Bionic ear and companion robot

Abstract

The utility model discloses robot technical field provides a kind of bionic ear and accompanying robot.Bionic ear includes: ear body and first drive component;Ear body has the ear morphology of target organism;First drive component and ear body are connected, to drive ear body swing around first axis, ear body is also rotatablely arranged relative to first drive component around second axis;Wherein, first axis is configured as along left and right direction, second axis is configured as along front and back direction.The utility model can imitate target organism to do multiple mimicry action using bionic ear, strong interesting, increase the pet characteristic of accompanying robot, help the application of accompanying robot in different scenes.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a bionic ear and companion robot. Background Technology

[0002] Companion robots are a type of robot that provides services such as safety monitoring, daily care, and emotional support for children and the elderly. With the rapid development of artificial intelligence technology and the gradual improvement of robot manufacturing technology, companion robots have become the choice of many families, providing more care and companionship for children and the elderly.

[0003] However, in practical applications, it has been found that the existing companion robots have simple ear structures and a single design style, serving only as an aesthetic decoration and failing to help the companion robots be used in different scenarios. Utility Model Content

[0004] This invention provides a bionic ear and companion robot, which at least solves or improves the problem that the existing companion robot's ear has a single design style and cannot help the companion robot to be used in different scenarios.

[0005] In a first aspect, the present invention provides a bionic ear, comprising:

[0006] The ear itself has the shape of the target organism's ear;

[0007] A first driving component is connected to the ear body to drive the ear body to swing about a first axis, and the ear body is also rotatably disposed about a second axis relative to the first driving component.

[0008] The first axis is configured to run in the left-right direction, and the second axis is configured to run in the front-back direction.

[0009] According to the bionic ear provided by this utility model, the first driving component includes:

[0010] First drive motor;

[0011] A gearbox, the first end of which is connected to the first drive motor, and the second end of which is connected to the ear body, wherein the ear body is rotatably disposed about a second axis relative to the second end of the gearbox.

[0012] According to the present invention, a bionic ear is provided, the gearbox comprising:

[0013] Box;

[0014] A gear set is disposed inside the housing. The gear set includes a meshing driving gear and a driven gear. The output end of the first drive motor is connected to the driving gear, and the driven gear is connected to the ear body.

[0015] The diameter of the driving gear is smaller than the diameter of the driven gear.

[0016] According to the present invention, a bionic ear is provided, the bionic ear further comprising:

[0017] An angle detection element, wherein the angle detection element is used to detect the rotation angle of the second end of the gearbox;

[0018] The circuit board, the angle detection element and the circuit board are electrically connected, and the circuit board is electrically connected to the first drive motor.

[0019] According to the present invention, a bionic ear is provided, the bionic ear further comprising:

[0020] A second driving component is disposed between the first driving component and the ear body, and the second driving component is used to drive the ear body to rotate about a second axis.

[0021] According to the bionic ear provided by this utility model, the second driving component includes:

[0022] A connecting base is provided, which is connected to the first driving component, and the ear body is rotatably disposed on the connecting base about a second axis;

[0023] A second drive motor is disposed on the connecting base and connected to the ear body to drive the ear body to rotate around a second axis.

[0024] According to the present invention, a bionic ear is provided, the ear body comprising:

[0025] The housing has a receiving cavity and a light-transmitting portion opposite to the receiving cavity;

[0026] A light-emitting element is disposed in the receiving cavity, and the light emitted by the light-emitting element can be transmitted through the light-transmitting part and out of the receiving cavity.

[0027] According to the present invention, a bionic ear is provided, the shell comprising:

[0028] The main body has a first end connected to the first drive component and a second end provided with a mounting port.

[0029] A light-transmitting cap is disposed at the mounting opening, and the light-transmitting cap and the main body portion enclose the receiving cavity.

[0030] According to the present invention, a bionic ear is provided at the first end of the main body, and the threading hole is connected to the receiving cavity.

[0031] The power line of the light-emitting element is configured to extend from the wire hole and be electrically connected to the power supply device.

[0032] In a second aspect, this utility model also provides a companion robot, comprising: a robot body, a left ear, and a right ear;

[0033] The left ear and the right ear are positioned opposite each other on both sides of the robot body in a left-right direction, and both the left ear and the right ear are bionic ears as described above.

[0034] According to the present invention, a companion robot is provided, which further includes:

[0035] A human-computer interaction module is disposed on the robot body to receive operation commands;

[0036] The main control board is disposed on the robot body, the human-computer interaction module is electrically connected to the main control board, and the main control board is electrically connected to the left ear and the right ear respectively;

[0037] The main control board is used to control the movement of at least one of the left ear and the right ear according to the operation instructions.

[0038] The bionic ear and companion robot provided by this utility model, by setting an ear body and a first driving component, the first driving component drives the ear body to swing around a first axis, which can realize the ear body swinging back and forth relative to the robot body. By setting the ear body to be rotatable relative to the first driving component around a second axis, the ear body can be controlled to swing up and down relative to the robot body. Compared with the fixed ears on existing companion robots, this design can use bionic ears to imitate the target creature to make a variety of mimicry actions, which is more interesting and increases the pet characteristics of the companion robot, which is conducive to the application of the companion robot in different scenarios. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of the bionic ear provided by this utility model.

[0041] Figure 2 This is one of the schematic diagrams of the exploded structure of the bionic ear provided by this utility model.

[0042] Figure 3 This is the second schematic diagram of the exploded structure of the bionic ear provided by this utility model.

[0043] Figure 4 This is a partial cross-sectional schematic diagram of the bionic ear provided by this utility model.

[0044] Figure 5 This is a structural diagram of the companion robot provided by this utility model, showing the left and right ears in an upright position.

[0045] Figure 6 This is a schematic diagram of the structure of the companion robot provided by this utility model, showing how the left and right ears switch from an upright state to a forward swinging state.

[0046] Figure 7 This is a schematic diagram of the structure of the companion robot provided by this utility model, showing the left and right ears switching from an upright state to a downward swinging state.

[0047] Figure label:

[0048] 1. Bionic ear; 101. Left ear; 102. Right ear; 2. Main body of the robot; 3. Human-computer interaction module; 4. Arm; 5. Movable support legs;

[0049] 11. Ear body; 111. Shell; 1111. Main body; 1112. Light-transmitting cap; 112. Light-emitting element; 12. First drive assembly; 121. First drive motor; 122. Gearbox; 1221. Housing; 1222. Gear set; 13. Second drive assembly; 131. Connecting seat; 132. Second drive motor; 14. Angle detection element; 15. Circuit board. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0051] The following is combined Figures 1-7The bionic ear and companion robot provided by the utility model embodiment will be described in detail through specific embodiments and application scenarios.

[0052] In the first aspect, such as Figure 1 , Figure 2 and Figure 3 As shown, this embodiment of the present invention provides a bionic ear 1, including: an ear body 11 and a first driving component 12;

[0053] The ear body 11 has the ear shape of the target organism;

[0054] The first drive assembly 12 is connected to the ear body 11 to drive the ear body 11 to swing around the first axis K1. The ear body 11 is also rotatably configured relative to the first drive assembly 12 around the second axis K2.

[0055] The first axis K1 is configured along the left-right direction, and the second axis K2 is configured along the front-back direction.

[0056] Understandably, the bionic ear 1 is configured to be installed on the main body of the companion robot, for example, on the left or right side of the robot's head.

[0057] The shape of the ear body 11 is roughly the same as the shape of the target creature's ear. For example, the similarity between the ear body 11 and the target creature's ear is greater than 80%. The ear body 11 can be a proportionally enlarged or scaled-down version of the target creature's ear. The ear body 11 can be configured to have the shape of a cat's or rabbit's ear.

[0058] The first drive assembly 12 is configured to be mounted on the robot body 2. The first drive assembly 12 can be a rotary drive component known in the art, such as a drive motor. The output end of the first drive assembly 12 can be connected to the head end of the bionic ear 1.

[0059] In practical applications, the ear body 11 and the first drive component 12 can be connected by a hinge structure to enable the ear body 11 to be rotatable relative to the first drive component 12 around the second axis K2. Users can adjust the deflection angle of the ear body 11 around the second axis K2 relative to the first drive component 12 as needed.

[0060] For example, the hinge structure includes a first hinge portion, a second hinge portion, and a hinge shaft. The hinge shaft is disposed along the second axis K2. The first hinge portion and the second hinge portion are rotatably connected through the hinge shaft. The first hinge portion is connected to the first drive assembly 12, and the second hinge portion is connected to the ear body 11.

[0061] The hinge shaft can be made of bolts, and the first hinge part and the second hinge part are coaxially arranged and respectively threaded to the hinge shaft.

[0062] The bionic ear 1 shown in this utility model, by setting an ear body 11 and a first driving component 12, allows the ear body 11 to swing around a first axis K1, thus enabling the ear body 11 to swing back and forth relative to the robot body 2. By rotatably setting the ear body 11 relative to the first driving component 12 around a second axis K2, the ear body 11 can be controlled to swing up and down relative to the robot body 2. Compared with the fixed ears on existing companion robots, this design allows the bionic ear 1 to imitate various mimicry actions of the target creature, which is more interesting and increases the pet characteristics of the companion robot, thus facilitating the application of the companion robot in different scenarios.

[0063] In some embodiments, such as Figure 1 and Figure 2 As shown, the first drive assembly 12 includes: a first drive motor 121 and a gearbox 122;

[0064] The first end of the gearbox 122 is connected to the first drive motor 121, and the second end of the gearbox 122 is connected to the ear body 11. The ear body 11 is rotatably configured relative to the second end of the gearbox 122 around the second axis.

[0065] It is understandable that the first drive motor 121 can be a DC motor.

[0066] The base of the first drive motor 121 can be configured to be connected to the gearbox 122. The output end of the first drive motor 121 is connected to the first end of the gearbox 122. The second end of the gearbox 122 is rotatably connected to the first end of the ear body 11 around the second axis. This design allows the gearbox 122 to adjust the speed of the first drive motor 121, making it easier to control the ear body 11 to swing around the first axis K1 at the actual required speed.

[0067] In some embodiments, such as Figure 3 As shown, the gearbox 122 includes: a housing 1221 and a gear set 1222;

[0068] The gear set 1222 is disposed inside the housing 1221. The gear set 1222 includes a meshing drive gear and a driven gear. The output end of the first drive motor 121 is connected to the drive gear, and the driven gear is connected to the ear body 11.

[0069] The diameter of the driving gear is smaller than that of the driven gear.

[0070] It is understandable that by setting the diameter of the driving gear to be smaller than that of the driven gear, the gear ratio between the driving gear and the driven gear can be less than 1. Thus, when the power output by the first drive motor 121 is transmitted through the gear set 1222, the speed of the first drive motor 121 can be reduced, making it easier for the first drive motor 121 to drive the ear body 11 to swing at a relatively slow speed through the gear set 1222. This is more conducive to imitating the swinging of the ear of the target creature through the ear body 11.

[0071] Meanwhile, since the driving gear and the driven gear are arranged side by side, and the output end of the first drive motor 121 is connected to the driving gear and the driven gear is connected to the head end of the ear body 11, this design can stagger the first drive motor 121 and the ear body 11, avoiding the problem of occupying a large space that would exist if the first drive motor 121 were directly connected to the ear body 11.

[0072] In some embodiments, such as Figure 1 and Figure 2 As shown, the bionic ear 1 also includes: an angle detection element 14 and a circuit board 15;

[0073] Angle detection element 14 is used to detect the rotation angle of the second end of gearbox 122; angle detection element 14 is electrically connected to circuit board 15, and circuit board 15 is electrically connected to the first drive motor 121.

[0074] It is understood that the angle detection element 14 can be a potentiometer, the circuit board 15 can be a PCB board, the processor and the first communication interface are integrated on the circuit board 15, the potentiometer can be set on the circuit board 15 and electrically connected to the processor, the processor is electrically connected to the first communication interface, and the first communication interface is electrically connected to the first drive motor 121 through an adapter cable.

[0075] In practical applications, circuit board 15 is mounted on the side of gearbox 122. The second end of gearbox 122 is equipped with an extension shaft connected to a potentiometer. For example, the driven gear in gearbox 122 is coaxially connected to the extension shaft. One end of the extension shaft is connected to the potentiometer, and the other end is connected to the ear body 11. Thus, the potentiometer can detect the swing angle of the ear body 11 around the first axis K1 in real time. The processor controls the rotation state of the first drive motor 121 based on the data collected by the potentiometer, thereby achieving precise control of the ear body 11's swing around the first axis K1.

[0076] In some embodiments, such as Figure 1 , Figure 2 and Figure 3As shown, the bionic ear 1 also includes a second drive assembly 13, which is disposed between the first drive assembly 12 and the ear body 11. The second drive assembly 13 is used to drive the ear body 11 to rotate around the second axis K2.

[0077] The second drive component 13 is configured to be electrically connected to the circuit board 15, and the circuit board 15 controls the working state of the second drive component 13 to precisely control the swing direction and swing amplitude of the ear body 11 around the second axis K2.

[0078] In some embodiments, such as Figure 1 and Figure 2 As shown, the second drive assembly 13 includes: a connecting base 131 and a second drive motor 132;

[0079] The connecting seat 131 is connected to the first driving assembly 12, and the ear body 11 is rotatably disposed on the connecting seat 131 around the second axis; the second driving motor 132 is disposed on the connecting seat 131 and is connected to the ear body 11 to drive the ear body 11 to rotate around the second axis.

[0080] It is understandable that the second drive motor 132 can be a DC motor.

[0081] In the case where the first drive assembly 12 includes a first drive motor 121 and a gearbox 122, the second end of the gearbox 122 is connected to the connecting seat 131; a first hinge portion may be provided on the connecting seat 131, and a second hinge portion may be provided at the head end of the ear body 11. The first hinge portion and the second hinge portion may be hinged by a pin, and the second hinge portion is connected to the output shaft of the second drive motor 132.

[0082] For example, the connecting seat 131 is provided with a first side plate and a second side edge, the first side plate and the second side edge are spaced apart from each other and are arranged side by side, and pin holes are provided on the first side plate and the second side edge, the pin holes serving as the aforementioned first hinge portion.

[0083] Correspondingly, the head end of the ear body 11 is provided with a first hinge ear and a second hinge ear. The first hinge ear and the second hinge ear are spaced apart from each other and arranged side by side. Both the first hinge ear and the second hinge ear serve as the aforementioned second hinge part.

[0084] The output shaft of the second drive motor 132 passes through the pin hole on the first side plate and is connected to the first hinge ear. The second hinge ear is hinged to the pin hole on the second side by a pin.

[0085] In some embodiments, such as Figure 1 and Figure 4As shown, the ear body 11 includes: a housing 111 and a light-emitting element 112; the housing 111 has a receiving cavity and a light-transmitting part opposite to the receiving cavity, the light-emitting element 112 is disposed in the receiving cavity, and the light emitted by the light-emitting element 112 can be transmitted out of the receiving cavity through the light-transmitting part.

[0086] Understandably, the light-emitting element 112 can be an LED.

[0087] When the first drive component 12 and / or the second drive component 13 drive the ear body 11 to swing, the light-emitting element 112 can be controlled to emit light, for example, the light-emitting element 112 can be controlled to flash, so that the ear body 11 has a certain light-emitting effect. The light-emitting and swinging movements of the ear body 11 are coordinated, which increases the fun and friendliness of the simulated pet.

[0088] For example, multiple light-emitting elements 112 may be provided, and multiple light-emitting elements 112 are arranged sequentially in the receiving cavity along the extension direction of the ear body 11.

[0089] Correspondingly, a light-transmitting part is formed on the shell wall of the housing 111. The light-transmitting part can be a transparent window or a light-transmitting opening. Multiple light-transmitting parts can be provided. Multiple light-transmitting parts are arranged sequentially along the extension direction of the ear body 11. Multiple light-transmitting parts are arranged opposite to multiple light-emitting elements 112.

[0090] Of course, in practical applications, it is also possible to set up a light-emitting element 112 opposite to multiple light-transmitting parts, and the multiple light-transmitting parts can be arranged as fonts, landscape patterns, or other markings, without any specific limitation.

[0091] In some embodiments, such as Figure 4 As shown, the housing 111 includes: a main body 1111 and a light-transmitting cap 1112; the first end of the main body 1111 is connected to the first drive assembly 12, and the second end of the main body 1111 is provided with an installation port; the light-transmitting cap 1112 is disposed at the installation port, and the light-transmitting cap 1112 and the main body 1111 enclose each other to form a receiving cavity.

[0092] Understandably, the main body 1111 of the shell 111 is cylindrical, and the shell wall of the main body 1111 is designed to be opaque. The light-transmitting cap 1112 can be made of transparent PVC material.

[0093] Since the light-emitting element 112 is located inside the receiving cavity and the light-transmitting cap 1112 is located at the end of the ear body 11, when the light-emitting element 112 emits light, the end of the ear body 11 can emit light, which is quite interesting.

[0094] In some embodiments, such as Figure 4As shown, the first end of the main body 1111 is also provided with a wire hole, which is connected to the receiving cavity; the power line of the light-emitting element 112 is configured to extend from the wire hole and be electrically connected to the power supply device.

[0095] In practical applications, the power supply device can be the aforementioned circuit board 15, which can control the light-emitting state of the light-emitting element 112, so as to match the swinging state of the ear body 11 with the light-emitting state of the light-emitting element 112.

[0096] In the case where the first drive assembly 12 includes a first drive motor 121 and a gearbox 122, considering that the driven gear is connected to the ear body 11, a center hole can be provided in the center of the driven gear. This design allows the power line of the light-emitting element 112 to pass through the center hole after extending from the wire hole, and then be electrically connected to the circuit board 15.

[0097] In the second aspect, such as Figure 5 , Figure 6 and Figure 7 As shown, this utility model embodiment also provides a companion robot, including: robot body 2, left ear 101 and right ear 102;

[0098] The left ear 101 and the right ear 102 are positioned opposite each other on both sides of the robot body 2 in the left-right direction. Both the left ear 101 and the right ear 102 are bionic ears 1 as described above.

[0099] It is understandable that the left ear 101 and the right ear 102 are independent of each other and both adopt the design structure of the aforementioned bionic ear 1. In practical applications, the left ear 101 and the right ear 102 can be controlled to move freely. This not only overcomes the limitation that the two ears of the existing companion robot can only swing at the same frequency, but also allows the left ear 101 and the right ear 102 to achieve two degrees of automatic swinging movements, which has good flexibility.

[0100] Since the companion robot includes a bionic ear 1, and the specific structure of the bionic ear 1 is as described in the above embodiments, the companion robot of this embodiment includes all the technical solutions of the above embodiments. Therefore, it has at least all the beneficial effects achieved by all the technical solutions of the above embodiments, which will not be described in detail here.

[0101] In some embodiments, such as Figure 5 , Figure 6 and Figure 7 As shown, the companion robot also includes: human-computer interaction module 3 and main control board;

[0102] The human-computer interaction module 3 is set on the robot body 2 to receive operation commands; the main control board is set on the robot body 2, the human-computer interaction module 3 is electrically connected to the main control board, and the main control board is electrically connected to the left ear 101 and the right ear 102 respectively.

[0103] The main control board is used to control the movement of at least one of the left ear 101 and the right ear 102 according to the operation instructions.

[0104] It is understandable that the human-computer interaction module 3 can be a touchscreen, and the human-computer interaction module 3 or the main control board can be configured for communication with terminal devices such as mobile phones and tablets; the main control board can be a PCB board, and the main control board is... Figure 5 , Figure 6 and Figure 7 It is not specifically shown in the text.

[0105] In practical applications, based on the operation commands input by the user to the human-computer interaction module 3, the main control board can control the left ear 101 and the right ear 102 to perform different actions.

[0106] For example, Figure 5 The illustration shows the companion robot with its left ear 101 and right ear 102 both erect, a state that can mimic an animal's excited state. Figure 6 The illustration shows the companion robot's left ear 101 and right ear 102 simultaneously switching from an upright position to a forward swinging position around the first axis. This state can mimic an animal's state of loss. Figure 7 The illustration shows the companion robot's left ear 101 and right ear 102 simultaneously switching from an upright state to a downward swinging state around the second axis. This state can mimic an animal's state of loss or sadness.

[0107] In some embodiments, such as Figure 6 As shown, the companion robot is equipped with an arm 4 and a movable leg 5 on each of its left and right sides. The arm 4 can be equipped with a first driving wheel and a driven wheel that are spaced apart, and the movable leg 5 can be equipped with a second driving wheel.

[0108] In practical applications, the arm 4 can be set horizontally and located in front of the movable support leg 5, on the left and right sides of the companion robot. This ensures that the first driving wheel, the driven wheel, and the second driving wheel are arranged in sequence from front to back. Based on the driving force provided by the first driving wheel and the second driving wheel, the companion robot can be made to walk smoothly on the ground.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A bionic ear, characterized in that, include: The ear itself has the shape of the target organism's ear; A first driving component is connected to the ear body to drive the ear body to swing about a first axis, and the ear body is also rotatably disposed about a second axis relative to the first driving component. The first axis is configured to run in the left-right direction, and the second axis is configured to run in the front-back direction.

2. The bionic ear according to claim 1, characterized in that, The first driving component includes: First drive motor; A gearbox, the first end of which is connected to the first drive motor, and the second end of which is connected to the ear body, wherein the ear body is rotatably disposed about a second axis relative to the second end of the gearbox.

3. The bionic ear according to claim 2, characterized in that, The gearbox includes: Box; A gear set is disposed inside the housing. The gear set includes a meshing driving gear and a driven gear. The output end of the first drive motor is connected to the driving gear, and the driven gear is connected to the ear body. The diameter of the driving gear is smaller than the diameter of the driven gear.

4. The bionic ear according to claim 2, characterized in that, The bionic ear also includes: An angle detection element, wherein the angle detection element is used to detect the rotation angle of the second end of the gearbox; The circuit board, the angle detection element and the circuit board are electrically connected, and the circuit board is electrically connected to the first drive motor.

5. The bionic ear according to claim 1, characterized in that, The bionic ear also includes: A second driving component is disposed between the first driving component and the ear body, and the second driving component is used to drive the ear body to rotate about a second axis.

6. The bionic ear according to claim 5, characterized in that, The second driving component includes: A connecting base is provided, which is connected to the first driving component, and the ear body is rotatably disposed on the connecting base about a second axis; A second drive motor is disposed on the connecting base and connected to the ear body to drive the ear body to rotate around a second axis.

7. The bionic ear according to any one of claims 1 to 6, characterized in that, The ear body includes: The housing has a receiving cavity and a light-transmitting portion opposite to the receiving cavity; A light-emitting element is disposed in the receiving cavity, and the light emitted by the light-emitting element can be transmitted through the light-transmitting part and out of the receiving cavity.

8. The bionic ear according to claim 7, characterized in that, The housing includes: The main body has a first end connected to the first drive component and a second end provided with a mounting port. A light-transmitting cap is disposed at the mounting opening, and the light-transmitting cap and the main body portion enclose the receiving cavity.

9. The bionic ear according to claim 8, characterized in that, The first end of the main body is also provided with a threading hole, which is connected to the receiving cavity; The power line of the light-emitting element is configured to extend from the wire hole and be electrically connected to the power supply device.

10. A companion robot, characterized in that, include: The robot's main body, left ear, and right ear; The left ear and the right ear are positioned opposite each other on both sides of the robot body in a left-right direction, and both the left ear and the right ear are bionic ears as described in any one of claims 1 to 9.

11. The companion robot according to claim 10, characterized in that, The companion robot also includes: A human-computer interaction module is disposed on the robot body to receive operation commands; The main control board is disposed on the robot body, the human-computer interaction module is electrically connected to the main control board, and the main control board is electrically connected to the left ear and the right ear respectively; The main control board is used to control the movement of at least one of the left ear and the right ear according to the operation instructions.

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