 on the head 2, and the lower end is connected to the torso 1, the rotating seat 62 is connected to the rotating shaft 61 for axial limiting circumferential rotation, a transmission spring 63 is provided between the rotating shaft 62 and the rotating seat 13, and the rotating seat 62 is provided with an arc-shaped tooth portion 621 which is concentrically arranged with the rotating shaft 61, the arc-shaped tooth portion 621 is meshed and connected with the turning head gear 611, the turning head gear 611 is connected to the output shaft of the turning head motor 64, the turning head motor 64 is arranged in the torso 1, and the turning head motor 64 is electrically connected to the controller 7.

[0058] In this embodiment, the rotating seat 62 is arranged on the lower side of the head 2, located at the connection between the head 2 and the body 1. A head turning sensor is provided at the top of the rotating seat 62, and an arc-shaped tooth portion 621 is provided at the other end of the rotating seat 62. A head turning gear 611 on the rotating shaft 61 is meshed and connected at the corresponding position of the arc-shaped tooth portion 621. The rotating shaft 61 extends downward to the interior of the body 1 and is connected to the output end of the head turning motor 64. The head turning sensor and the head turning motor 64 are both connected to the controller 7.

[0059] More specifically, the display device 4 is a display screen 41, and a convex lens 42 is provided outside the display screen 41; The voice receiver 71 , the sound generator 72 and the controller 7 are all arranged in the head 2 . A plurality of sound holes 24 corresponding to the sound generator 72 are arranged on the back of the head 2 , and a sound receiving port 25 corresponding to the voice receiver 71 is arranged on the top of the head 2 .

[0060] More specifically, the controller 7 is also connected to a manual control component 73, a USB interface 74 and a built-in power supply 75; The manual control assembly 73 and the USB interface 74 are arranged on the back of the torso 1; The manual control component 73 includes a volume up key 731 , a volume down key 732 and a power switch 733 .

[0061] More specifically, the hand 11 is movably connected to the trunk 1, and the leg 122 is fixedly connected to the trunk 1; More specifically, the tail 13 is installed in the tail mounting seat, which is fixedly connected to the rear side of the trunk 1, and the hands 11 are movably connected to the trunk 1 through hand latches, which are arranged in hand mounting holes on both sides of the trunk. The trunk 1 and its hands 11, legs 12 and tail 13 are covered with a trunk rubber cover 14.

[0062] The working principle of this embodiment is that when the AI ​​child companion robot receives external action signals from the angle sensor 527, the angle position sensor 316 and the head turning sensor, or sound signals from the voice receiver 71, or electronic signals from the manual control component 73 and the USB interface 74, the processor 7 will identify the signal content and transmit corresponding control signals.

[0063] When the control signal is transmitted to the sound generator 72 , the sound generator 72 will output corresponding voice, music or other sounds to the user through the plurality of sound holes 24 on the back of the head 2 .

[0064] When the control signal is transmitted to the display device 4 , the display screen 41 will display the corresponding content, which is output to the user through the convex lens 42 disposed outside the display screen 41 .

[0065] When the control signal is transmitted to the ear body 3, the ear body driving mechanism 31 drives the ear body 3 to swing, so as to realize the simulated movement of the ear.

[0066] When the control signal is transmitted to the chin 5, the radial driving component 53 drives the chin 5 to translate radially, and the swing driving mechanism 52 drives the chin 5 to swing. The two types of motion are superimposed to realize the simulated motion of the mouth.

[0067] When the control signal is transmitted to the head rotation mechanism 6 , the head rotation mechanism 6 will drive the head 2 to rotate circumferentially to achieve simulated movement of the head 2 .

[0068] Through voice interaction, display interaction, and action interaction superimposed with multiple simulated motions, rich interactive effects are achieved through ultimate collaboration.

[0069] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0070] Although this article uses the torso, hands, legs, tail, torso rubber sleeve, head, opening, head shell, ear body hinge shaft, rack slide, guide groove, guide column, first pin shaft, second pin shaft, head rubber sleeve, sound hole, sound receiving port, ear body, ear body drive mechanism, lifting bracket, lifting drive assembly, linear rack, lifting gear, rotary drive, angle position sensor, rack slider, guide slider, bar hole, ear body hinge hole, elastic part, double torsion spring, spring foot, linkage column, rotation limit structure, rotating sleeve, travel limit hole, limit block, swing gap, display device, display screen, convex lens, chin, chin The terms seat, radial guide block, L-shaped plug rod, swing drive mechanism, chin hinge shaft, hinge axis, rotation drive unit, arc rack, driving gear, swing drive motor, angle sensor, linkage shaft, radial drive assembly, strip elastic plate, wear-resistant sleeve, connector, strip arc hole, circumferential limit hole, chin movable part, head rotation mechanism, rotation shaft, rotation seat, transmission spring, arc tooth part, head gear, head motor, controller, voice receiver, sound generator, manual control assembly, volume up key, volume down key, power switch, USB interface, built-in power supply, etc., but the possibility of using other terms is not excluded. The use of these terms is only to more conveniently describe and explain the essence of the present invention, and interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. An AI child companion robot, comprising a trunk (1), wherein the trunk (1) is provided with a head (2), two hands (11) and two legs (12), characterized in that: The head (2) is provided with two movable ear bodies (3), the ear bodies (3) are connected to an ear body driving mechanism (31), the two eye positions of the head (2) are respectively provided with display devices (4), the mouth position of the head (2) is provided with an opening (21), a chin (5) is provided in the opening (21) and is hingedly connected to the head and can swing around a hinge axis (522), and a chin movable component (56) is provided between the chin (5) and the head (2) and can move the chin (5) radially along the hinge axis (522) when swinging around the hinge axis (522), the head (2) is connected to the trunk (1) via a head rotating mechanism (6), the ear body driving mechanism (31), the display device (4), the chin movable component (56) and the head rotating mechanism (6) are electrically connected to a controller (7), and the controller (7) is also electrically connected to a voice receiver (71) and a sound generator (72).

2. The AI ​​child companion robot according to claim 1, characterized in that: The ear body (3) is inserted into the head shell (22) of the head (2); the ear body hinge shaft (221) in the head shell (22) is inserted into the ear body hinge hole (32) of the ear body (3); and the ear body (3) is connected to the ear body driving mechanism (31) via an elastic member (33).

3. The AI ​​child companion robot according to claim 2, characterized in that: The ear body driving mechanism (31) comprises a lifting bracket (311) and a lifting driving assembly (312); the lifting bracket (311) is connected to the ear body (3) via the elastic member (33); the two ear bodies are arranged on the same lifting bracket (311); the lifting driving assembly (312) comprises a linear rack (313) connected to the lifting bracket (311); the linear rack (313) is driven by a lifting gear (314); the lifting gear (314) is connected to a rotary driver (315); the linear rack (313) is radially limited and axially slidably connected to the head shell (22); one end of the lifting gear (314) is provided with the rotary driver (315); the other end is connected to an angle position sensor (316); the rotary driver (315) and the angle position sensor (316) are connected to a controller (7).

4. The AI ​​child companion robot according to claim 3, characterized in that: A rack slide rail (222) is provided inside the head shell (22), and the linear rack (313) is connected to the rack slide rail (222) via a rack slider (317); A guide groove (223) is further provided in the head shell (22), and a guide slider (318) capable of sliding in the guide groove (223) is provided on the lifting bracket (311); A guide column (224) is also provided in the head shell (22), and the lifting bracket (311) is sleeved on the guide column (224) through the strip hole (319).

5. The AI ​​child companion robot according to claim 1, 2, 3 or 4, characterized in that: The chin movable component (56) comprises a chin seat (51), the chin (5) is arranged on the chin seat (51), the chin seat (51) is hinged on the head shell (22), a swing driving mechanism (52) capable of driving the chin seat (51) to swing around a hinge axis is provided between the chin seat (51) and the head shell (22), a radial guide block (511) is provided on the chin seat (51), the chin (5) is inserted into the radial guide block (511), and a radial driving component (53) capable of causing the chin (5) to move radially along the hinge axis of the chin seat (51) when the chin (5) swings is provided between the chin (5) and the head shell (22).

6. The AI ​​child companion robot according to claim 5, characterized in that: The radial drive assembly (53) comprises a strip elastic plate (531) connected to the head shell (22); the upper end of the strip elastic plate (531) is connected to the head shell (22), and the lower end is abutted against the inner end of the chin (5); the axis of the strip elastic plate (22) is inclined to the radial movement axis of the chin (5); the strip elastic plate (531) can move radially outward from the chin (5) when the outer end of the chin (5) rotates downward around the hinge axis; The strip-shaped elastic plates (531) have two pieces and are respectively located on both sides of the chin (5); The head shell (22) is provided with a head rubber sleeve (23), and the outer side of the chin (5) abuts against the inner wall of the head rubber sleeve (23), which can be used to radially reset the chin (5) after the outer end of the chin (5) is rotated and reset around the hinge axis.

7. The AI ​​child companion robot according to claim 1, 2, 3 or 4, characterized in that: The head rotating mechanism (6) comprises a rotating shaft (61), the upper end of the rotating shaft (61) is connected to a rotating seat (62) on the head (2), and the lower end is connected to the trunk (1); the rotating seat (62) is connected to the rotating shaft (61) in an axially limited circumferentially rotating manner; a transmission spring (63) is provided between the rotating shaft (62) and the rotating seat (13); the rotating seat (62) is provided with an arc-shaped tooth portion (621) arranged concentrically with the rotating shaft (61); the arc-shaped tooth portion (621) is meshedly connected to a rotating head gear (611); the rotating head gear (611) is connected to an output shaft of a rotating head motor (64); the rotating head motor (64) is arranged in the trunk (1); and the rotating head motor (64) is electrically connected to a controller (7).

8. The AI ​​child companion robot according to claim 1, 2, 3 or 4, characterized in that: The display device (4) is a display screen (41), and a convex lens (42) is provided outside the display screen (41); The voice receiver (71), the sound generator (72) and the controller (7) are all arranged in the head (2); a plurality of sound holes (24) corresponding to the sound generator (72) are arranged on the back of the head (2); and a sound receiving port (25) corresponding to the voice receiver (71) is arranged on the top of the head (2).

9. The AI ​​child companion robot according to claim 8, characterized in that: The controller (7) is also connected to a manual control component (73), a USB interface (74) and a built-in power supply (75); The manual control component (73) and the USB interface (74) are arranged on the back of the torso (1); The manual control component (73) comprises a volume up key (731), a volume down key (732) and a power switch (733).

10. The AI ​​child companion robot according to claim 1, 2, 3 or 4, characterized in that: The hand (11) is movably connected to the trunk (1), and the leg (122) is fixedly connected to the trunk (1); Alternatively, the hand (11) is fixedly connected to the trunk (1), and the leg (12) is movably connected to the trunk (1); Alternatively, the hands (11) and legs (12) are both movably connected to the trunk (1).

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