Accompanying robot with multi-degree-of-freedom and dynamic form conversion function and control method

Abstract

The invention belongs to the technical field of robots, and discloses an accompanying robot with multiple degrees of freedom and a dynamic form conversion function and a control method. The robot adopts a bionic appearance design, comprises a trunk structure, a head structure, an arm structure and a leg structure, and realizes abundant dynamic interaction actions through a multi-degree-of-freedom driving mechanism. The head is driven by double steering engines, and left-right head shaking and front-back nodding can be completed; the arms are controlled by double steering engines to swing back and forth and unfold up and down; the legs are innovatively combined with an electric hub mechanism and a connecting rod type lifting mechanism, stable movement can be achieved, and sitting and standing postures can be rapidly switched or jumping actions can be completed. The limitation that a traditional accompanying robot is single in action is broken through, anthropomorphic actions such as sitting and standing switching, jumping and swinging are achieved, the robot is particularly suitable for family child accompanying scenes, and the emotional expressive force and interaction interestingness of the robot are remarkably enhanced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a companion robot with multi-degree-of-freedom and dynamic shape conversion function and a control method. BACKGROUND

[0002] Existing family companion robots are mostly of static structure or low-degree-of-freedom structure, and mainly realize interaction with children through screens, voices and simple limb movements, such as common desktop voice assistant type robots and simple wheel type interactive robots.

[0003] These existing technologies usually have the following technical problems: Lack of dynamic limb expressiveness: the head can only rotate or be fixed, and the limb movement is simple, and the bionic animal behavior cannot be truly simulated; Single movement shape: most robots only have rolling or track type movement ability, and lack of posture switching ability such as sitting and standing; Lack of stable dynamic balance control: especially when moving and dynamically interacting, it is easy to fall, and the safety and interactivity are poor; Poor limb interaction with children: cannot realize such as swinging and jumping, which are strong in affinity, and limits the parent-child interaction and education potential.

[0004] Therefore, there is an urgent need for a family companion robot structure design with more flexible structure, complex posture conversion and multi-degree-of-freedom movement ability, and good stability and safety, to improve the actual accompanying and entertainment effect. SUMMARY

[0005] The present application aims to provide a companion robot with multi-degree-of-freedom and dynamic shape conversion function and a control method, to solve the technical problems of lack of multi-degree-of-freedom movement ability, poor dynamic stability and insufficient interactivity of the companion robot.

[0006] To solve the above technical problems, the specific technical scheme of the present application is as follows: The application discloses a companion robot with multi-degree-of-freedom and dynamic shape conversion function, which comprises a trunk structure, a head structure, an arm structure and a leg structure, wherein the driving mechanism of the head structure, the arm structure and the leg structure is integrated inside the trunk structure, the head structure is fixedly installed above the trunk structure, the arm structure is fixedly installed on both sides of the trunk structure and symmetrically arranged, and the leg structure is fixedly installed below both sides of the trunk structure and symmetrically arranged.

[0007] Further, the trunk structure is provided with leg joint seats below both sides, the electric lifting mechanism is fixedly installed on the leg joint seat, the electric lifting mechanism is a connecting rod mechanism, the electric wheel hub mechanism is fixedly installed on the connecting rod mechanism, and the connecting rod mechanism drives the electric wheel hub mechanism to extend out of the bottom of the trunk structure or to be retracted into the trunk structure.

[0008] Further, the connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fifth steering engine, the fifth steering engine is fixedly installed on the inner side of the leg joint seat, one end of the first connecting rod is connected with the leg joint seat, the other end of the first connecting rod is connected with one end of the third connecting rod, one end of the second connecting rod is fixedly connected with the output end of the fifth steering engine, the other end of the second connecting rod is connected with the middle shaft of the third connecting rod, the electric wheel hub mechanism is fixedly installed on the other end of the third connecting rod, the fifth steering engine drives the connecting rod mechanism to move, the electric wheel hub mechanism extends out of the bottom of the trunk structure or is retracted into the trunk structure, and the electric wheel hub mechanism is an electric wheel hub motor.

[0009] Further, the bottom of the trunk structure is a plane, and when the electric wheel hub mechanism is retracted into the trunk structure, the robot is in a sitting position on the surface of a flat object.

[0010] Further, the trunk structure is provided with a neck joint seat above, the head structure comprises a head shell, a first steering engine and a second steering engine, the first steering engine and the second steering engine are installed in the neck joint seat and are rigidly connected with the trunk structure, the first steering engine drives the head shell to swing left and right, and the second steering engine drives the head shell to swing forward and backward.

[0011] Further, the second steering wheel is externally provided with a second steering wheel housing, the second steering wheel is fixedly installed in the second steering wheel housing, the second steering wheel housing is rotationally connected to the neck joint seat, the first steering wheel output shaft is fixedly connected to the second steering wheel housing, the head shell bottom is provided with a head base, the head shell is fixedly connected to the head base, the head base is rotationally connected to the left and right sides of the second steering wheel housing, the second steering wheel output shaft is fixedly connected to the head base, the first steering wheel rotates to drive the second steering wheel housing to swing left and right, thereby driving the head shell to swing left and right; the second steering wheel rotates to drive the head base to swing forward and backward, thereby driving the head shell to swing forward and backward.

[0012] Further, the left and right sides of the trunk structure are provided with arm joint seats, the arm structure includes an arm shell, a third steering wheel and a fourth steering wheel, the third steering wheel and the fourth steering wheel are installed on the arm joint seat, the third steering wheel drives the arm shell to swing forward and backward, and the fourth steering wheel drives the arm shell to swing up and down.

[0013] Further, the fourth steering wheel is externally provided with a fourth steering wheel housing, the fourth steering wheel is fixedly installed in the fourth steering wheel housing, the fourth steering wheel housing is rotationally connected to the arm joint seat, the third steering wheel output shaft is fixedly connected to the fourth steering wheel housing, the arm shell is rotationally connected to the front and back sides of the fourth steering wheel housing, and the fourth steering wheel output shaft is fixedly connected to the arm shell. The third steering wheel rotates to drive the fourth steering wheel housing to rotate, thereby driving the arm shell to swing forward and backward; the fourth steering wheel rotates to drive the arm shell to swing up and down.

[0014] Further, the trunk structure is internally integrated with a lithium battery, a control system, a heat dissipation assembly and a sensor assembly, the lithium battery is fixedly installed below the trunk structure and connected to the control system and the steering wheels and motors of each structure, for providing power supply for the whole device, the heat dissipation assembly includes a plurality of heat dissipation fans, which are arranged at places requiring heat dissipation in the trunk structure, the sensor assembly is electrically connected to the control system, for positioning and navigation of the robot, and the control system is used for collecting information of the sensor assembly and controlling the operation of each steering wheel and motor.

[0015] Further, the control method includes leg movement control, and the leg movement control includes the following steps: Forward and backward movement control: the control system controls the two side electric wheel hub mechanisms to rotate at the same speed at the same time to realize forward movement or backward movement of the robot; Steering control: the control system controls the two side electric wheel hub mechanisms to rotate at different speeds to realize deflection of the wheel hub movement direction, thereby realizing steering control of the robot; Sit-stand switching control: the control system controls the two side electric lifting mechanisms to rotate at the same time to realize extension of the electric wheel hub mechanisms out of the bottom of the trunk structure or folding of the electric wheel hub mechanisms inside the trunk structure; Jumping control: the control system controls the two sides of the electric lifting mechanism to quickly reverse at the same time, realizes the electric wheel hub mechanism to quickly stretch out the bottom of the trunk structure, drives the robot to realize jumping; Swing control: the control system controls the two sides of the electric lifting mechanism to rotate at different times, realizes the left and right swing of the robot; the control system controls the two sides of the electric wheel hub mechanism to move forward and backward at the same time, realizes the front and back swing of the robot.

[0016] The accompanying robot with multiple degrees of freedom and dynamic shape conversion function and the control method have the following advantages: Multiple degrees of freedom dynamic shape conversion: through the multi-degree-of-freedom design of the head, arm and leg, the robot can realize rich dynamic actions (such as shaking head, swinging arm, sitting and standing switching, jumping, etc.), significantly improving the interactive performance and affinity with the user.

[0017] Bionic motion and high stability: the leg adopts the combination of electric wheel hub mechanism and connecting rod type lifting mechanism, which can realize stable wheel movement and quickly switch shape (such as sitting and standing, jumping) through the lifting mechanism, and integrates attitude sensor and balance control algorithm, ensuring the dynamic stability in motion.

[0018] Multifunctional interaction ability: Head double rudder driven: support left and right shaking head and forward and backward nodding, simulate natural expression, enhance emotional interaction.

[0019] Arm double-degree-of-freedom swing: realize forward and backward arm swing and upward and downward unfolding action, which can be used for gesture interaction or object delivery.

[0020] Leg dynamic expansion function: in addition to conventional movement, it can also realize jumping, swinging and other interesting actions, improving entertainment and children attraction.

[0021] Modular integrated design: the trunk is internally concentrated with lithium battery, control system and heat dissipation components, which is compact in structure and convenient to maintain; the fusion design of sensor components (such as laser radar and binocular camera) supports precise navigation and obstacle avoidance, and guarantees safe interaction.

[0022] Intelligent control and expansibility: based on multi-rudder cooperative control and sensor feedback, the system can flexibly adapt to different interactive scenes (such as education and accompanying), and further expand the action library through algorithm optimization (such as PID control), to meet diversified needs.

[0023] In summary, the present application solves the problems of single action and poor stability of traditional companion robots by combining mechanical structure innovation and intelligent control, and has high interactivity, safety and expansibility, especially suitable for family children accompanying and education scenes. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 Whole structure schematic diagram of the accompanying robot of the present application; Figure 2 Back structure schematic diagram of the accompanying robot of the present application; Figure 3 Three joint base structure schematic diagram of the present application; Figure 4 Head structure schematic diagram of the accompanying robot of the present application; Figure 5 Internal structure schematic diagram of the present application after hiding the second steering wheel shell; Figure 6 Arm structure and leg structure schematic diagram of the accompanying robot of the present application; Figure 7 Back internal structure schematic diagram of the accompanying robot of the present application; Marked in the figure: 1, trunk structure; 11, neck joint base; 12, arm joint base; 13, leg joint base; 14, lithium battery; 141, charging port; 15, control system; 16, heat dissipation assembly; 171, laser radar; 172, infrared sensor; 173, binocular camera; 2, head structure; 21, head shell; 211, head base; 22, first steering wheel; 23, second steering wheel; 231, second steering wheel shell; 3, arm structure; 31, arm shell; 32, third steering wheel; 33, fourth steering wheel; 331, fourth steering wheel shell; 4, leg structure; 41, electric hub mechanism; 42, electric lifting mechanism; 421, connecting rod one; 422, connecting rod two; 423, connecting rod three; 424, fifth steering wheel. DETAILED DESCRIPTION

[0025] In order to better understand the purpose, structure and function of the present application, the accompanying drawings will be combined to further describe the accompanying robot with multi-degree-of-freedom and dynamic form conversion function and the control method in detail.

[0026] As shown in Figure 1 Figure 2 The accompanying robot with multi-degree-of-freedom and dynamic form conversion function of the present application includes a bionic shape structure, which adopts an affinity modeling, such as a bionic panda, to improve the children's preference. The overall structure includes a trunk structure 1, a head structure 2, an arm structure 3, and a leg structure 4. The trunk structure 1 integrates the driving mechanism of the head structure, the arm structure, and the leg structure inside, as shown in Figure 3 The trunk structure has a neck joint base 11 on the top, arm joint bases 12 on the left and right sides, and leg joint bases 13 on the lower sides.

[0027] As shown in Figure 4 Figure 5As shown, the head structure 2 includes two degrees of freedom, and is fixedly installed above the trunk structure 1, and includes a head shell 21, a first steering engine 22 and a second steering engine 23, the first steering engine 22 and the second steering engine 23 are installed in the neck joint seat 11 and are rigidly connected with the trunk structure 1. The first steering engine 22 drives the head shell 21 to swing left and right, and the second steering engine 23 drives the head shell 21 to swing forward and backward. Specifically, the second steering engine 23 has a second steering engine shell 231 outside, the second steering engine 23 is fixedly installed in the second steering engine shell 231, the second steering engine shell 231 is rotatably connected to the neck joint seat 11, the output shaft of the first steering engine 22 is fixedly connected with the second steering engine shell 231, the bottom of the head shell 21 has a head base 211, the head shell 21 is fixedly connected with the head base 211, the head base 211 is rotatably connected to the left and right sides of the second steering engine shell 231, and the output shaft of the second steering engine 23 is fixedly connected with the head base 211. The first steering engine 22 rotates to drive the second steering engine shell 231 to swing left and right, thereby driving the head shell 21 to swing left and right; the second steering engine 23 rotates to drive the head base 211 to swing forward and backward, thereby driving the head shell 21 to swing forward and backward.

[0028] As shown in Figure 6 The arm structure 3 is fixedly installed on both sides of the trunk structure 1 and is symmetrically arranged left and right, each arm structure 3 includes two degrees of freedom, and the arm structure 3 includes an arm shell 31, a third steering engine 32 and a fourth steering engine 33, the third steering engine 32 and the fourth steering engine 33 are installed on the arm joint seat 12, the third steering engine 32 drives the arm shell 31 to swing forward and backward, and the fourth steering engine 33 drives the arm shell 31 to swing up and down. Specifically, the fourth steering engine 33 has a fourth steering engine shell 331 outside, the fourth steering engine 33 is fixedly installed in the fourth steering engine shell 331, the fourth steering engine shell 331 is rotatably connected to the arm joint seat 12, the output shaft of the third steering engine 32 is fixedly connected with the fourth steering engine shell 331, the arm shell 31 is rotatably connected to the left and right sides of the fourth steering engine shell 331, and the output shaft of the fourth steering engine 33 is fixedly connected with the arm shell 31. The third steering engine 32 rotates to drive the fourth steering engine shell 331 to swing left and right, thereby driving the arm shell 31 to swing forward and backward; the fourth steering engine 33 rotates to drive the arm shell 31 to swing up and down.

[0029] As shown in Figure 6As shown, the leg structure 4 is fixedly installed below the torso structure 1, symmetrically arranged left and right, and each leg structure 4 has a telescopic wheel type driving mechanism, including an electric hub mechanism 41 and an electric lifting mechanism 42, the electric hub mechanism 41 is fixedly installed on the electric lifting mechanism 42, the electric lifting mechanism 42 is fixedly installed on the leg joint seat 13, the electric hub mechanism 41 is used to realize the moving functions of forward movement, backward movement, turning, etc., and the electric lifting mechanism 42 is used to realize the functions of sitting- standing switching and bouncing. Specifically, the electric lifting mechanism 42 can be a connecting rod or a servo sliding rail, used to drive the electric hub mechanism 41 to extend or retract. In this embodiment, the electric lifting mechanism 42 is a connecting rod mechanism, including a connecting rod one 421, a connecting rod two 422, a connecting rod three 423 and a fifth servo 424, the fifth servo 424 is fixedly installed inside the leg joint seat 13, one end of the connecting rod one 421 is connected with the leg joint seat 13, the other end is connected with one end of the connecting rod three 423, one end of the connecting rod two 422 is fixedly connected with the output end of the fifth servo 424, the other end is connected with the middle shaft of the connecting rod three 423, and the electric hub mechanism 41 is fixedly installed on the other end of the connecting rod three 423. The fifth servo 424 rotates to drive the connecting rod mechanism to move, so as to realize the extension of the electric hub mechanism 41 from the bottom of the torso structure 1 or the retraction of the electric hub mechanism 41 in the torso structure 1. The bottom of the torso structure 1 is a flat surface, which can be used to sit on the flat surface (such as the ground or the table top) when the electric hub mechanism 41 is retracted into the torso structure 1. The electric hub mechanism 41 is an electric hub motor, which rotates to realize the forward movement, backward movement and turning of the robot.

[0030] As Figure 7As shown, the trunk structure 1 is internally integrated with a lithium battery 14, a control system 15, a heat dissipation assembly 16 and a sensor assembly. The lithium battery 14 is fixedly installed below the trunk structure 1 and connected with the control system 15 and the steering gears and motors of various structures, for providing power supply for the overall device. A charging port 141 is arranged on the lower shell of the trunk structure 1, for charging the lithium battery 14. The heat dissipation assembly 16 includes a plurality of heat dissipation fans arranged at places needing heat dissipation, such as the middle of the trunk structure 1 and the bottom of the head structure 2, to avoid overheating of the robot. The sensor assembly is electrically connected with the control system 15 and includes a laser radar 171, an infrared sensor 172 and a binocular camera 173. The laser radar 171 is fixedly installed in the middle of the head shell 21 and is used for measuring the distance between the robot and an object to avoid collision between the robot and the object. The infrared sensor 172 is fixedly installed at the back of the trunk structure 1, and the binocular camera 173 is fixedly installed at the front of the trunk structure 1. The infrared sensor 172 and the binocular camera 173 are used for positioning and navigation of the robot. The control system 15 includes a plurality of control modules for controlling the operation of various steering gears and motors. The modular arrangement facilitates maintenance and replacement. The electric wheel hub mechanism 41 is integrated with an MPU6050 or similar gyroscope + accelerometer module. The control system 15 collects information of the sensor assembly and reads the attitude angle of the electric wheel hub mechanism 41 in real time, controls the wheel fine adjustment and realizes balance keeping. The existing PID control algorithm or Kalman filter is used to enhance stability.

[0031] The control method of the companion robot with multiple degrees of freedom and dynamic shape conversion function comprises the following steps: 1. Head movement control: Head shaking control: the control system 15 controls the first steering gear 22 to rotate and drives the head shell 21 to swing left and right, to realize the head shaking function.

[0032] Head nodding control: the control system 15 controls the second steering gear 23 to rotate and drives the head shell 21 to swing forward and backward, to realize the head nodding function.

[0033] 2. Arm movement control: Forward and backward arm swinging control: the control system 15 controls the third steering gear 32 to rotate and drives the arm shell 31 to swing forward and backward. By controlling the rotation directions of the two third steering gears 32 to be opposite, the arm swinging movement is realized.

[0034] Arm extension and retraction control: the control system 15 controls the fourth steering gear 33 to rotate and drives the arm shell 31 to swing up and down, to realize the arm extension and retraction.

[0035] 3. Leg movement control: Forward and backward movement control: the control system 15 controls the two electric wheel hub mechanisms 41 to rotate at the same speed at the same time, to realize the forward movement or backward movement of the robot. Turning control: the control system 15 controls the two sides of the electric wheel hub mechanism 41 to rotate at different speeds, realizes the deflection of the wheel hub movement direction, and thus realizes the robot turning control.

[0036] Sit-stand switching control: the control system 15 controls the two sides of the electric lifting mechanism 42 to rotate simultaneously, realizes the electric wheel hub mechanism 41 to stretch out of the bottom of the trunk structure 1 or to be folded inside the trunk structure 1.

[0037] Jumping control: the control system 15 controls the two sides of the electric lifting mechanism 42 to rotate quickly in positive and negative directions simultaneously, realizes the electric wheel hub mechanism 41 to stretch out of the bottom of the trunk structure 1 quickly and to stretch and contract, and thus realizes the robot to jump.

[0038] Swing control: the control system 15 controls the two sides of the electric lifting mechanism 42 to rotate at different times, realizes the robot to swing left and right; the control system 15 controls the two sides of the electric wheel hub mechanism 41 to move in positive and negative directions simultaneously, realizes the robot to swing forward and backward.

[0039] It can be understood that the present application is described through some embodiments, and those skilled in the art know that various changes or equivalent replacements can be made to the features and embodiments without departing from the spirit and scope of the present application. In addition, the features and embodiments can be modified to adapt to specific conditions and materials under the guidance of the present application without departing from the spirit and scope of the present application. Therefore, the present application is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application belong to the scope of protection of the present application.

Claims

1. A companion robot with multi-degree-of-freedom and dynamic shape transformation functions, comprising a trunk structure (1), a head structure (2), an arm structure (3), and a leg structure (4), wherein the trunk structure (1) integrates a drive mechanism of the head structure, the arm structure, and the leg structure, wherein the head structure (2) is fixedly mounted above the trunk structure (1); the arm structure (3) is fixedly mounted on both sides of the trunk structure (1) and is symmetrically arranged on the left and right; and the leg structure (4) is fixedly mounted on both sides of the bottom of the trunk structure (1) and is symmetrically arranged on the left and right, characterized in that: The leg structure (4) on each side includes an electric hub mechanism (41) and an electric lifting mechanism (42), wherein the electric hub mechanism (41) is fixedly mounted on the electric lifting mechanism (42), and the electric hub mechanism (41) is used to realize forward, backward, and steering movement functions, and the electric lifting mechanism (42) is used to drive the electric hub mechanism (41) to extend or retract, thereby realizing sitting-standing switching and bouncing functions.

2. The companion robot with multiple degrees of freedom and dynamic shape transformation function according to claim 1, characterized in that: The trunk structure (1) has leg joint seats (13) on both sides below, the electric lifting mechanism (42) is fixedly mounted on the leg joint seats (13), the electric lifting mechanism (42) is a connecting rod mechanism, the electric wheel hub mechanism (41) is fixedly mounted on the connecting rod mechanism, and the connecting rod mechanism drives the electric wheel hub mechanism (41) to extend out of the bottom of the trunk structure (1) or to be retracted into the trunk structure (1).

3. The companion robot with multiple degrees of freedom and dynamic shape transformation function according to claim 2, characterized in that: The connecting rod mechanism comprises a connecting rod 1 (421), a connecting rod 2 (422), a connecting rod 3 (423) and a fifth steering gear (424), wherein the fifth steering gear (424) is fixedly mounted on the inner side of the leg joint seat (13), one end of the connecting rod 1 (421) is connected to the shaft of the leg joint seat (13), and the other end is connected to the shaft of one end of the connecting rod 3 (423), one end of the connecting rod 2 (422) is fixedly connected to the output end of the fifth steering gear (424), and the other end is connected to the intermediate shaft of the connecting rod 3 (423), the electric hub mechanism (41) is fixedly mounted on the other end of the connecting rod 3 (423), the fifth steering gear (424) rotates to drive the connecting rod mechanism to move, so that the electric hub mechanism (41) extends out of the bottom of the trunk structure (1) or is retracted into the trunk structure (1), the electric hub mechanism (41) is an electric hub motor, and the rotation of the electric hub motor enables the robot to move forward, backward and turn.

4. The companion robot with multiple degrees of freedom and dynamic shape transformation function according to claim 1, characterized in that: The bottom of the trunk structure (1) is a plane, and when the electric hub mechanism (41) is retracted into the trunk structure (1), the robot sits on a flat surface.

5. The companion robot with multiple degrees of freedom and dynamic shape transformation function according to claim 1, characterized in that: A neck joint seat (11) is provided above the trunk structure (1), and the head structure (2) comprises a head shell (21), a first servo (22), and a second servo (23). The first servo (22) and the second servo (23) are installed in the neck joint seat (11) and are rigidly connected to the trunk structure (1). The first servo (22) drives the head shell (21) to swing left and right, and the second servo (23) drives the head shell (21) to swing forward and backward.

6. The companion robot with multiple degrees of freedom and dynamic shape transformation function according to claim 5, characterized in that: The second servo (23) has a second servo housing (231) on the outside, the second servo (23) is fixedly installed in the second servo housing (231), the second servo housing (231) is rotatably connected to the neck joint seat (11), the output shaft of the first servo (22) is fixedly connected to the second servo housing (231), the bottom of the head housing (21) has a head base (211), the head housing (21) is fixedly connected to the head base (211), the head base (211) is rotatably connected to the left and right sides of the second servo housing (231), the output shaft of the second servo (23) is fixedly connected to the head base (211), the first servo (22) rotates to drive the second servo housing (231) to swing left and right, thereby driving the head housing (21) to swing left and right; the second servo (23) rotates to drive the head base (211) to swing forward and backward, thereby driving the head housing (21) to swing forward and backward.

7. The companion robot with multiple degrees of freedom and dynamic shape transformation function according to claim 1, characterized in that: The trunk structure (1) has arm joint seats (12) on the left and right sides. The arm structure (3) includes an arm housing (31), a third servo (32) and a fourth servo (33). The third servo (32) and the fourth servo (33) are mounted on the arm joint seat (12). The third servo (32) drives the arm housing (31) to swing forward and backward, and the fourth servo (33) drives the arm housing (31) to swing up and down.

8. The companion robot with multiple degrees of freedom and dynamic shape transformation function according to claim 7, characterized in that: The fourth servo (33) has a fourth servo housing (331) on the outside. The fourth servo (33) is fixedly installed in the fourth servo housing (331). The fourth servo housing (331) is rotatably connected to the arm joint seat (12). The output shaft of the third servo (32) is fixedly connected to the fourth servo housing (331). The arm housing (31) is rotatably connected to the front and rear sides of the fourth servo housing (331). The output shaft of the fourth servo (33) is fixedly connected to the arm housing (31). The third servo (32) rotates to drive the fourth servo housing (331) to rotate, thereby driving the arm housing (31) to swing forward and backward; the fourth servo (33) rotates to drive the arm housing (31) to swing up and down.

9. The companion robot with multiple degrees of freedom and dynamic shape transformation function according to claim 1, characterized in that: The trunk structure (1) internally integrates a lithium battery (14), a control system (15), a heat dissipation component (16) and a sensor component. The lithium battery (14) is fixedly installed below the trunk structure (1) and is connected to the control system (15) and the steering gears and motors of each structure to provide power for the entire device. The heat dissipation component (16) includes a plurality of heat dissipation fans, which are respectively arranged at locations in the trunk structure (1) where heat dissipation is required. The sensor component is electrically connected to the control system (15) and is used for positioning and navigation of the robot. The control system (15) is used to collect information from the sensor component and control the operation of each steering gear and motor.

10. A control method for a companion robot with multiple degrees of freedom and dynamic shape transformation functions according to any one of claims 1 to 9, characterized in that: The method includes leg motion control, wherein the leg motion control comprises the following steps: Forward and backward movement control: the control system (15) controls the electric wheel hub mechanisms (41) on both sides to rotate at the same speed to move the robot forward or backward; Steering control: The control system (15) controls the electric wheel hub mechanisms (41) on both sides to rotate at different speeds to achieve deflection of the wheel hub movement direction, thereby achieving steering control of the robot; Sit-stand switching control: the control system (15) controls the electric lifting mechanisms (42) on both sides to rotate simultaneously, so that the electric hub mechanism (41) extends out of the bottom of the trunk structure (1) or retracts into the inside of the trunk structure (1); Jump control: The control system (15) controls the electric lifting mechanisms (42) on both sides to rotate forward and reverse rapidly at the same time, so that the electric hub mechanism (41) can be quickly extended and retracted at the bottom of the extended trunk structure (1), thereby driving the robot to jump; Swing control: The control system (15) controls the electric lifting mechanisms (42) on both sides to rotate at different times, thereby realizing the left and right swing of the robot; the control system (15) controls the electric hub mechanisms (41) on both sides to move forward and backward at the same time, thereby realizing the forward and backward swing of the robot.

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