Bionic robotic arms and companion robots

Abstract

This utility model relates to the field of robotics technology, providing a bionic robotic arm and a companion robot. The bionic robotic arm includes: a robotic arm body, a rotating module, a drive wheel, and a human-machine interface component. The robotic arm body has the forearm shape of a target organism. The rotating module is configured to be disposed on the robot body and connected to a first end of the robotic arm body to drive the robotic arm body to swing relative to the robot body. The drive wheel is disposed at a second end of the robotic arm body and is configured to roll on the ground. The drive wheel is at least partially disposed on the robotic arm body and electrically connected to the rotating module. The human-machine interface component is used for information interaction with the user, and the rotating module is used to drive the robotic arm body to swing according to the information transmitted by the human-machine interface component. The bionic robotic arm shown in this utility model can realize both the pet characteristics of a companion robot and the movement function of a companion robot, which is helpful for the application of companion robots in different scenarios.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a bionic robotic arm 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 robotic arms of companion robots, such as arms or legs, are usually relatively simple in function and lack fun, which cannot help the application of companion robots in different scenarios. Utility Model Content

[0004] This invention provides a bionic robotic arm and a companion robot, which at least solves or improves the problems of existing companion robot robotic arms having limited functionality and lack of fun.

[0005] In a first aspect, the present invention provides a bionic robotic arm, comprising: The robotic arm itself has the shape of the target organism's forearm. A rotating module is configured to be disposed on the robot body, the rotating module being connected to a first end of the robotic arm body to drive the robotic arm body to swing relative to the robot body. A drive wheel is disposed at the second end of the robotic arm body and is configured to roll on the ground. A human-machine interface component is at least partially disposed on the robotic arm body and electrically connected to the rotation module. The human-machine interface component is used to interact with the user, and the rotation module is used to drive the robotic arm body to swing according to the information transmitted by the human-machine interface component.

[0006] According to the present invention, a bionic robotic arm includes a human-computer interaction component comprising: An infrared sensor is installed on the robotic arm or the robot body to detect whether a human body is approaching the robot body. A display module is disposed on the robotic arm body and is used to display facial expression information associated with the swinging motion of the robotic arm body.

[0007] According to the present invention, a bionic robotic arm includes a human-computer interaction component comprising: A voice pickup module, located on the robotic arm or the robot body, is used to collect the user's voice information; A voice module, located on the robotic arm body, is used to display response information associated with the voice information.

[0008] According to the present invention, a bionic robotic arm is provided, wherein the rotating module includes a gearbox; A first drive motor is connected to a first end of the gearbox, and a second end of the gearbox is connected to a first end of the robotic arm body.

[0009] According to the present invention, a bionic robotic arm is provided, wherein the gearbox includes: At least two sets of planetary gear sets are connected coaxially in sequence and are disposed between the first drive motor and the first end of the robotic arm body.

[0010] According to the present invention, a bionic robotic arm further 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.

[0011] According to the present invention, a bionic robotic arm is provided, wherein the drive wheel is a steering wheel, and the steering wheel is capable of adjusting its posture around an axis along the height direction of the robot body.

[0012] According to the present invention, a bionic robotic arm further includes: A driven wheel is rotatably disposed on the robotic arm body and located between the first end and the second end of the robotic arm body; When the robotic arm body is parallel to the ground, the drive wheel and the driven wheel are respectively configured to contact the ground.

[0013] In a second aspect, this utility model also provides a companion robot, comprising: The robot itself; The left arm and the right arm are arranged opposite each other on both sides of the robot body in the left-right direction. The left arm and the right arm are both bionic robotic arms as described above.

[0014] According to the present invention, a companion robot is provided, which further includes: The left wheel foot is connected to the robot body and is located behind the left arm in the front-rear direction; The right wheel foot is connected to the robot body and is located behind the right arm in the front-back direction.

[0015] According to the present invention, a companion robot is provided, which further 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-machine interaction module is electrically connected to the main control board, and the main control board is electrically connected to the left arm and the right arm respectively; The main control board is used to control the movement of at least one of the left arm and the right arm according to the operation instructions.

[0016] According to the present invention, a companion robot is provided, which further includes: A detector, electrically connected to the main control board, is used to detect whether there are obstacles on the ground in front of the robot body; When the detector detects an obstacle, the main control board controls the left arm and / or the right arm to swing towards the ground to lift the robot body.

[0017] According to the present invention, a companion robot is provided, the robot body comprising: A fixed bracket is provided, wherein the rotating modules of the left arm and the right arm are arranged opposite each other in the left-right direction and are both mounted on the fixed bracket.

[0018] The bionic robotic arm and companion robot provided by this utility model, by setting up a robotic arm body, a rotating module, a drive wheel, and a human-computer interaction component, can not only drive the robotic arm body to swing relative to the robot body through the rotating module to imitate various mimicry actions of the target organism, which is highly interesting, but also, based on the rotational characteristics of the drive wheel, allow the robotic arm body to act as a motion support for the robot body in some scenarios, ensuring that the robot body can move on the ground. Furthermore, based on the setting of the human-computer interaction component, while realizing human-computer interaction, the rotating module can also drive the robotic arm body to swing according to the information transmitted by the human-computer interaction component to imitate the limb movements during human-computer interaction. This design can realize both the pet characteristics of the companion robot and the movement function of the companion robot, which is conducive to the application of the companion robot in different scenarios. Attached Figure Description

[0019] 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.

[0020] Figure 1 This is a cross-sectional structural diagram of the bionic robotic arm provided by this utility model.

[0021] Figure 2 This is a schematic diagram of the structure of the bionic robotic arm provided by this utility model, which swings relative to the robot body to a horizontal distribution on the ground.

[0022] Figure 3 This is a schematic diagram of the structure of the bionic robotic arm provided by this utility model, which swings relative to the robot body and is distributed at an angle on the ground.

[0023] Figure 4 This is one of the structural schematic diagrams of the companion robot provided by this utility model.

[0024] Figure 5 This is a bottom view of the left and right arms installed relative to the robot body, as provided by this utility model.

[0025] Figure 6 This is the second structural schematic diagram of the companion robot provided by this utility model.

[0026] Figure 7 This is a structural schematic diagram of the companion robot provided by this utility model navigating obstacles.

[0027] Figure 8 This is a block diagram of the control structure of the companion robot provided by this utility model.

[0028] Figure label: 1. Bionic robotic arm; 101. Left arm; 102. Right arm; 11. Robotic arm body; 12. Rotation module; 121. Gearbox; 122. First drive motor; 13. Drive wheel; 14. Driven wheel; 15. Angle detection element; 151. Magnet; 152. Magnetic encoding board; 16. Human-computer interaction component; 1601. Infrared sensor; 1602. Display module; 1611. Sound pickup module; 1612. Sound generation module; 2. Robot body; 21. Fixed support; 3. Left wheel leg; 4. Right wheel leg; 5. Human-computer interaction module; 6. Main control board; 7. Detector; 8. Bionic ear. Detailed Implementation

[0029] 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.

[0030] The following is combined with Figures 1-8 The bionic robotic arm and companion robot provided by the utility model embodiments are described in detail through specific implementation examples and application scenarios.

[0031] In the first aspect, such as Figure 1 and Figure 2 As shown, this utility model provides a bionic robotic arm 1, including: a robotic arm body 11, a rotating module 12, a drive wheel 13, and a human-machine interaction component 16; The robotic arm body 11 has the shape of the target organism's forearm; The rotating module 12 is configured to be disposed on the robot body 2. The rotating module 12 is connected to the first end of the robotic arm body 11 to drive the robotic arm body 11 to swing relative to the robot body 2. For example, the rotating module 12 can drive the robotic arm body 11 to swing around the first axis K1, which is set along the left and right direction of the robot body 2. A drive wheel 13 is disposed at the second end of the robotic arm body 11 and is configured to roll on the ground; at least a portion of the human-machine interface component 16 is disposed on the robotic arm body 11 and is electrically connected to the rotation module 12. The human-machine interface component 16 is used to interact with the user, and the rotation module 12 is used to drive the robotic arm body 11 to swing according to the information transmitted by the human-machine interface component 16.

[0032] Understandably, the robotic arm body 11 is configured to be mounted on the left or right side of the robot body 2, and the drive wheel 13 is located on the side of the robotic arm body 11 facing the ground, and the drive wheel 13 can achieve active rotation.

[0033] The robotic arm body 11 can be made of plastic. From the first end to the second end of the robotic arm body 11, the size (e.g., cross-sectional area) of the robotic arm body 11 gradually increases. The second end of the robotic arm body 11 is provided with a groove, and at least part of the drive wheel 13 is accommodated in the groove.

[0034] The rotating module 12 can be a rotary drive component known in the art, such as a drive motor or an air pump, and the drive wheel 13 can be a directional wheel or a swivel wheel, without any specific limitation.

[0035] In some examples, the rotating module 12, the drive wheel 13, and the human-machine interaction component 16 can all be configured to be electrically connected to the main control board 6 of the robot body, and the main control board 6 can control the working state of the rotating module 12 and the drive wheel 13 respectively.

[0036] For example, when the drive wheel 13 is separated from the ground, the main control board 6 can control the rotation module 12 to rotate back and forth, and the rotation module 12 drives the robotic arm body 11 to swing back and forth to imitate the slapping action of the target creature; of course, when the drive wheel 13 is in contact with the ground, the main control board 6 can control the drive wheel 13 to rotate in a set direction to realize the companion robot moving forward or backward on the ground.

[0037] In some examples, the shape of the robotic arm body 11 is roughly the same as the shape of the forearm of the target animal. For example, the similarity between the robotic arm body 11 and the forearm of the target animal is greater than 80%. The robotic arm body 11 can be a proportionally enlarged or scaled-down form of the forearm of the target animal. Among them, the robotic arm body 11 can be configured to have the forearm shape of the target animal such as a cat, rabbit, or dog.

[0038] In some examples, the robotic arm body 11 includes a first segment and a second segment, which are bent and connected. The end of the first segment away from the second segment is connected to the rotating module 12, and the drive wheel 13 is located at the end of the second segment away from the first segment.

[0039] Furthermore, the first segment and the second segment can be rotatably connected by an active joint, so that the robotic arm body 11 can be adjusted to any desired shape according to actual needs.

[0040] like Figure 2 and Figure 3 As shown in the figure, this embodiment illustrates a generally arc-shaped robotic arm body 11. Under the drive of the rotating module 12, the extension direction of the robotic arm body 11 swings at an angle α relative to the vertical plane, where 0°≤α≤90°.

[0041] Among them, Figure 2 In the middle, the robotic arm body 11 is horizontally distributed relative to the ground; for example... Figure 3 As shown, when the rotating module 12 drives the robotic arm body 11 to rotate counterclockwise by an angle α, the robotic arm body 11 is tilted relative to the ground.

[0042] The human-computer interaction component 16 includes a first part and a second part. The first part is used to collect the user's voice, pressure, and other biometric information. The second part can respond to the biometric information collected by the first part through voice broadcasts, light prompts, vibrations, etc., to achieve information interaction with the user. At the same time, the rotation module 12 also drives the robotic arm body 11 to swing according to the information transmitted by the human-computer interaction component 16, thereby assisting the human-computer interaction component 16 in completing human-computer interaction with the user and enhancing the fun.

[0043] The bionic robotic arm 1 shown in this utility model, by setting up a robotic arm body 11, a rotating module 12, and a drive wheel 13, can not only drive the robotic arm body 11 to swing relative to the robot body 2 through the rotating module 12 to imitate various mimicry actions of the target organism, which is highly interesting, but also, in some scenarios, based on the rotational characteristics of the drive wheel 13, make the robotic arm body 11 act as a motion support for the robot body 2, ensuring that the robot body 2 can move on the ground. Furthermore, based on the human-computer interaction component 16, while realizing human-computer interaction, the rotating module 12 can also drive the robotic arm body 11 to swing according to the information transmitted by the human-computer interaction component 16 to imitate the limb movements during human-computer interaction. This design can realize both the pet characteristics of the companion robot and the movement function of the companion robot, which is conducive to the application of the companion robot in different scenarios.

[0044] In some embodiments, such as Figure 8 As shown, the human-computer interaction component 16 includes: an infrared sensor 1601 and a display module 1602; the infrared sensor 1601 is disposed on the robotic arm body 11 or the robot body 2, and is used to collect data on whether a human body is approaching the robot body 2; the display module 1602 is disposed on the robotic arm body 11, and is used to display facial expression information associated with the swinging motion of the robotic arm body 11.

[0045] It is understandable that the infrared sensor 1601 is configured to be electrically connected to the main control board 6 of the robot body 2, and the main control board 6 is electrically connected to the rotation module 12 and the display module 1602 respectively; wherein, the display module 1602 can be an LCD screen.

[0046] For example, when a human body approaches the robot body, the infrared sensor 1601 will detect the human body information. After receiving the information detected by the infrared sensor 1601, the main control board 6 can control the rotation module 12 to drive the robotic arm body 11 to swing at a high frequency to make a "welcome" action, and control the display module 1602 to display a welcome pattern or control the display module 1602 to display at high brightness.

[0047] For example, when the human body is far away from the robot body and beyond the detection range of the infrared sensor 1601, the infrared sensor 1601 will no longer detect human information. At this time, the main control board 6 can control the rotation module 12 to drive the robotic arm body 11 to swing at a low frequency to make a "farewell" action, and control the display module 1602 to display a farewell pattern or control the display module 1602 to display at low brightness.

[0048] In some embodiments, such as Figure 8As shown, the human-computer interaction component 16 includes: a sound pickup module 1611 and a sound output module 1612; the sound pickup module 1611 is disposed on the robotic arm body 11 or the robot body 2 and is used to collect the user's voice information; the sound output module 1612 is disposed on the robotic arm body 11 and is used to display response information associated with the voice information.

[0049] It is understandable that the sound pickup module 1611 is configured to be electrically connected to the main control board 6 of the robot body 2, and the main control board 6 is electrically connected to the rotation module 12 and the sound generation module 1612 respectively; wherein, the sound pickup module 1611 can be a microphone array, and the sound generation module 1612 can be an artificial mouth or a speaker.

[0050] For example, when a human body emits first voice information representing praise to the robot body 2, the sound pickup module 1611 will collect the first voice information and transmit the first voice information to the main control board 6. The main control board 6 can control the rotation module 12 to drive the robotic arm body 11 to swing at high frequency, and control the voice output module 1612 to emit a pre-stored response voice representing happiness (such as "thank you").

[0051] For example, when a human body emits second voice information representing criticism semantics to the robot body 2, the sound pickup module 1611 will collect the second voice information and transmit the second voice information to the main control board 6. The main control board 6 can control the rotation module 12 to drive the robotic arm body 11 to swing at low frequency, and control the voice output module 1612 to emit a pre-stored response voice representing lost semantics (such as "sorry").

[0052] In some embodiments, such as Figure 1 As shown, the rotating module 12 includes a gearbox 121 and a first drive motor 122; the first drive motor 122 is connected to the first end of the gearbox 121, and the second end of the gearbox 121 is connected to the first end of the robotic arm body 11.

[0053] It is understandable that the first drive motor 122 can be a servo motor.

[0054] Since the first drive motor 122 is connected to the first end of the robotic arm body 11 through the gearbox 121, the speed of the first drive motor 122 can be adjusted by the gearbox 121, which makes it easy to control the robotic arm body 11 to swing around the first axis K1 at the actual required speed.

[0055] In some embodiments, such as Figure 1 As shown, the gearbox 121 includes at least two sets of planetary gear sets, which are coaxially connected in sequence and disposed between the first drive motor 122 and the first end of the robotic arm body 11.

[0056] It is understood that planetary gear sets are well-known gear transmission mechanisms in the art. Exemplarily, a planetary gear set includes a ring gear, a sun gear, and three planetary gears. The sun gear and the three planetary gears are all located inside the ring gear. The sun gear meshes with the three planetary gears respectively. The three planetary gears are arranged around the sun gear and all mesh with the ring gear. In practical applications, at least two sets of planetary gear sets can be sequentially coaxially connected by coaxially connecting the sun gears of any two adjacent sets of planetary gear sets.

[0057] In this arrangement, at least two sets of planetary gear sets are arranged in sequence, with the sun gear of the first planetary gear set connected to the output end of the first drive motor 122, and the sun gear of the last planetary gear set connected to the first end of the robotic arm body 11.

[0058] In this embodiment, the gearbox 121 transmits power through multiple sets of planetary gears. Under the same transmission ratio and torque carrying capacity, it reduces the space occupied and adapts better to the limited space inside the gearbox 121. While realizing multi-level speed regulation of the first drive motor 122, it also rationally distributes the torque output by the first drive motor 122. The direction and magnitude of torque transmission can be changed as needed, thus enhancing the power transmission flexibility of the gearbox 121.

[0059] In some embodiments, such as Figure 1 As shown, the bionic robotic arm 1 also includes: an angle detection element 15 and a circuit board, the circuit board being in... Figure 1 Not shown in the diagram; the angle detection element 15 is used to detect the rotation angle of the second end of the gearbox 121; the angle detection element 15 is electrically connected to the circuit board, and the circuit board is electrically connected to the first drive motor 122.

[0060] It is understood that the angle detection element 15 includes a magnet 151 and a magnetic encoder plate 152. The magnet 151 can be disposed on the connecting shaft of the robotic arm body 11 for coaxial connection with the second end of the gearbox 121, and the magnetic encoder plate 152 is disposed on one side of the magnet 151.

[0061] Meanwhile, magnetic sensors such as Hall elements or magnetoresistive elements are provided on the magnetic encoder plate 152. When the magnet 151 rotates with the robotic arm body 11, the direction of the magnetic field it generates will change. The magnetic sensor detects the components of the magnetic field in the X and Y axis directions and converts the magnetic field change into an electrical signal. Then, the rotation angle is calculated by the arithmetic circuit using trigonometric functions. This rotation angle represents the angle of rotation of the second end of the gearbox 121.

[0062] In order to facilitate the placement of the magnetic encoder plate 152, the second end of the gearbox 121 can be coaxially connected to the connecting shaft located at the first end of the robotic arm body 11 through a "U"-shaped connecting frame. The magnetic encoder plate 152 is set inside the "U"-shaped connecting frame and is positioned opposite to the magnet 151.

[0063] In practical applications, the circuit board can be a PCB board, which can be mounted on the gearbox 121 or the first drive motor 122. The circuit board is equipped with a control module, and the angle detection element 15 is electrically connected to the control module. The control module is electrically connected to the first drive motor 122.

[0064] Thus, the swing angle of the robotic arm body 11 around the first axis K1 can be detected in real time by the angle detection element 15. The circuit board controls the rotation state of the first drive motor 122 according to the data collected by the angle detection element 15, thereby achieving the purpose of accurately controlling the swing of the robotic arm body 11 around the first axis K1.

[0065] In some embodiments, such as Figure 1 As shown, the drive wheel 13 is a steering wheel, which can adjust its attitude around the second axis; wherein, the second axis is set along the height direction of the robot body 2.

[0066] Understandably, when the drive wheel 13 is a steering wheel, the robot body 2 is also equipped with rotatable feet, which cooperate with the steering wheel to enable the robot body 2 to move on the ground.

[0067] The steering wheel can be configured to include a second drive motor, a bogie, and a wheel body. The second drive motor is connected to the bogie to drive the bogie to rotate about a second axis, and the wheel body is rotatably mounted on the bogie. The wheel body can be an electric wheel with a hub that is capable of automatic rotation.

[0068] In practical applications, when the attitude of the steering wheels needs to be adjusted, the second drive motor drives the bogie to rotate, and the bogie drives the wheel body to adjust its attitude; when the attitude of the steering wheels does not need to be adjusted, the wheel feet and the wheel body of the steering wheels cooperate to enable the robot body 2 to move on the ground.

[0069] In some embodiments, such as Figure 2 and Figure 3 As shown, the bionic robotic arm 1 also includes a driven wheel 14, which is rotatably disposed on the robotic arm body 11 and located between the first end and the second end of the robotic arm body 11. When the robotic arm body 11 is parallel to the ground, the drive wheel 13 and the driven wheel 14 are respectively configured to contact the ground.

[0070] For example, when the companion robot moves on the ground, the robotic arm body 11 can be set to be horizontally distributed on the upper side of the ground, and the drive wheel 13 and driven wheel 14 are arranged in front and behind along the direction of movement of the companion robot. The driven wheel 14 is used to provide rotational support for the robotic arm body 11. The drive wheel 13 and driven wheel 14 cooperate with each other to ensure the stability of the companion robot moving on the ground.

[0071] In the second aspect, such as Figure 4 As shown, this utility model also provides a companion robot, including: robot body 2, left arm 101 and right arm 102; The left arm 101 and the right arm 102 are positioned opposite each other on both sides of the robot body 2 in the left-right direction. Both the left arm 101 and the right arm 102 are bionic robotic arms 1 as described above.

[0072] It is understandable that the left arm 101 and the right arm 102 are independent of each other and both adopt the design structure of the aforementioned bionic robotic arm 1. In practical applications, the left arm 101 and the right arm 102 can be controlled to move freely. For example, the left arm 101 and the right arm 102 can be controlled to swing up or down synchronously, or the left arm 101 can be controlled to swing up while the right arm 102 can be controlled to swing down. This design overcomes the limitation that the arms of existing companion robots can only be in a static state or can only swing at the same frequency, and has better flexibility.

[0073] Since the companion robot includes a bionic robotic arm 1, and the specific structure of the bionic robotic arm 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.

[0074] In some embodiments, such as Figure 5 As shown, the robot body 2 includes a fixed bracket 21, which can be set in the corresponding shell of the robot body 2. The rotation module 12 of the left arm 101 and the rotation module 12 of the right arm 102 are arranged opposite to each other in the left-right direction and are both installed on the fixed bracket 21.

[0075] Understandably, since the fixed bracket 21 provides mounting support for the rotating modules 12 corresponding to the left arm 101 and the right arm 102, this design can ensure the stability and reliability of the left arm 101 and the right arm 102 on the robot body 2.

[0076] The fixed bracket 21 can be cylindrical, and the rotating modules 12 corresponding to the left arm 101 and the right arm 102 are installed inside the fixed bracket 21.

[0077] In some embodiments, such as Figure 4 , Figure 7 and Figure 8 As shown, the companion robot also includes: a left wheel leg 3 and a right wheel leg 4; the left wheel leg 3 is connected to the robot body 2 and is located behind the left arm 101 in the front-back direction; the right wheel leg 4 is connected to the robot body 2 and is located behind the right arm 102 in the front-back direction.

[0078] It is understandable that both the left wheel foot 3 and the right wheel foot 4 can be rotatable directional wheels. The directional wheels can be electric wheels that can rotate autonomously. The left wheel foot 3 and the right wheel foot 4 can be configured to be electrically connected to the main control board 6 respectively, and the main control board 6 controls the rotation state of the left wheel foot 3 and the right wheel foot 4.

[0079] Since both the left arm 101 and the right arm 102 are equipped with drive wheels 13, and the companion robot is further equipped with left wheel feet 3 and right wheel feet 4, these structures can provide support for the robot body 2 at at least four points. This helps ensure that the companion robot walks stably on the ground and also makes it easier to control the left arm 101 and the right arm 102 of the companion robot to complete complex mimicry movements, thus meeting the application requirements of the companion robot in different scenarios.

[0080] For example, during the walking process of the companion robot, the left arm 101 and the right arm 102 can be controlled to be distributed horizontally or tilted at the same time, or one of the left arm 101 and the right arm 102 can be controlled to swing upward and the other of the left arm 101 and the right arm 102 can be controlled to swing downward. There are no specific limitations on this.

[0081] In some embodiments, such as Figure 4 , Figure 6 and Figure 8 As shown, the companion robot also includes: a human-computer interaction module 5 and a main control board 6; The human-computer interaction module 5 is installed on the robot body 2 to receive operation commands; The main control board 6 is located on the robot body 2. The human-machine interaction module 5 is electrically connected to the main control board 6. The main control board 6 is electrically connected to the left arm 101 and the right arm 102 respectively. That is, the main control board 6 is electrically connected to the rotation module 12 and drive wheel 13 corresponding to the left arm 101 and the right arm 102 respectively. The main control board 6 is used to control the movement of at least one of the left arm 101 and the right arm 102 according to the operation instructions.

[0082] It is understandable that the human-computer interaction module 5 can be a touch screen, and the human-computer interaction module 5 or the main control board 6 can be configured to communicate with terminal devices such as mobile phones and tablets; the main control board 6 can be a PCB board.

[0083] In practical applications, based on the operation commands input by the user to the human-computer interaction module 5, the main control board 6 can control the left arm 101 and the right arm 102 to perform different actions. For example, the main control board 6 can control the left arm 101 and the right arm 102 to tilt and support themselves on the ground at the same time to simulate the target creature's obedience to the user. The main control board 6 can also control one of the left arm 101 and the right arm 102 to swing to simulate the target creature's welcoming action to the user. The main control board 6 can also control one of the left arm 101 and the right arm 102 to extend towards the user to simulate the target creature's soothing action to the user.

[0084] Of course, when the user walks on the ground, the main control board 6 can also control the left arm 101 and the right arm 102 to be in a horizontal state and control the drive wheel 13 to rotate, so that the companion robot can follow the user and achieve the purpose of accompanying the user.

[0085] In some embodiments, such as Figure 6 and Figure 7 As shown, the companion robot also includes: a detector 7, which is electrically connected to the main control board 6, and is used to detect whether there are obstacles on the ground in front of the robot body 2; wherein, when the detector 7 detects an obstacle, the main control board 6 is used to control the left arm 101 and / or the right arm 102 to swing towards the ground to lift the robot body 2.

[0086] Understandably, the detector 7 can be installed on the front side of the robot body 2 to detect whether there are obstacles on the ground in front of the robot body 2. Specifically, the detector 7 can be positioned between the left arm 101 and the right arm 102.

[0087] The detector 7 can use an infrared sensor, which includes an infrared emitter and an infrared receiver. The principle is that the infrared emitter continuously emits infrared light of a specific wavelength into the detection area (such as the front of the companion robot). When there is an obstacle in the detection area, the infrared light will be reflected back from the surface of the obstacle. After receiving the reflected light, the infrared receiver converts it into an electrical signal. After amplification, filtering, shaping and other processing, the corresponding signal is output, thereby determining the presence of an obstacle.

[0088] In this embodiment, the detector 7 is not limited to an infrared sensor, but can also be an ultrasonic sensor, lidar, etc., and there is no specific limitation.

[0089] In practical applications, when the companion robot is also equipped with a left wheel foot 3 and a right wheel foot 4, and the drive wheels 13 on the left arm 101 and the right arm 102 are directional wheels, when the detector 7 detects an obstacle, the main control board 6 can control the left arm 101 and the right arm 102 to swing towards the ground at the same time, and control the left wheel foot 3 and the right wheel foot 4 to rotate at different speeds, so as to realize the steering control of the companion robot, ensuring that at least one of the left arm 101 and the right arm 102 or ensuring that the front end of the robot body 2 can cross the obstacle.

[0090] Of course, when the drive wheels 13 on the left arm 101 and the right arm 102 are both steering wheels, the main control board 6 can control the left arm 101 and the right arm 102 to swing towards the ground at the same time, and control the steering wheels on the left arm 101 and / or the right arm 102 to adjust their posture, so as to realize the steering control of the companion robot, ensure that the companion robot has completed the steering before reaching the obstacle, and avoid the companion robot from colliding with the obstacle.

[0091] In some embodiments, such as Figure 4 As shown, the companion robot is also equipped with two bionic ears 8, which are configured to be positioned opposite each other on both sides of the robot body 2 in the left-right direction.

[0092] Furthermore, the bionic ear 8 can be configured to include an ear body and a first drive component; the ear body has the ear shape of the target organism; the first drive component is disposed on the robot body 2, and the first drive component is connected to the ear body to drive the ear body to swing around a third axis, and the ear body is also rotatably disposed relative to the first drive component around a fourth axis; wherein, the third axis is configured along the left-right direction, and the fourth axis is configured along the front-back direction.

[0093] It is understood that the bionic ear 8 in this embodiment, by setting an ear body and a first driving component, the first driving component drives the ear body to swing around a third axis, which can realize the ear body swinging back and forth relative to the robot body 2. By setting the ear body to be rotatable relative to the first driving component around a fourth axis, the ear body 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 can use the bionic ear 8 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.

[0094] 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 biomimetic robotic arm, characterized by, include: The robotic arm itself has the shape of the target organism's forearm. A rotating module is configured to be disposed on the robot body, the rotating module being connected to a first end of the robotic arm body to drive the robotic arm body to swing relative to the robot body. A drive wheel is disposed at the second end of the robotic arm body and is configured to roll on the ground. A human-machine interface component is at least partially disposed on the robotic arm body and electrically connected to the rotation module. The human-machine interface component is used to interact with the user, and the rotation module is used to drive the robotic arm body to swing according to the information transmitted by the human-machine interface component.

2. The biomimetic robotic arm of claim 1, wherein, The human-computer interaction component includes: An infrared sensor is installed on the robotic arm or the robot body to detect whether a human body is approaching the robot body. A display module is disposed on the robotic arm body and is used to display facial expression information associated with the swinging motion of the robotic arm body.

3. The biomimetic robotic arm of claim 1, wherein, The human-computer interaction component includes: A voice pickup module, located on the robotic arm or the robot body, is used to collect the user's voice information; A voice module, located on the robotic arm body, is used to display response information associated with the voice information.

4. The biomimetic robotic arm of claim 1, wherein, The rotating module includes: a gearbox; A first drive motor is connected to a first end of the gearbox, and a second end of the gearbox is connected to a first end of the robotic arm body.

5. The biomimetic robotic arm of claim 4, wherein, The gearbox includes at least two sets of planetary gear sets, which are coaxially connected in sequence and disposed between the first drive motor and the first end of the robotic arm body.

6. The biomimetic robotic arm of claim 4, wherein, The bionic robotic arm also includes an angle detection element, which 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.

7. The bionic robotic arm according to claim 1, characterized in that, The drive wheel is a steering wheel, which can adjust its posture around an axis along the height direction of the robot body.

8. The biomimetic robotic arm of any one of claims 1 to 7, wherein, The bionic robotic arm also includes: A driven wheel is rotatably disposed on the robotic arm body and located between the first end and the second end of the robotic arm body; When the robotic arm body is parallel to the ground, the drive wheel and the driven wheel are respectively configured to contact the ground.

9. A companion robot, characterized in that include: The robot itself; A left arm and a right arm, the left arm and the right arm being disposed opposite each other on both sides of the robot body in a left-right direction, the left arm and the right arm being both bionic robotic arms as described in any one of claims 1 to 8.

10. The companion robot of claim 9, wherein, The companion robot also includes: The left wheel foot is connected to the robot body and is located behind the left arm in the front-rear direction; The right wheel foot is connected to the robot body and is located behind the right arm in the front-back direction.

11. The companion robot of claim 9, wherein, 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-machine interaction module is electrically connected to the main control board, and the main control board is electrically connected to the left arm and the right arm respectively; The main control board is used to control the movement of at least one of the left arm and the right arm according to the operation instructions.

12. The companion robot of claim 11, wherein, The companion robot also includes: A detector, electrically connected to the main control board, is used to detect whether there are obstacles on the ground in front of the robot body; When the detector detects an obstacle, the main control board controls the left arm and / or the right arm to swing towards the ground to lift the robot body.

13. The companion robot of claim 9, wherein, The robot body includes: A fixed bracket is provided, wherein the rotating modules of the left arm and the right arm are arranged opposite each other in the left-right direction and are both mounted on the fixed bracket.

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