Companion robot

Abstract

The present disclosure relates to a companion robot, belonging to the technical field of robots. The companion robot comprises a head and two winking mechanisms, the head has two eye sockets which are symmetrically located on the same side of the head, and the winking mechanisms correspond to the eye sockets one by one. The winking mechanism comprises a back plate and two eyelids. 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. The two eyelids are movably installed in the corresponding eye socket, and the two eyelids are located on the front surface of the corresponding back plate. The companion robot of the present disclosure can express more complex emotional information.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and in particular to a companion robot. Background Technology

[0002] With the rapid development of artificial intelligence and robotics, affective computing, as an emerging field, is receiving 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 companion robots in related technologies mainly rely on voice, text analysis, and screen images, which are difficult to convey complex emotional information and therefore cannot meet users' diverse needs for emotional companionship. Summary of the Invention

[0003] Therefore, this disclosure provides a companion robot capable of expressing 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, which are symmetrically located on the same side of the head;

[0006] The blinking mechanism corresponds one-to-one with the eye socket, and the blinking mechanism includes a back plate and two eyelids;

[0007] The backplate is installed inside the corresponding eye socket, with the front of the backplate facing the outer side of the eye socket;

[0008] The two eyelids are movable relative to each other and are installed in the corresponding eye sockets, with both eyelids located on the front of the corresponding back plate.

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

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

[0011] The pulley is installed inside the corresponding head and located on the upper side of the corresponding two eyelids;

[0012] The driving component corresponds one-to-one with the eyelid, and the driving component includes two pull wires and two retracting parts;

[0013] The pull cords correspond one-to-one with the retractors. The first ends of the two pull cords are connected to the two ends of the corresponding eyelids, and the second ends of the pull cords are connected to the corresponding retractors after passing through the pulleys. The retractors are installed inside the head and are used to retract the corresponding pull cords.

[0014] In one possible implementation, the eyelid includes a plurality of slats arranged sequentially from top to bottom;

[0015] The slat has two perforations, and the two perforations of each slat are located at the two ends of the corresponding slat and correspond to one of the pull cords respectively;

[0016] The pull cord passes sequentially through the corresponding perforations on the plurality of curtain slats, and the pull cord has a plurality of knots, which are distributed at intervals along the pull cord.

[0017] At least one knot of each of the pull cords is located on the underside of the corresponding slat, and there is at least one knot of each pull cord between every two adjacent slats, the diameter of the knot being larger than the diameter of the perforation.

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

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

[0020] 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.

[0021] In one possible implementation, the first turntable has a first receiving groove located on the side of the first turntable away from the waist, and a first end of the first robotic arm is rotatably connected to the first receiving groove, the first receiving groove being used to accommodate the first robotic arm.

[0022] In one possible implementation, the companion robot also includes a waist, which includes a support structure and an elastic belly.

[0023] The elastic belly surrounds the supporting structure, and the top and bottom of the elastic belly enclose the supporting 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 one possible implementation, the waist section further includes a pressure regulator installed on the support structure and located inside the sealed cavity, the pressure regulator being used to regulate the pressure inside the sealed cavity.

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

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

[0028] In one possible implementation, the companion robot further includes a vibrator mounted on the waist and used to vibrate the waist.

[0029] In the solution disclosed herein, the head has two eye sockets located on the same side, and the blinking mechanism installed in the eye sockets can simulate the action of human blinking by moving the two eyelids relative to each other. This allows for more complex emotional expression by simulating the eye movements that a person may produce when experiencing various emotions, thereby meeting the diverse needs of users for emotional companionship. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of a companion robot provided in an embodiment of this disclosure;

[0032] Figure 2 This is a schematic diagram of a head structure provided in an embodiment of this disclosure;

[0033] Figure 3 This is a schematic diagram of a blinking mechanism provided in an embodiment of this disclosure;

[0034] Figure 4 This is a schematic diagram of the first state structure of a blinking mechanism provided in an embodiment of this disclosure;

[0035] Figure 5This is a schematic diagram of the second state structure of a blinking mechanism provided in an embodiment of this disclosure;

[0036] Figure 6 This is a schematic diagram of the third state structure of a blinking mechanism provided in an embodiment of this disclosure;

[0037] Figure 7 This is a schematic diagram of the fourth state structure of a blinking mechanism provided in this embodiment of the present disclosure;

[0038] Figure 8 This is a schematic diagram of the disassembled structure of a companion robot provided in an embodiment of this disclosure;

[0039] Figure 9 This is a schematic diagram of the structure of a companion robot that removes elastic belly skin according to an embodiment of this disclosure;

[0040] Figure 10 This is a schematic diagram of the structure of a pressure regulating component provided in an embodiment of this disclosure;

[0041] Figure 11 This is a schematic diagram of the connection structure of a vibrating component provided in an embodiment of this disclosure.

[0042] Explanation of reference numerals in the attached figures

[0043] 1. Head; 11. Eye socket; 2. Neck; 21. First turntable; 211. First receiving slot; 22. First robotic arm; 221. Second receiving slot; 23. Second robotic arm; 24. Second turntable; 25. Drive unit; 3. Waist; 31. Support structure; 311. Fixing part; 3111. Base; 312. Moving part; 3121. Mounting seat; 3122. Mounting slot; 32. Elastic belly; 321. Throwing 33. Image area; 33. Air pressure regulating component; 331. First air vent; 3311. First branch pipe; 332. Second air vent; 3321. Second branch pipe; 4. Blinking mechanism; 41. Back panel; 42. Eyelid; 421. Curtain; 4211. Perforation; 43. Pulley; 44. Pull cord; 441. Knot; 45. Retractor; 5. Vibrating component; 6. Projection device; 7. Annular light-emitting strip; 8. Camera. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

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

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

[0047] Continue to refer to Figure 2 As shown, the blinking mechanism 4 corresponds one-to-one with the eye socket 11. The blinking mechanism 4 includes a back plate 41 and two eyelids 42. The back plate 41 is installed inside the corresponding eye socket 11, and the front of the back plate 41 faces the outer side of the eye socket 11. The two eyelids 42 are movably installed inside the corresponding eye socket 11, and both eyelids 42 are located on the front 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 sockets 11 can simulate the action of human blinking by moving the two eyelids 42 relative to each other. This allows for more complex emotional expression by simulating the eye movements that a person may produce when 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 squinting expression of a human when confused. Conversely, 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 wide-eyed expression of a human when happy. Alternatively, the distance between the two eyelids 42 of one blinking mechanism 4 can be relatively close, while the distance between the two eyelids 42 of the other blinking mechanism 4 can be relatively far, mimicking a playful expression.

[0050] In one example, the two eyelids 42 of each blinking mechanism 4 are arranged vertically. For example Figure 4 and Figure 5As shown, both eyelids 42, which are distributed vertically, can move up and down, thus achieving a better anthropomorphic effect. This makes it easier for people to understand the emotional information expressed by the companion robot.

[0051] In one example, reference Figure 3 As shown, the blinking mechanism 4 also includes a pulley 43 and two drive components. The pulley 43 is installed inside the corresponding head 1, as shown... Figure 3 As shown, it is located on the upper side of the corresponding two eyelids 42. The driving component corresponds one-to-one with the eyelids 42. The driving component includes two pull cords 44 and two retractor / release members 45. The pull cords 44 and the retractor / release members 45 correspond one-to-one. The first end of the two pull cords 44 is connected to the two ends of the corresponding eyelids 42 respectively. The second end of the pull cords 44 passes through the pulley 43 and is connected to the corresponding retractor / release member 45. The retractor / release member 45 is installed inside the head 1 and is used to retract and release the corresponding pull cords 44.

[0052] For example, the interior of the head 1 can be a first hollow structure, or the interior of the head 1 can have a cavity for mounting the pulley 43 and the drive assembly. Taking the interior of the head 1 as a first hollow structure as an example, the eye socket 11 can be a through hole connecting the first hollow structure and the outside. The outer side of the eye socket 11 is the outside, and the inner side of the eye socket 11 is the first hollow structure.

[0053] like Figure 3 As shown, since the pulley 43 is located above the corresponding two eyelids 42, the second end of the pull cable 44 can be wrapped around the upper side of the pulley 43 and then connected to the take-up and release device 45. Furthermore, in order to realize the take-up and release of the corresponding pull cable 44, the take-up and release device 45 can be a drum driven by a motor, and the second end of the pull cable 44 can be fixedly connected to the drum.

[0054] When the motor rotates forward, it drives the drum to rotate forward, allowing the pull cord 44 to be wound onto the drum, thereby pulling the corresponding end of the eyelid 42 upward. When the motor rotates in reverse, it drives the drum to rotate in reverse, allowing the pull cord 44 to be released from the drum, and gravity allows the corresponding end of the eyelid 42 to descend. This achieves the up-and-down movement of the corresponding eyelid 42. Furthermore, since each end of the eyelid 42 is connected to a pull cord 44, the eyelid 42 can be raised and lowered when the corresponding two take-up and release components 45 move synchronously. When one of the take-up and release components 45 moves independently or when the speeds of the two take-up and release components 45 are different, the tilt angle of the eyelid 42 can be changed, which is beneficial for expressing more emotional information.

[0055] For example Figure 6As shown, 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 apart from each other, thus expressing expressions such as confusion, dizziness, or embarrassment.

[0056] For example Figure 7 As shown, it is also possible 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 apart, thus expressing expressions such as pain and anger.

[0057] For example Figure 8 As shown, 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 apart from each other. Furthermore, the lower eyelids 42 in the two eye sockets 11 are horizontal, which can express expressions such as seriousness or anger.

[0058] In one example, reference Figure 3 As shown, the eyelid 42 includes multiple slats 421, which are distributed sequentially from top to bottom. For example, in Figure 3 In this embodiment, each eyelid 42 may include four slats 421, but each eyelid 42 may also include three, five, or six slats 421, etc. In this embodiment, the number of slats 421 included in each eyelid 42 is not limited. Figure 3 In this process, the shape of the slat 421 can be rectangular, but the shape of the slat 421 can also be a rounded rectangle, trapezoid, etc.

[0059] Continue to refer to Figure 3 As shown, each slat 421 has two perforations 4211. The two perforations 4211 of each slat 421 are located at both ends of the corresponding slat 421 and correspond to a pull cord 44 respectively.

[0060] Furthermore, the pull cord 44 passes through the corresponding perforations 4211 on multiple slats 421 in sequence, and the pull cord 44 has multiple knots 441, which are distributed at intervals along the pull cord 44.

[0061] In this configuration, at least one knot 441 of each pull cord 44 is located on the lower side of each corresponding slat 421, and there is at least one knot 441 of each pull cord 44 between every two adjacent slats 421. The diameter of the knot 441 is larger than the diameter of the perforation 4211. Thus, the slats 421 can be suspended on the pull cord 44 by the knot 441 on the lowermost side of the pull cord 44, and the knots 441 between adjacent slats 421 can separate adjacent slats 421.

[0062] For example, in Figure 3 In this configuration, one knot 441 of each pull cord 44 is located under the corresponding slat 421, and there is one knot 441 of each pull cord 44 between every two adjacent slats 421. Alternatively, two knots 441 of each pull cord 44 may be located under the corresponding slat 421, and there are two knots 441 of each pull cord 44 between every two adjacent slats 421. Or, two knots 441 of each pull cord 44 may be located under the corresponding slat 421, and there are two knots 441 of each pull cord 44 between every two adjacent slats 421.

[0063] Taking the lower eyelid 42 as an example, when the retractor 45 releases the pull cord 44 until each corresponding slat 421 is at its lowest position, multiple slats 421 can overlap, thereby reducing the area occupied by the eyelid 42. When the retractor 45 rolls up the pull cord 44, due to the presence of the knot 441, multiple slats 421 can rise one by one from top to bottom, thus allowing the multiple slats 421 to be misaligned and reducing overlap, thereby increasing the area of ​​the eyelid 42, making the eyelid 42 sufficient to cover the lower half of the inner part of the eye socket 11.

[0064] Taking the upper eyelid 42 as an example, when the retractor 45 rolls up the pull cord 44 until each corresponding slat 421 is at its highest position, multiple slats 421 can overlap, thereby reducing the area occupied by the eyelid 42. When the retractor 45 releases the pull cord 44, due to the presence of the knot 441, multiple slats 421 can descend one by one from bottom to top, and multiple slats 421 can be misaligned to reduce overlap, thereby increasing the area of ​​the eyelid 42, making the eyelid 42 sufficient to cover the upper half of the eye socket 11.

[0065] As described above, the eyelid 42 includes multiple slats 421, which helps to reduce the space occupied by the eyelid 42 during the lifting and lowering process.

[0066] In one example, reference Figure 1 and Figure 8As shown, the companion robot also 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] like Figure 8 As shown, the first turntable 21 is rotatably mounted on the waist 3 around the first axis, the first end of the first robotic arm 22 is rotatably connected to the first turntable 21 around the second axis, the first end of the second robotic arm 23 is rotatably connected to the second end of the first robotic arm 22 around the third axis, the second turntable 24 is rotatably connected to the second end of the second robotic arm 23 around the fourth axis, and the head 1 is rotatably mounted on the second turntable 24 around the fifth axis.

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

[0069] For example Figure 8 As shown, the first turntable 21 can be installed on the top of the waist 3, the first axis can extend in the vertical direction, and the second, third and fourth axes can all extend in the horizontal direction. 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 the direction perpendicular to the fifth direction.

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

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

[0072] When the two eye sockets 11 are oriented in a direction parallel to the second axis, and at least one of the following actions is performed: the first robotic arm 22 rotates around the second axis, the second robotic arm 23 rotates around the third axis, or the second turntable 24 rotates around the fourth axis, the head 1 can perform actions such as shaking its head or tilting its head.

[0073] When the first robotic arm 22 rotates around the second axis, and / or the second robotic arm 23 rotates around the third axis, it can perform the action of extending or retracting the neck. For example, extending the neck can express emotions related to anger or curiosity, while retracting the neck can express emotions related to fear or dread.

[0074] As mentioned above, companion robots can make more human-like movements, making the emotional information they express easier for people to understand, thus helping to meet users' diverse needs for emotional companionship.

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

[0076] For example, the drive component 25 can be a motor or a servo motor. Taking the first turntable 21 being driven to rotate around the first axis by a motor as an example, the motor can be fixedly mounted on the waist part 3, and the output shaft of the motor extends along the first axis and is fixedly connected to the first turntable 21. When the motor starts, the first turntable 21 can rotate around the first axis.

[0077] Taking the rotation of the first robotic arm 22 around the second axis driven by a motor as an example, 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 starts, the first robotic arm 22 can rotate around the second axis.

[0078] Taking the rotation of head 1 around the fifth axis driven by a motor as an example, the motor can be fixedly installed on 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 starts, head 1 can rotate around the fifth axis.

[0079] In one example, reference Figure 8 As shown, the first turntable 21 has a first receiving groove 211, which is located on the side of the first turntable 21 away from the waist 3. The first end of the first robotic arm 22 is rotatably connected to the first receiving groove 211, which is used to receive the first robotic arm 22. For example... Figure 8 As shown, the first receiving slot 211 can be located on the upper surface of the first turntable 21. Therefore, when the companion robot retracts its neck, the first robotic arm 22 can be accommodated in the first receiving slot 211, resulting in a shorter neck 2, making it easier to express related emotions such as distress or fear. Simultaneously, it improves the overall integrity of the companion robot, helping to avoid excessive gaps between the head 1 and waist 3.

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

[0081] In one example, reference Figure 8 As shown, either the first robotic arm 22 or the second robotic arm 23 can have a second receiving slot 221. When the first robotic arm 22 has the second receiving slot 221, the second receiving slot 221 is used to accommodate the second robotic arm 23. When the companion robot performs a neck-shrinking action, the second robotic arm 23 can be accommodated in the second receiving slot 221. When the second robotic arm 23 has the second receiving slot 221, the second receiving slot 221 is used to accommodate the first robotic arm 22. When the companion robot performs a neck-shrinking action, the first robotic arm 22 can be accommodated in the second receiving slot 221. Therefore, the length of the neck 2 can be shorter, making it easier to express related emotions such as grievance or fear. At the same time, it can improve the overall integrity of the companion robot, helping to avoid an excessively large gap between the head 1 and the waist 3 of the companion robot.

[0082] In one example, reference 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. The second hollow structure can be used to fix and install two drive components 25.

[0083] For example Figure 8 As shown, taking the second robotic arm 23 as an example of a second hollow structure, both drive components 25 located in the second hollow structure are servo motors. The output shaft of one of the servo motors can extend along a third axis and connect to the first robotic arm 22, thereby driving the second robotic arm 23 to rotate around the third axis. The output shaft of the other servo motor can extend along a fourth axis and connect to the second turntable 24, thereby driving the second turntable 24 to rotate around the fourth axis.

[0084] As described above, the two drive components 25 can be hidden in the second hollow structure, which can reduce the space occupied by the drive components 25 and improve the aesthetics of the companion robot.

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

[0086] Among them, reference Figure 1 And refer to Figure 9 As shown, the elastic belly 32 surrounds the support structure 31, and the top and bottom of the elastic belly 32 enclose the support structure 31 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 adhesive.

[0087] Continue to refer to Figure 1 Hehe 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 on 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 soft and elastic material, which can simulate a warm and comfortable touch, thereby adapting to the user's tactile needs and being suitable for physical contact such as hugging or leaning.

[0089] In one example, reference Figure 10 As shown, the waist section 3 also includes a pressure regulating component 33, which is installed on the support structure 31 and located inside the sealed cavity. The pressure regulating component 33 is used to regulate the pressure inside the sealed cavity.

[0090] Therefore, since the air pressure regulating component 33 can adjust the air pressure inside the sealed cavity, it can adjust the air pressure according to different needs to adapt to the tactile needs of different users. On the other hand, it can change the size of the elastic belly 32, which is conducive to expressing more emotional information. For example, by making the volume of the elastic belly 32 fluctuate, it can simulate the emotion of human anger.

[0091] The pressure regulating component 33 can be a compressor, and the supporting structure 31 can be a third hollow structure. The compressor can be fixedly installed in the third hollow structure. The compressor can have a first ventilation pipe 331 and a second ventilation pipe 332. The first ventilation pipe 331 can be connected to the outside through multiple first branch pipes 3311, and the second ventilation pipe 332 can be connected to the sealed cavity through multiple second branch pipes 3321.

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

[0093] In one example, reference Figure 9 As shown and combined Figure 1 As shown, the support structure 31 includes a fixed part 311 and a movable part 312, the movable part 312 being movably connected to the fixed part 311 along the height direction. For example, the movable part 312 can move on the fixed part 311 by connecting the fixed part 311 and the movable part 312 through a structure such as a screw-slider mechanism or a pneumatic telescopic cylinder.

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

[0095] For example, the top of the movable part 312 may have a mounting base 3121, and the top of the elastic belly 32 may be connected to the periphery of the mounting base 3121. The mounting base 3121 and the movable part 312 may be integrally formed or they may be independent structural components, fixedly connected together by bolts, welding, or other methods. The bottom of the fixed part 311 may have a base 3111, and the top of the elastic belly 32 may be connected to the periphery of the base 3111. The base 3111 and the fixed part 311 may be integrally formed or they may be independent structural components, fixedly connected together by bolts, welding, or other methods.

[0096] As described above, the height of the waist 3 can be changed by moving the moving part 312, thereby changing the height of the companion robot and enabling the expression of more emotional information. For example, by making the height of the waist 3 fluctuate, and simultaneously using the blinking mechanism 4 to display a happy expression, emotions related to excitement and happiness can be expressed. Alternatively, by making the height of the waist 3 fluctuate, and simultaneously using the blinking mechanism 4 to display an angry expression, a stronger emotion of anger can be expressed.

[0097] Furthermore, as the height of the waist 3 changes, the volume of the elastic belly 32 also changes accordingly, which helps to convey stronger emotions.

[0098] In one example, the companion robot may also include a projection device 6, and, referring to... Figure 1 As shown, the elastic belly 32 may have a projection area 321, and the projection device 6 is mounted on the support structure 31 and used to project onto the projection area 321. For example, the projection device 6 may be a projector, see reference. Figure 9 As shown, the projector can be fixedly mounted on the surface of the fixing part 311 and project towards the projection area 321.

[0099] Thus, a person can see the images or animations projected by the projection device 6 from the projection area 321. This allows the companion robot's emotional state to be displayed in real time through images or animations. This visual feedback, combined with the robot's physical movements, provides users with an intuitive and rich emotional communication experience.

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

[0101] In one example, the companion robot also includes a vibrator 5, which is mounted on the waist 3 and used to vibrate the waist 3. (Reference) Figure 11 and combined Figure 9 As shown, the vibrating element 5 may include multiple vibrators, which can all be mounted on the base 3111 and distributed at intervals around the support structure 31. Thus, the vibrating element 5 can make the companion robot vibrate, thereby conveying warmth and comfort to the user through some gentle vibration effects.

[0102] In one example, the companion robot also includes a voice-generating device, which can be installed on the head 1 or the waist 3. For example, the voice-generating device can be a speaker, which can be fixedly installed in a first hollow structure or in a third hollow structure. This allows the robot to generate sounds in conjunction with various movements, enhancing the effectiveness of emotional expression. For instance, the companion robot can produce slight vibrations, the speaker can emit a cat's purring sound, the blinking mechanism 4 can be in a closed-eye state, and the volume of the elastic belly 32 can fluctuate, thus simulating the movements of a sleeping cat and satisfying more complex emotional needs of the user.

[0103] In one example, the backplate 41 can be a color-changing luminous backplate. Thus, by emitting different colors of light through the luminous backplate, it can complement the emotional expression of the companion robot, thereby enriching the companion robot's emotional expression.

[0104] In one example, the companion robot also includes a ring-shaped light-emitting strip 7, which can be mounted on the bottom of the support structure 31 and surround the support structure 31, and the ring-shaped light-emitting strip 7 is located inside the sealed cavity. For example Figure 9 As shown, the annular light-emitting strip 7 can be fixedly installed on the upper surface of the base 3111. Thus, the lower area of ​​the waist section 3 can be illuminated by the annular light-emitting strip 7, providing more interactive feedback in conjunction with the sound-emitting device.

[0105] In one example, the companion robot may also include a mobile device and a camera 8. (Reference) Figure 2As shown, camera 8 can be installed at the mouth position of head 1, and the mobile device can be installed at the bottom of waist 3, located outside the sealed cavity. The mobile device and camera 8 can be connected to the controller via signal. Camera 8 can transmit external image information to the controller. The controller can control the operation of the mobile device based on the received image information and user commands, enabling autonomous navigation or autonomous following based on the user's location, thereby increasing interactivity with the user and further enhancing the companionship effect.

[0106] In this embodiment of the disclosure, the head 1 has two eye sockets 11 located on the same side, and the blinking mechanism 4 installed in the eye sockets 11 can simulate the action of human blinking by moving the two eyelids 42 relative to each other. This allows for more complex emotional expression by simulating the eye movements that a person may produce when in various emotions, thereby meeting the diverse needs of users for emotional companionship.

[0107] It should be noted that the terms "first," "second," etc., used in the specification and claims of this disclosure are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this disclosure can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class, and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0108] The above are merely preferred embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A companion robot, characterized in that, The companion robot includes a head (1) and two blinking mechanisms (4); The head (1) has two eye sockets (11) which are symmetrically located on the same side of the head (1); The blinking mechanism (4) corresponds one-to-one with the eye socket (11). The blinking mechanism (4) includes a back plate (41), two eyelids (42), a pulley (43) and two drive components. The back plate (41) is installed in the corresponding eye socket (11), and the front of the back plate (41) faces the outside of the eye socket (11); The two eyelids (42) are movable relative to each other and are installed in the corresponding eye sockets (11), and both eyelids (42) are located on the front of the corresponding back plate (41); The two eyelids (42) of each blinking mechanism (4) are distributed vertically; The pulley (43) is installed inside the corresponding head (1) and located on the upper side of the corresponding two eyelids (42); The driving component corresponds one-to-one with the eyelid (42), and the driving component includes two pull wires (44) and two retracting parts (45). The pull cord (44) corresponds one-to-one with the retractor (45). The first end of the two pull cords (44) is connected to the two ends of the corresponding eyelid (42) respectively. The second end of the pull cord (44) is connected to the corresponding retractor (45) by passing through the pulley (43). The retractor (45) is installed inside the head (1) and is used to retract the corresponding pull cord (44).

2. The companion robot according to claim 1, characterized in that, The eyelid (42) includes multiple slats (421), which are distributed from top to bottom; The slat (421) has two perforations (4211), and the two perforations (4211) of each slat (421) are located at both ends of the corresponding slat (421) and correspond to one of the pull cords (44); The pull cord (44) passes through the corresponding perforations (4211) on the plurality of curtain slats (421) in sequence. The pull cord (44) has a plurality of knots (441) and the plurality of knots (441) are distributed at intervals along the pull cord (44). At least one knot (441) of each of the pull cords (44) is located on the underside of the corresponding slat (421), and there is at least one knot (441) of each pull cord (44) between every two adjacent slats (421), the diameter of the knot (441) being larger than the diameter of the perforation (4211).

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

4. The companion robot according to claim 3, characterized in that, The first turntable (21) has a first receiving groove (211), which is located on the side of the first turntable (21) away from the waist (3). The first end of the first robotic arm (22) is rotatably connected to the first receiving groove (211), which is used to receive the first robotic arm (22).

5. The companion robot according to claim 1, characterized in that, The companion robot also includes a waist (3), which includes a support 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 sealed cavity.

6. The companion robot according to claim 5, characterized in that, The waist section (3) also includes a pressure regulating component (33), which is installed on the support structure (31) and located inside the sealed cavity. The pressure regulating component (33) is used to regulate the pressure inside the sealed cavity.

7. The companion robot according to claim 5, characterized in that, The support structure (31) includes a fixed part (311) and a movable part (312), wherein the movable part (312) is movably connected to the fixed part (311) along the height direction; The elastic belly (32) surrounds the fixed part (311) and the movable part (312), with the top of the elastic belly (32) connected to the movable part (312) and the bottom of the elastic belly (32) connected to the fixed part (311), thereby forming the sealed cavity.

8. The companion robot according to claim 3 or 5, characterized in that, The companion robot also includes a vibrating element (5), which is mounted on the waist (3) and is used to vibrate the waist (3).

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