A six-legged pet robot and its interaction method

Abstract

The present invention relates to the field of intelligent robots, and particularly to a six-legged pet robot and its interaction method, which includes a housing, a control module, an ultrasonic sensor, a power module, a camera, a speaker, a motion foot drive assembly, and six motion feet. The control module, the speaker, the motion foot drive assembly, and the power module are all fixedly installed inside the housing. The ultrasonic sensor and the camera are both fixedly installed on the housing. The ultrasonic sensor detects obstacles ahead. The six motion feet are arranged in two rows on both sides of the housing, and the six motion feet are all connected to the motion foot drive assembly. The ultrasonic sensor, the camera, the speaker, and the motion foot drive assembly are all connected to the control module. The power module supplies power to the remaining components. The beneficial technical effects of the present invention include: being able to move flexibly in unstructured terrains such as home environments, and at the same time, only using four motors for driving, making the overall mass of the robot lighter, the energy consumption lower, and the control difficulty moderate.

Description

Technical Field

[0001] The present invention relates to the field of intelligent robots, and particularly to a six-legged pet robot and an interaction method thereof. Background Art

[0002] With the progress of society and the development of science, people's living standards have been increasing day by day, and pet robots, as a tool to replace animal pets, have gradually emerged. Traditional pet robots use one motor for each joint to drive and control the movement of the robot. For example, the pet robot Aibo of SONY Corporation, etc. Such robots have high movement flexibility and can imitate the movement of pet animals to the greatest extent. However, they have defects such as high energy consumption, large mass, and high control difficulty. Therefore, it is necessary to study pet robots that can solve technical problems such as high energy consumption, large mass, and high control difficulty and are flexible in movement.

[0003] For example, Chinese Patent CN213081477U, publication date April 30, 2021, discloses a desktop pet intelligent robot. The utility model has a sound guide hole, a touch sensor, a microphone array, a camera, a distance sensor, an expression display screen, a light-shielding cover, a sound cavity, a speaker, a USB interface on the head. There are guiding limit grooves on both sides of the earphone, which cooperate with the guiding limit protrusions on the left and right sides of the head respectively. The distance sensor is fixedly connected to the lower end of the front end face of the head and is inclined downward at a certain angle. The expression display screen is fixedly connected to the front end inside the head and is covered by the light-shielding cover. The inside of the head is provided with a robot control system, including main processor, coprocessor, wifi, bluetooth, USB, power supply, wireless charging, steering gear electronic control, storage, attitude, speaker power amplifier and other modules, realizing rich interaction functions and solving technical problems such as high energy consumption, large mass, and high control difficulty of pet robots. However, its technical solution does not solve the technical problem of the limited movement ability of pet robots in unstructured terrains such as home environments. Summary of the Invention

[0004] The technical problem to be solved by the present invention: At present, pet robots have technical problems of high energy consumption and limited movement ability. A six-legged pet robot and an interaction method thereof are proposed, which can move flexibly in unstructured terrains such as home environments.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions: A six-legged pet robot includes a housing, a control module, an ultrasonic sensor, a power module, a camera, a speaker, a motion foot drive assembly, and six motion feet. The control module, the speaker, the motion foot drive assembly, and the power module are all fixedly installed inside the housing. The ultrasonic sensor and the camera are both fixedly installed on the housing. The ultrasonic sensor detects obstacles in front. The six motion feet are arranged in two rows on both sides of the housing. The six motion feet are all connected to the motion foot drive assembly. The ultrasonic sensor, the camera, the speaker, and the motion foot drive assembly are all connected to the control module. The power module supplies power to the other components.

[0006] Preferably, the motion foot drive assembly includes a swing drive assembly and a lift and lower drive assembly. The swing drive assembly is rotationally connected to the middle of the motion foot to drive the motion foot to swing back and forth. The lift and lower drive assembly is rotationally connected to the upper part of the motion foot to drive the motion foot to lift and lower.

[0007] Preferably, the swing drive assembly includes two swing drive mechanisms. The two swing drive mechanisms respectively drive a row of motion feet. The swing drive mechanism includes a motion motor, an adjustment motor, three swing cranks, three swing rods, a swing rocker, a swing rocker seat, an adjustment slider, an adjustment slider seat, a guide rod, a gear seat, a screw rod, and several transmission gears. The gear seat is fixedly connected to the adjustment slider seat through the guide rod. The motion motor is fixedly installed on the housing. The adjustment motor is fixedly installed on the gear seat. Several transmission gears are rotatably installed on the gear seat. Several transmission gears mesh with each other. The motion motor is connected to the transmission gears. The swing crank is cylindrical and is eccentrically fixedly installed on the transmission gear. The swing rod is provided with a hole that cooperates with the outer wall of the swing crank. The swing rod is slidably installed on the swing crank. The adjustment slider is slidably installed on the guide rod. One end of the screw rod is fixedly connected to the adjustment motor, and the other end is rotatably installed on the adjustment slider seat. The adjustment slider is machined with a threaded hole that is threadedly connected to the screw rod. The adjustment slider and the screw rod form a threaded connection. The swing rocker seat is fixedly installed on the adjustment slider. The swing rocker is rotationally connected to the swing rocker seat. The swing rocker is slidably connected to the swing rod.

[0008] Preferably, the lifting and lowering drive assembly includes six lifting and lowering drive mechanisms. Each lifting and lowering drive mechanism includes a lifting seat, a lifting and lowering cover, an input gear shaft, two bevel gears, an output gear shaft, a lifting and lowering crank, a lifting and lowering swing rod, a lifting and lowering swing rod limit piece, a lifting and lowering rocker block, and a lifting and lowering rocker block shaft. The lifting and lowering cover is fixedly installed with the lifting seat, and the lifting seat is fixedly installed on the swinging swing rod. The input gear shaft and the output gear shaft are respectively fixedly connected to the two bevel gears, and the two bevel gears mesh with each other. The lifting and lowering crank is cylindrical and fixedly connected to the output gear shaft. The lifting and lowering swing rod is provided with a hole that matches the outer wall of the lifting and lowering crank, and the lifting and lowering swing rod is slidably installed on the lifting and lowering crank. The lifting and lowering swing rod limit piece is connected to the lifting and lowering crank. The lifting and lowering rocker block is slidably installed on the lifting and lowering swing rod, and the lifting and lowering rocker block is rotatably connected to the lifting and lowering rocker block shaft. The lifting and lowering rocker block shaft is fixedly connected to the lifting seat. A connecting shaft is installed on the transmission gear, and the input gear shaft is in transmission connection with the connecting shaft.

[0009] Preferably, the moving foot drive assembly further includes six double universal couplings. Each double universal coupling includes two heads, two coupling pins, a fork joint I, and a fork joint II. The two heads are respectively rotatably connected to the fork joint I and the fork joint II through the coupling pins. The fork joint I is processed with a clamping groove, and the fork joint II is provided with a clamping head that matches the clamping groove. The clamping head of the fork joint II is slidably clamped with the clamping groove. The two heads are respectively connected to the connecting shaft and the input gear shaft.

[0010] Preferably, the moving foot includes a leg mounting block, two joint connecting rods, two torsion springs, a thigh skeleton, a calf skeleton, a female foot shell, and a male foot shell. The leg mounting block is fixedly installed on the lifting and lowering swing rod. The leg mounting block is rotatably connected to the thigh skeleton through the joint connecting rod. The thigh skeleton is rotatably connected to the calf skeleton through the joint connecting rod. The female foot shell and the male foot shell are respectively fixedly installed on both sides of the calf skeleton, and the female foot shell and the male foot shell are connected to each other. A torsion spring is installed between the leg mounting block and the thigh skeleton, and a torsion spring is installed between the thigh skeleton and the calf skeleton.

[0011] Preferably, the housing includes an upper housing, a middle housing, a lower housing, an edge limiting frame, and an intermediate limiting frame. The upper housing is installed above the middle housing, and the lower housing is fixedly installed below the middle housing. The intermediate limiting frame is fixedly installed inside the lower housing, and both sides of the intermediate limiting frame are connected to the gear seat. The edge limiting frame is fixedly installed on the adjusting and moving block seat.

[0012] Preferably, the control module includes a main control board, a motion motor drive board, and an adjustment motor drive board. The main control board, the motion motor drive board, and the adjustment motor drive board are all fixedly installed on the middle housing. The motion motor drive board is connected to the motion motor, and the adjustment motor drive board is connected to the adjustment motor;

[0013] The six-legged pet robot further includes a communication module, which is installed in the housing and connected to the control module.

[0014] An interaction method for a six-legged pet robot as described above includes the following steps:

[0015] The camera collects human gesture commands and transmits them to the control module;

[0016] The control module reads the collected gesture commands, controls the operation of the motors of the motion foot drive assembly, and controls the speaker to emit pet calls;

[0017] The ultrasonic sensor collects obstacle information and transmits it to the control module;

[0018] The control module reads the obstacle information;

[0019] The motion foot drive assembly drives the six-legged pet robot to move while avoiding obstacles.

[0020] Preferably, the method for the motion foot drive assembly to drive the motion foot includes:

[0021] The swing drive mechanism realizes the swing motion of one side of the motion foot through the horizontal swing of the swing swing rod;

[0022] The two swing drive mechanisms realize the coordinated swing motion of the motion feet by adjusting the swing amplitudes of the swing swing rods on both sides;

[0023] The double universal coupling transfers the power of the swing drive mechanism to the lift drive mechanism, and the swing drive mechanism and the lift drive mechanism cooperate to realize the swing and lift compound motion of the motion foot.

[0024] The beneficial technical effects of the present invention include: By adopting a six-legged pet robot and its interaction method proposed by the present invention, based on the bionic principle, the number of legs of the pet robot is designed to be six, and it moves using a triangular gait, enabling the robot to have good static stability; It is driven by the motion foot drive assembly, which can adjust the swing amplitude of the legs to achieve multi-gait functions such as forward and backward movement and rotation in place; At the same time, it is only driven by four motors, making the overall mass of the robot lighter, the energy consumption lower, and the control difficulty moderate.

[0025] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with the accompanying drawings:

[0027] Figure 1 Schematic diagram of the internal structure of the six-legged pet robot according to Embodiment 6 of the present invention;

[0028] Figure 2 Schematic diagram of the overall structure of the six-legged pet robot according to Embodiment 6 of the present invention;

[0029] Figure 3 Schematic diagram of the swing drive mechanism structure of the six-legged pet robot according to Embodiment 6 of the present invention;

[0030] Figure 4 Exploded view of the swing drive mechanism of the six-legged pet robot according to Embodiment 6 of the present invention;

[0031] Figure 5 Schematic diagram of the lifting and lowering drive mechanism structure of the six-legged pet robot according to Embodiment 6 of the present invention;

[0032] Figure 6 Exploded view of the lifting and lowering drive mechanism of the six-legged pet robot according to Embodiment 6 of the present invention;

[0033] Figure 7 Schematic diagram of the double universal coupling structure of the six-legged pet robot according to Embodiment 6 of the present invention;

[0034] Figure 8 Schematic diagram of the moving foot structure of the six-legged pet robot according to Embodiment 6 of the present invention;

[0035] Figure 9 Exploded view of the moving foot of the six-legged pet robot according to Embodiment 6 of the present invention;

[0036] Figure 10 Schematic diagram of the housing structure of the six-legged pet robot according to Embodiment 6 of the present invention;

[0037] Figure 11 Exploded view of the housing of the six-legged pet robot according to Embodiment 6 of the present invention;

[0038] Figure 12 Schematic diagram of the control module structure of the six-legged pet robot according to Embodiment 6 of the present invention;

[0039] Figure 13 Flow chart of the control method of the six-legged pet robot according to Embodiment 6 of the present invention;

[0040] Figure 14 Flow chart of the obstacle avoidance method of the six-legged pet robot according to Embodiment 6 of the present invention;

[0041] Figure 15This is the flowchart of the motion foot driving method for the six-legged pet robot in the embodiment of the present invention.

[0042] Among them: 1. Housing, 2. Motion foot, 3. Control module, 4. Ultrasonic sensor, 5. Power module, 6. Camera, 7. Speaker, 8. Swing driving mechanism, 9. Lift and lower driving mechanism, 10. Double universal coupling, 11. Upper housing, 12. Middle housing, 13. Lower housing, 14. Intermediate limit frame, 15. Edge limit frame, 16. Leg mounting block, 17. Joint connecting rod, 18. Torsion spring, 19. Thigh bone frame, 20. Calf bone frame, 21. Female foot housing, 22. Male foot housing, 23. Motion motor, 24. Adjustment motor, 25. Swing crank, 26. Swing swing rod, 27. Swing rocker block, 28. Swing rocker block seat, 29. Adjustment moving block, 30. Adjustment moving block seat, 31. Guide rod, 32. Gear seat, 33. Screw rod, 34. Driving gear, 35. Lift and lower seat, 36. Lift and lower cover, 37. Input gear shaft, 38. Bevel gear, 39. Output gear shaft, 40. Lift and lower crank, 41. Lift and lower swing rod, 42. Lift and lower swing rod limit piece, 43. Lift and lower rocker block, 44. Lift and lower rocker block shaft, 45. Head, 46. Connecting pin, 47. Fork joint Ⅰ, 48. Fork joint Ⅱ, 49. Main control board, 50. Motion motor drive board, 51. Adjustment motor drive board. Specific embodiments

[0043] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings of the embodiments of the present invention. However, the following embodiments are only the preferred embodiments of the present invention, not all of them. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative efforts all fall within the protection scope of the present invention.

[0044] In the following description, terms such as "inner", "outer", "upper", "lower", "left", "right", etc. indicating orientation or position relationship are only for the convenience of describing the embodiments and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0045] A six-legged pet robot, please refer to the appendix Figure 1 and 2, including a housing 1, a control module 3, an ultrasonic sensor 4, a power supply module 5, a camera 6, a speaker 7, a moving foot drive assembly, and six moving feet 2. The control module 3, the speaker 7, the moving foot drive assembly, and the power supply module 5 are all fixedly installed inside the housing 1. The ultrasonic sensor 4 and the camera 6 are both fixedly installed on the housing 1. The ultrasonic sensor 4 detects obstacles in front. The six moving feet 2 are arranged in two rows on both sides of the housing 1. The six moving feet 2 are all connected to the moving foot drive assembly. The ultrasonic sensor 4, the camera 6, the speaker 7, and the moving foot drive assembly are all connected to the control module 3. The power supply module 5 supplies power to the other components. Based on the bionic principle, the number of legs of the pet robot designed in the present invention is six, and it moves using a triangular gait. During the movement, three legs of the six-legged pet robot are always in the support phase to push the six-legged pet robot forward, and the other three legs are in the swing phase to prepare for the next movement. The swing phase and the support phase each account for half a cycle. In the triangular gait, the movement cycle of each leg is the same, but there is a certain phase difference in position, making the six-legged pet robot have good static stability. Among them, the ultrasonic sensor 4 is an HC-SR04 ultrasonic sensor module.

[0046] Among them, the moving foot drive assembly includes a swing drive assembly and a lift and lower drive assembly. The swing drive assembly is rotatably connected to the middle part of the moving foot 2 to drive the moving foot 2 to swing back and forth. The lift and lower drive assembly is rotatably connected to the upper part of the moving foot 2 to drive the moving foot 2 to lift and lower.

[0047] Please refer to the appendix Figure 3 and 4, the swing drive assembly includes two swing drive mechanisms 8, and the two swing drive mechanisms 8 respectively drive a row of moving feet 2. The swing drive mechanism 8 includes a motion motor 23, an adjustment motor 24, three swing cranks 25, three swing swing rods 26, a swing rocker 27, a swing rocker seat 28, an adjustment slider 29, an adjustment slider seat 30, a guide rod 31, a gear seat 32, a screw rod 33 and a number of transmission gears 34. The gear seat 32 and the adjustment slider seat 30 are fixedly connected by the guide rod 31. The motion motor 23 is fixedly installed on the housing 1, the adjustment motor 24 is fixedly installed on the gear seat 32, and a number of transmission gears 34 are installed on the gear seat 32. The a number of transmission gears 34 are meshed with each other. The motion motor 23 is connected to the transmission gears 34. The swing crank 25 is cylindrical and is eccentrically fixedly installed on the transmission gear 34. The swing swing rod 26 is provided with a hole that cooperates with the outer wall of the swing crank 25. The swing swing rod 26 is slidably installed on the swing crank 25. The adjustment slider 29 is slidably installed on the guide rod 31. One end of the screw rod 33 is fixedly connected to the adjustment motor 24, and the other end is rotatably installed on the adjustment slider seat 30. The adjustment slider 29 is machined with a threaded hole that is threadedly connected to the screw rod 33. The adjustment slider 29 and the screw rod 33 form a threaded connection. The swing rocker seat 28 is fixedly installed on the adjustment slider 29. The swing rocker 27 is rotatably connected to the swing rocker seat 28. The swing rocker 27 is slidably connected to the swing swing rod 26. The motion motor 23 transmits power to the swing crank 25 through gear transmission. While the swing crank 25 transmits power to the next swing crank 25 through the transmission gears 34, it drives the swing swing rod 26 to move, and further drives the swing rocker 27 to rotate, thereby realizing the synchronous and isochronous coordinated movement of one side of the feet; the screw rod 33 of the adjustment motor 24 and the adjustment slider 29 convert the rotational motion into a linear motion through screw transmission, thereby changing the distance between the rotation centers of the swing crank 25 and the swing rocker 27, and further realizing the adjustment of the swing amplitude of one side of the leg.

[0048] Please refer to the attached Figure 5 and 6, the lifting and lowering drive assembly includes six lifting and lowering drive mechanisms 9. The lifting and lowering drive mechanism 9 includes a lifting seat 35, a lifting and lowering cover 36, an input gear shaft 37, two bevel gears 38, an output gear shaft 39, a lifting and lowering crank 40, a lifting and lowering swing rod 41, a lifting and lowering swing rod limiting piece 42, a lifting and lowering swing block 43 and a lifting and lowering swing block shaft 44. The lifting and lowering cover 36 is fixedly installed with the lifting seat 35, and the lifting seat 35 is fixedly installed on the swinging swing rod 26. The input gear shaft 37, the bevel gears 38, the output gear shaft 39 and the lifting and lowering swing block shaft 44 are all installed between the lifting seat 35 and the lifting and lowering cover 36. The input gear shaft 37 and the output gear shaft 39 are respectively fixedly connected with the two bevel gears 38, and the two bevel gears 38 mesh with each other. The lifting and lowering crank is cylindrical, and the lifting and lowering crank 40 is fixedly connected with the output gear shaft 39. The lifting and lowering swing rod 41 is provided with a hole that matches the outer wall of the lifting and lowering crank 40, and the lifting and lowering swing rod 41 is slidably installed on the lifting and lowering crank 40. The lifting and lowering swing rod limiting piece 42 is connected with the lifting and lowering crank 40. The lifting and lowering swing block 43 is slidably installed on the lifting and lowering swing rod 41, and the lifting and lowering swing block 43 is rotatably connected with the lifting and lowering swing block shaft 44. The lifting and lowering swing block shaft 44 is fixedly connected with the lifting seat 35. A connecting shaft is installed on the transmission gear 34, and the input gear shaft 37 is in transmission connection with the connecting shaft. The lifting and lowering drive mechanism 9 transmits the motion transmitted by the double universal coupling 10 to the lifting and lowering crank 40 through the constant velocity bevel gear transmission of the input gear shaft 37 and the output gear shaft 39, drives the lifting and lowering swing rod 41 to move, and further drives the lifting and lowering swing block 43 to move, thereby realizing the lifting and lowering motion of the legs of the six-legged pet robot.

[0049] Please refer to the appendix Figure 7 , the moving leg drive assembly further includes six double universal couplings 10. The double universal coupling 10 includes two heads 45, two coupling pins 46, a fork joint Ⅰ 47 and a fork joint Ⅱ 48. The two heads 45 are respectively rotatably connected with the fork joint Ⅰ 47 and the fork joint Ⅱ 48 through the coupling pins 46. The fork joint Ⅰ 47 is processed with a clamping groove, and the fork joint Ⅱ 48 is provided with a clamping head that matches the clamping groove. The clamping head of the fork joint Ⅱ 48 is slidably clamped with the clamping groove. The two heads 45 are respectively connected with the connecting shaft and the input gear shaft 37, realizing the transmission of the motion power from the swinging crank 25 of the six-legged pet robot to the input gear shaft 37.

[0050] Please refer to the appendix Figure 8 and 9, the moving foot 2 includes a leg mounting block 16, a joint connecting rod 17, a torsion spring 18, a thigh skeleton 19, a calf skeleton 20, a female foot shell 21 and a male foot shell 22. The leg mounting block 16 is fixedly mounted on the lifting and swinging rod 41. The leg mounting block 16 is rotatably connected to the thigh skeleton 19 through the joint connecting rod 17. The thigh skeleton 19 is rotatably connected to the calf skeleton 20 through the joint connecting rod 17. The female foot shell 21 and the male foot shell 22 are respectively fixedly mounted on both sides of the calf skeleton 20 and are connected to each other. A torsion spring 18 is installed between the leg mounting block 16 and the thigh skeleton 19, and a torsion spring 18 is installed between the thigh skeleton 19 and the calf skeleton 20. Among them, the torsion spring 18 is installed at each joint, providing a passive degree of freedom each to achieve buffering during the movement process.

[0051] Please refer to the appendix Figure 10 and 11 , the housing 1 includes an upper housing 111, a middle housing 121, a lower housing 131, an edge limiting frame 15 and a middle limiting frame 14. The upper housing 111 is installed above the middle housing 121. The lower housing 131 is fixedly installed below the middle housing 121. The middle limiting frame 14 is fixedly installed inside the lower housing 131. Both sides of the middle limiting frame 14 are connected to the gear seat 32. The edge limiting frame 15 is fixedly installed on the adjusting moving block seat 30 to limit the movement of the swing driving assembly in the horizontal direction and ensure the reliability of the movement of the six-legged pet robot.

[0052] Please refer to the appendix Figure 12 , the control module 3 includes a main control board 49, a motion motor drive board 50 and an adjustment motor drive board 51. The main control board 49, the motion motor drive board 50 and the adjustment motor drive board 51 are all fixedly installed on the middle housing 121. The motion motor drive board 50 is connected to the motion motor 23, and the adjustment motor drive board 51 is connected to the adjustment motor 24. Among them, the main control board 49 is a Raspberry Pi pico (RP2040), the motion motor drive board 50 is an L298N motor drive, and the adjustment motor drive board 51 is a DRV8833 drive.

[0053] Among them, the six-legged pet robot further includes a communication module, and the communication module is installed inside the housing 1 and is connected to the control module 3.

[0054] An interaction method for a six-legged pet robot as described above, please refer to the appendix Figure 13 and 14 , including the following steps:

[0055] Step A1) The camera 6 collects the gesture commands of the person and transmits them to the control module 3;

[0056] Step A2) The control module 3 reads the collected gesture commands, controls the operation of the motors of the moving foot drive assembly and controls the speaker 7 to emit pet calls;

[0057] Step B1) The ultrasonic sensor 4 collects obstacle information and transmits it to the control module 3;

[0058] Step B2) The control module 3 reads the obstacle information;

[0059] Step B3) When the moving foot drive assembly drives the hexapod pet robot to move, it avoids obstacles.

[0060] Please refer to the appendix Figure 15 , the method for the moving foot drive assembly to drive the moving foot 2 includes:

[0061] Step C1) The swing drive mechanism 8 realizes the swing movement of one side of the moving foot 2 through the horizontal swing of the swing rod 26;

[0062] Step C2) The two swing drive mechanisms 8 realize the coordinated swing movement of the moving foot 2 by adjusting the swing amplitude of the swing rods 26 on both sides;

[0063] Step C3) The double universal coupling 10 transmits the power of the swing drive mechanism 8 to the lift drive mechanism 9, and the swing drive mechanism 8 and the lift drive mechanism 9 cooperate to realize the swing and lift compound movement of the moving foot 2.

[0064] The functions of the present invention are extensible. After expanding functions such as visual recognition, wifi and Bluetooth, it can be used as an intelligent butler for home companionship, playing a certain control role for intelligent devices at home; at the same time, the invention can also be used as a companion robot to play a role in elderly care, providing emotional companionship for the elderly, and can also feedback the situation of the elderly to users in real time to ensure the safety of the elderly.

[0065] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the content described in the drawings and the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A six-legged pet robot, characterized in that, it comprises a housing, a control module, ultrasonic sensors, a power module, a camera, a speaker, a motion foot drive assembly and six motion feet. The control module, the speaker, the motion foot drive assembly and the power module are all fixedly installed inside the housing. The ultrasonic sensors and the camera are both fixedly installed on the housing. The ultrasonic sensors detect obstacles in front. The six motion feet are arranged in two rows on both sides of the housing. All the six motion feet are connected to the motion foot drive assembly. The ultrasonic sensors, the camera, the speaker and the motion foot drive assembly are all connected to the control module. The power module supplies power to the other components; wherein, the motion foot drive assembly includes a swing drive assembly and a lift drive assembly. The swing drive assembly is rotatably connected to the middle of the motion foot to drive the motion foot to swing back and forth. The lift drive assembly is rotatably connected to the upper part of the motion foot to drive the motion foot to lift and fall. The swing drive assembly includes two swing drive mechanisms. The two swing drive mechanisms respectively drive a row of motion feet. The swing drive mechanism includes a motion motor, an adjustment motor, three swing cranks, three swing rods, a swing rocker, a swing rocker seat, an adjustment slider, an adjustment slider seat, a guide rod, a gear seat, a screw rod and a plurality of transmission gears. The gear seat and the adjustment slider seat are fixedly connected by the guide rod. The motion motor is fixedly installed on the housing. The adjustment motor is fixedly installed on the gear seat. The plurality of transmission gears are rotatably installed on the gear seat. The plurality of transmission gears are meshed with each other. The motion motor is connected to the transmission gears. The swing crank is cylindrical and is eccentrically fixedly installed on the transmission gear. The swing rod is provided with a hole that matches the outer wall of the swing crank. The swing rod is slidably installed on the swing crank. The adjustment slider is slidably installed on the guide rod. One end of the screw rod is fixedly connected to the adjustment motor, and the other end is rotatably installed on the adjustment slider seat. The adjustment slider is processed with a threaded hole that is threadedly connected to the screw rod. The adjustment slider and the screw rod form a threaded connection. The swing rocker seat is fixedly installed on the adjustment slider. The swing rocker is rotatably connected to the swing rocker seat. The swing rocker is slidably connected to the swing rod.

2. A six-legged pet robot according to claim 1, characterized in that, The lifting and lowering drive assembly includes six lifting and lowering drive mechanisms. Each lifting and lowering drive mechanism includes a lifting seat, a lifting and lowering cover, an input gear shaft, two bevel gears, an output gear shaft, a lifting and lowering crank, a lifting and lowering swing rod, a lifting and lowering swing rod limit piece, a lifting and lowering rocker block, and a lifting and lowering rocker block shaft. The lifting and lowering cover is fixedly installed with the lifting seat, and the lifting seat is fixedly installed on the swinging swing rod. The input gear shaft and the output gear shaft are respectively fixedly connected to the two bevel gears, and the two bevel gears mesh with each other. The lifting and lowering crank is cylindrical and is fixedly connected to the output gear shaft. The lifting and lowering swing rod is provided with a hole that matches the outer wall of the lifting and lowering crank, and the lifting and lowering swing rod is slidably installed on the lifting and lowering crank. The lifting and lowering swing rod limit piece is connected to the lifting and lowering crank. The lifting and lowering rocker block is slidably installed on the lifting and lowering swing rod, and the lifting and lowering rocker block is rotatably connected to the lifting and lowering rocker block shaft. The lifting and lowering rocker block shaft is fixedly connected to the lifting seat. A connecting shaft is installed on the transmission gear, and the input gear shaft is in transmission connection with the connecting shaft.

3. The six-legged pet robot according to claim 2, wherein, the movement foot drive assembly further includes six double universal couplings. Each double universal coupling includes two heads, two coupling pins, a fork joint I, and a fork joint II. The two heads are respectively rotatably connected to the fork joint I and the fork joint II through the coupling pins. The fork joint I is processed with a clamping groove, and the fork joint II is provided with a clamping head that matches the clamping groove. The clamping head of the fork joint II is slidably clamped with the clamping groove. The two heads are respectively connected to the connecting shaft and the input gear shaft.

4. The six-legged pet robot according to claim 2, wherein, the movement foot includes a leg mounting block, two joint connecting rods, two torsion springs, a thigh skeleton, a calf skeleton, a female foot shell, and a male foot shell. The leg mounting block is fixedly installed on the lifting and lowering swing rod. The leg mounting block is rotatably connected to the thigh skeleton through the joint connecting rod. The thigh skeleton is rotatably connected to the calf skeleton through the joint connecting rod. The female foot shell and the male foot shell are respectively fixedly installed on both sides of the calf skeleton, and the female foot shell and the male foot shell are connected to each other. A torsion spring is installed between the leg mounting block and the thigh skeleton, and a torsion spring is installed between the thigh skeleton and the calf skeleton.

5. The six-legged pet robot according to claim 1, wherein, the housing includes an upper housing, a middle housing, a lower housing, an edge limit frame, and a middle limit frame. The upper housing is installed above the middle housing, and the lower housing is fixedly installed below the middle housing. The middle limit frame is fixedly installed inside the lower housing, and both sides of the middle limit frame are connected to the gear seat. The edge limit frame is fixedly installed on the adjusting and moving block seat.

6. The six-legged pet robot according to claim 5, wherein, The control module includes a main control board, a motion motor drive board, and an adjustment motor drive board. The main control board, the motion motor drive board, and the adjustment motor drive board are all fixedly installed on the middle housing. The motion motor drive board is connected to the motion motor, and the adjustment motor drive board is connected to the adjustment motor; The six-legged pet robot further includes a communication module, which is installed in the housing and connected to the control module.

7. An interaction method for a six-legged pet robot according to any one of claims 1 to 6, characterized in that, It includes the following steps: The camera collects human gesture instructions and transmits them to the control module; The control module reads the collected gesture instructions, controls the operation of the motors of the motion foot drive assembly, and controls the speaker to emit pet barks; The ultrasonic sensor collects obstacle information and transmits it to the control module; The control module reads the obstacle information; The motion foot drive assembly drives the six-legged pet robot to move while avoiding obstacles.

8. According to the interaction method for a six-legged pet robot described in claim 7, characterized in that, The method for the motion foot drive assembly to drive the motion foot includes: The swing drive mechanism realizes the swing motion of one side of the motion foot through the horizontal swing of the swing rod; Two swing drive mechanisms realize the coordinated swing motion of the motion foot by adjusting the swing amplitude of the swing rods on both sides; The double universal coupling transmits the power of the swing drive mechanism to the lift drive mechanism, and the swing drive mechanism and the lift drive mechanism cooperate to realize the swing and lift compound motion of the motion foot.

Images