A motion chassis for a pet-playing robot and its control method

Abstract

This invention relates to the field of pet-playing robot product technology, and discloses a pet-playing robot motion chassis and its control method, including an upper assembly shell and a lower assembly shell. The bottom of the lower assembly shell is provided with a toggle latch. The upper surface of the upper assembly shell has a first protrusion for foolproof positioning and installation of the motion chassis and the body. The upper surface of the upper assembly shell also has a second and a third protrusion for foolproof positioning and installation of the motion chassis and the body. The lower assembly shell contains conductive pins for the chassis and a reset switch. This invention utilizes the toggle latch at the bottom of the lower assembly shell, which extends and connects to the body, combining the upper and lower assembly shells to form the robot body, thereby improving the ease of disassembly and assembly of the device.

Description

Technical Field

[0001] This invention relates to the field of pet-playing robot product technology, specifically to a pet-playing robot motion chassis and its control method. Background Technology

[0002] Pet-playing robots, as a type of intelligent device with real-time pet monitoring and companionship functions, can remotely view the pet's status, perform pet-playing interactive actions, play fun pet-playing audio, activate laser pet-playing mode, complete pet recognition and automatic following, and patrol and search for pets indoors. The motion chassis is the core component that helps pet owners remotely achieve the above-mentioned companionship functions.

[0003] Traditional devices use a fixed connection for their chassis, which does not have the function of easy disassembly. After long-term use, the tire surface is easily contaminated with pet hair, dust and other dirt, which is difficult to clean and easy to breed bacteria, thus affecting the convenience of pet teasing and thus limiting the scene adaptability and practicality of pet teasing robots. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a motion chassis for a pet-playing robot and its control method, which solves the problem that the motion chassis of existing devices uses a fixed connection method and does not have a convenient disassembly function.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a pet-playing robot chassis, comprising an upper assembly shell and a lower assembly shell. The lower assembly shell has a sliding latch at its bottom. The upper surface of the upper assembly shell has a first protrusion for anti-foolproof positioning and installation of the chassis and the body. The upper surface of the upper assembly shell also has a second protrusion and a third protrusion for anti-foolproof positioning and installation of the chassis and the body. The lower assembly shell contains conductive pins and a reset switch.

[0006] The above technical solution utilizes the mechanical locking function of the latch to quickly complete the splicing and fixing of the upper and lower shells, while also enabling convenient disassembly and assembly of the moving chassis and the body, reducing the difficulty of maintenance and cleaning.

[0007] Preferably, the upper and lower housings are connected and fixed to the body by extending them through a latch, thus forming the body.

[0008] Preferably, a drive assembly is provided on one side of both the upper and lower assembly shells, a magnet is provided on the outside of the drive assembly, and a bearing is provided between the upper and lower assembly shells.

[0009] Preferably, the drive assembly includes a first motor, which is externally fixedly connected to the inside of the lower assembly housing. The output end of the first motor is connected to a toothed shaft. The upper and lower assembly housings are provided with toothed synchronous belts, and the other end of the toothed shaft is provided with a wheel.

[0010] Preferably, the toothed shaft is connected to the lower and upper housings via bearings, and the toothed ends of the toothed shaft are connected by a toothed synchronous belt.

[0011] Preferably, one end of the toothed shaft is fixed with a timing belt baffle for limiting the position of the toothed timing belt by screws.

[0012] Preferably, the toothed shaft has a hole on its exterior, and the magnet is installed in the hole.

[0013] Preferably, the drive assembly further includes a second motor, which is externally fixedly connected to the interior of the lower housing. The output end of the second motor is connected to a gear shaft. One side of the gear shaft is meshed with a first gear, and the other side of the gear shaft is meshed with a second gear. The teeth of both the first and second gears are meshed with gear rings. One side of the gear shaft is rotatably connected to the interior of the lower housing.

[0014] Preferably, the wheel is a Mecklen wheel, and a roller is provided on the outside of the wheel. The roller is made of polyurethane, rubber or nylon. The axis of the roller is at a 45° angle to the wheel axle, and the rollers provided on the outside of the wheel are in the opposite direction.

[0015] Preferably, a control method for the motion chassis of a pet-playing robot includes the following steps: S1. Connect the motion chassis to the main control system of the fuselage through the chassis conductive pins to obtain motion control commands issued by the main control system; S2. According to the motion control command, control the first motor to start or stop, and adjust its speed and direction, so that the toothed shaft drives the wheels on both sides to rotate synchronously in the same or opposite directions through the toothed synchronous belt, so as to achieve forward, backward or stationary turning motion. S3. When steering or attitude adjustment is required, control the second motor to start, drive the gear shaft to rotate, so that the first gear and the second gear can mesh differentially, thereby driving the gear ring to move, and achieving steering control of the moving chassis. S4. By using a magnet set on the toothed shaft in conjunction with a corresponding sensor on the machine body, the wheel set speed and motion status information are collected, and the information is fed back to the main control system for real-time adjustment of the motion status. S5. When an abnormal motion is detected or a reset command is received, the reset switch is triggered, causing the motion chassis to stop running and return to the initial standby state.

[0016] Working principle: When the moving chassis is assembled with the machine body, the toggle latch at the bottom of the lower assembly shell is moved to extend and mechanically lock into the machine body. The upper and lower assembly shells, under the anti-foolproof positioning effect of the first, second, and third protrusions, cooperate with the corresponding structures of the machine body to form a stable whole structure. At the same time, the chassis conductive pins inside the lower assembly shell contact the electrical interface of the machine body to realize the power and control signal connection between the moving chassis and the machine body. After assembly and power-on, the main control system of the machine body performs initialization tests on the moving chassis. The tests include the power supply and communication status of the chassis conductive pins, the drive status of the first and second motors, and the initial status of the reset switch. When the test results are normal, the moving chassis enters standby mode, waiting for the main control system to issue motion control commands. When a motion control command is received, the main control system controls the first motor to start according to the command content. The first motor drives the toothed shaft to rotate. The toothed shaft transmits power synchronously to the other toothed shaft through the toothed synchronous belt meshing with it, thereby driving the wheels on both sides to rotate synchronously in the same or opposite directions, so that the outer contour tires roll on the ground, realizing the forward, backward or stationary rotation of the motion chassis. When it is necessary to adjust the driving direction of the sports chassis, the main control system controls the second motor to start. The second motor drives the gear shaft to rotate. The tooth ends on both sides of the gear shaft mesh with the first gear and the second gear respectively. The first gear and the second gear drive the gear ring meshed with them to move, thereby realizing the steering control or attitude adjustment of the sports chassis. During the movement, the magnets set on the toothed shaft rotate synchronously with the shaft and cooperate with the corresponding sensors on the machine body to collect the speed and movement status information of the wheel set; the main control system adjusts the operating status of the first motor and the second motor in real time according to the collected feedback information to ensure the driving stability and control accuracy of the moving chassis. When an abnormal situation occurs during the movement or a reset command is received, the reset switch set on the lower shell of the assembly is triggered. The reset switch sends a reset signal to the main control system, causing the first motor and the second motor to stop running, and the moving chassis to enter the reset or standby state, thereby ensuring the safety of the device operation. When the chassis needs cleaning or maintenance, the locking mechanism can be released by moving the latches, allowing the chassis to be quickly removed from the machine body. This facilitates cleaning and maintenance of the outer tires, toothed synchronous belt, and internal drive structure. After maintenance, the chassis can be reassembled and used again following the above procedure.

[0017] This invention provides a motion chassis for a pet-playing robot and its control method. It has the following beneficial effects: 1. This invention adopts a structural design that combines a toggle buckle with a multi-protrusion anti-foolproof positioning, which enables the moving chassis to be quickly assembled and disassembled when connected to the body, while ensuring the structural stability and positioning accuracy after assembly. This achieves a balance between convenient maintenance and reliable installation, and significantly improves the inconvenience of traditional fixed connection methods in terms of cleaning, maintenance and repeated assembly.

[0018] 2. This invention starts with a first motor to drive a toothed shaft to rotate. The rotation of the toothed shaft is transmitted to the toothed shaft on the other side through a toothed synchronous belt that meshes with it, thereby achieving synchronous rotation of the wheels on both sides in the same or opposite directions, driving the outer contour tire to roll. Alternatively, a second motor can be used to start the gear shaft to rotate. The gear shaft drives the first gear and the second gear, which mesh with its toothed ends on both sides, to rotate differentially, thereby driving the gear ring that meshes with the first gear and the second gear to move. This can improve the stability and durability of the device.

[0019] 3. The present invention uses rubber material for the outer contour tires, and the tire tread has shallow raised patterns to increase friction. On different ground surfaces, the tires obtain a certain grip due to the special settings, so as to realize the stable driving of the robot, further improve friction and grip, and make the robot move more smoothly. In this way, the device can be improved in terms of ease of use and scene adaptability.

[0020] 4. This invention uses four sets of symmetrically arranged McLambert wheels, each with an independent drive unit, to achieve movement in any direction through the coordinated action of multiple wheels. This not only solves the problem of the limited direction of traditional bases, but also matches the pet's movement trajectory and enhances the interactive fun. The structure is compact and has a fast response. Attached Figure Description

[0021] Figure 1 This is a perspective view of the present invention; Figure 2 This is a partial structural diagram of the assembled lower shell of the pet-playing robot motion chassis and its control method according to the present invention. Figure 3 This is a partial structural diagram of the conductive pins of the chassis of a pet-playing robot's motion chassis and its control method according to the present invention. Figure 4 This is a partial structural diagram of the assembled upper shell of the pet-playing robot's motion chassis and its control method according to the present invention. Figure 5 This is a partial structural diagram of the toggle latch of the moving chassis and control method of the pet-playing robot of the present invention; Figure 6 This is a partial structural diagram of the gear shaft of the pet-playing robot's motion chassis and its control method according to the present invention; Figure 7 This is a schematic diagram of a partial gear structure of the motion chassis and control method of a pet-playing robot according to the present invention. Figure 8 This is a partial structural diagram of the first gear of the pet-playing robot's motion chassis and its control method according to the present invention.

[0022] The components include: 1. Assemble the upper shell; 2. Assemble the lower shell; 3. Move the latch; 4. First boss; 5. Second boss; 6. Third boss; 7. Chassis conductive pin; 8. Reset switch; 9. Magnet; 10. Bearing; 11. First motor; 12. Toothed shaft; 13. Toothed synchronous belt; 14. Wheel; 15. Synchronous belt baffle; 16. Second motor; 17. Gear shaft; 18. First gear; 19. Second gear; 20. Gear ring; 21. Roller. Detailed Implementation

[0023] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0024] Please see the appendix Figure 1 Appendix Figure 2 and Figure 4 This invention provides a mobile chassis for a pet-playing robot, comprising an upper assembly shell 1 and a lower assembly shell 2. The bottom of the lower assembly shell 2 is provided with a lever buckle 3. The upper surface of the upper assembly shell 1 has a first protrusion 4 for anti-foolproof positioning and installation of the mobile chassis and the body. The upper surface of the upper assembly shell 1 also has a second protrusion 5 and a third protrusion 6 for anti-foolproof positioning and installation of the mobile chassis and the body. The interior of the lower assembly shell 2 is provided with a chassis conductive pin 7, and a reset switch 8 is provided on the lower assembly shell 2. The upper assembly shell 1 and the lower assembly shell 2 are extended by levering the lever buckle 3 to connect and fix with the body, forming the robot body.

[0025] Specifically, the toggle latch 3 is a mechanical locking mechanism that enables quick assembly and separation between the moving chassis and the body. The first boss 4, the second boss 5, and the third boss 6 are foolproof positioning structures that cooperate with the corresponding slots on the body to prevent electrical interface misalignment. The chassis conductive pin 7 serves as an electrical connection interface, responsible for transmitting power and control signals when the chassis and body are docked. The reset switch 8 is a hardware reset circuit trigger component used to restore the initial state when the system software crashes or the movement is abnormal. This allows for quick disassembly and cleaning of the entire device, improving the convenience of disassembly and installation.

[0026] Please see the appendix Figure 3 and attached Figure 4 A drive assembly is provided on one side of both the upper shell 1 and the lower shell 2. A magnet 9 is provided on the outside of the drive assembly. A bearing 10 is provided between the upper shell 1 and the lower shell 2. The drive assembly includes a first motor 11, which is externally fixedly connected to the inside of the lower shell 2. The output end of the first motor 11 is connected to a toothed shaft 12. A toothed synchronous belt 13 is provided inside the upper shell 1 and the lower shell 2. A wheel 14 is provided at the other end of the toothed shaft 12. The toothed shaft 12 is connected to the lower shell 2 and the upper shell 1 through the bearing 10. The toothed shaft ends of the toothed shaft 12 are connected by the toothed synchronous belt 13. A synchronous belt baffle 15 for limiting the position of the toothed synchronous belt 13 is fixed to one end of the toothed shaft 12 by screws. A hole is opened on the outside of the toothed shaft 12, and the magnet 9 is installed in the hole.

[0027] Specifically, the first motor 11 serves as the main power source, the toothed synchronous belt 13 meshes with the toothed sections of the toothed shafts 12 on both sides to achieve synchronous rotation between the two wheels, the wheel 14 and the roller 21 serve as the walking actuators, the bearing 10 is used to support the toothed shafts 12 and reduce rotational friction resistance, the synchronous belt baffle 15 prevents the toothed synchronous belt 13 from falling off during transmission by axial limiting, and the magnet 9 is embedded in the hole of the toothed shaft 12 and rotates with the shaft, thereby achieving four-wheel drive of the wheel 14 and the synchronous belt drive, improving the stability and durability of the device. Example

[0028] Please see the appendix Figure 5 - Appendix Figure 8 The drive assembly also includes a second motor 16, which is externally fixedly connected to the interior of the lower housing 2. The output end of the second motor 16 is connected to a gear shaft 17. One side of the gear shaft 17 is meshed with a first gear 18, and the other side of the gear shaft 17 is meshed with a second gear 19. The teeth of both the first gear 18 and the second gear 19 are meshed with a gear ring 20. One side of the gear shaft 17 is rotatably connected to the interior of the lower housing 2. The wheel 14 is a McLambert wheel, and a roller 21 is provided on the outside of the wheel 14. The roller 21 is made of polyurethane, rubber, or nylon. The axis of the roller 21 is at a 45° angle to the wheel axle, and the roller 21 on the outside of the wheel 14 is in the opposite direction.

[0029] Specifically, there are four second motors 16. The output shaft of the second motor 16 is connected to the gear shaft 17 via a coupling. The coupling is used to transmit the output power of the second motor and allows the two shafts to be quickly separated and disassembled when maintenance is required, thus facilitating the independent maintenance and replacement of the gear transmission components. The second motor 16 serves as the steering power source, driving the gear shaft 17 to rotate. The tooth segments on both sides of the gear shaft 17 mesh with the first gear 18 and the second gear 19 respectively, thereby driving the gear ring 20 to move and realize the steering control of the wheel group. The wheels 14 are four sets of symmetrically mounted McLambert wheels, each set of wheels is equipped with an independent drive unit, and the movement in any direction can be achieved through the cooperation of multiple wheels. This not only solves the problem of the limited direction of the traditional base, but also matches the movement trajectory of the pet and enhances the interactive fun. The structure is compact and has a fast response. The rollers 21 are arranged at a specific angle of 45° with the wheel axle and contact the ground when the wheels 14 rotate, realizing forward, backward or lateral movement. Through the properties of polyurethane, rubber or nylon materials, the friction coefficient and the ability to climb slopes and overcome obstacles can be enhanced, thereby improving the ease of use and scene adaptability of the device.

[0030] A method for controlling the motion chassis of a pet-playing robot includes the following steps: S1. Electrically connect the motion chassis to the main control system of the fuselage through the chassis conductive pin 7, and obtain motion control commands issued by the main control system; S2. According to the motion control command, control the first motor 11 to start or stop, and adjust its speed and direction, so that the toothed shaft 12 drives the wheels 14 on both sides to rotate synchronously in the same or opposite directions through the toothed synchronous belt 13, so as to achieve forward, backward or stationary turning motion. S3. When steering or attitude adjustment is required, control the second motor 16 to start, drive the gear shaft 17 to rotate, so that the first gear 18 and the second gear 19 can mesh differentially, thereby driving the gear ring 20 to move, so as to achieve steering control of the moving chassis. S4. By using the magnet 9 set on the toothed shaft 12 in conjunction with the corresponding sensor on the machine body, the wheel set speed and motion status information are collected, and the information is fed back to the main control system for real-time adjustment of the motion status. S5. When an abnormal motion is detected or a reset command is received, the reset switch 8 is triggered to stop the motion chassis and restore it to the initial standby state.

[0031] Specifically, speed feedback information can be obtained using one of the following two methods: Method 1: Install a magnetic body on the output shaft of the gearbox or the toothed shaft 12, and install a Hall sensor at the corresponding position on the machine body. Calculate the rotational speed of the gearbox output shaft by detecting the periodic magnetic signal changes generated by the magnetic body as the output shaft rotates. Method 2: An encoder is installed at the tail end of the first motor 11 to detect the rotation pulse signal of the motor shaft. The motor shaft speed is obtained by counting the number of pulses per unit time, and the speed of the gearbox output shaft is calculated according to the gearbox reduction ratio. Since the speed of the motor shaft is a multiple of the reduction ratio of the speed of the gearbox output shaft, the number of pulse signals generated by the motor shaft per unit time is significantly more than that detected by the output shaft side. Therefore, when using an encoder to detect the speed of the motor shaft, it has higher sampling resolution and detection accuracy, thus enabling a more precise closed-loop control effect. The main control system adjusts the motor's operating status in real time based on the speed feedback information.

[0032] Workflow: When the pet-playing robot starts working, the sliding buckle 3 at the bottom of the lower shell 2 extends and connects to the body, combining the upper shell 1 and the lower shell 2 to form the body, providing the basic structure for the overall operation of the robot, thereby improving the convenience of disassembly and installation of the device. The first motor 11 starts and drives the toothed shaft 12 to rotate. The rotation of the toothed shaft 12 is transmitted to the toothed shaft 12 on the other side through the toothed synchronous belt 13 that meshes with it, thereby realizing the synchronous rotation of the wheels 14 on both sides in the same direction or in opposite directions, driving the roller 21 to roll. Alternatively, the second motor 16 can be started and drive the gear shaft 17 to rotate. The gear shaft 17 drives the first gear 18 and the second gear 19 that mesh with its two sides to rotate at a differential speed, thereby driving the gear ring 20 that meshes with the first gear 18 and the second gear 19 to move, thereby improving the stability and durability of the device. Roller 21 is made of rubber with shallow raised treads on the tread to increase friction. On different ground surfaces, the tires gain a certain grip due to their special design, enabling the robot to move stably and further improving friction and grip. On the other hand, it reduces wear and increases service life, making the robot move more smoothly. This can improve the ease of use and scene adaptability of the device. The conductive pins 7 inside the lower shell 2 of the assembly realize the electrical connection between the moving chassis and the body, transmit electrical energy and signals, and ensure the normal operation of each part of the robot. The magnet 9 works with the sensors on the body to detect the motion status of the drive components, such as speed and direction, thereby realizing the control of the robot's motion. When the system malfunctions, the reset switch 8 is triggered, the hardware reset circuit is activated, it is disconnected and a reset signal is sent to the main control system, all drive components stop moving, the chassis enters standby state, and waits for the re-initialization command. Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A motion chassis for a pet-playing robot, comprising an assembled upper shell (1) and an assembled lower shell (2), characterized in that: The bottom of the lower assembly shell (2) is provided with a toggle buckle (3). The upper surface of the upper assembly shell (1) is provided with a first boss (4) for the anti-foolproof positioning installation of the moving chassis and the fuselage. The upper surface of the upper assembly shell (1) is provided with a second boss (5) for the anti-foolproof positioning installation of the moving chassis and the fuselage. The upper surface of the upper assembly shell (1) is provided with a third boss (6) for the anti-foolproof positioning installation of the moving chassis and the fuselage. The interior of the lower assembly shell (2) is provided with a chassis conductive pin (7). The lower assembly shell (2) is provided with a reset switch (8).

2. The motion chassis for a pet-playing robot according to claim 1, characterized in that, The upper shell (1) and the lower shell (2) are connected and fixed to the body by moving the buckle (3) to form the body.

3. The pet-playing robot chassis according to claim 2, characterized in that, A drive assembly is provided on one side of both the upper shell (1) and the lower shell (2), and a magnet (9) is provided on the outside of the drive assembly. A bearing (10) is provided between the upper shell (1) and the lower shell (2).

4. The pet-playing robot chassis according to claim 3, characterized in that, The drive assembly includes a first motor (11), which is externally fixedly connected to the inside of the lower housing (2). The output end of the first motor (11) is connected to a toothed shaft (12). A toothed synchronous belt (13) is provided inside the upper housing (1) and the lower housing (2). A wheel (14) is provided at the other end of the toothed shaft (12).

5. The pet-playing robot chassis according to claim 4, characterized in that, The toothed shaft (12) is connected to the lower housing (2) and the upper housing (1) via bearings (10), and the toothed shaft ends of the toothed shaft (12) are connected by a toothed synchronous belt (13).

6. The motion chassis for a pet-amusing robot according to claim 5, characterized in that, One end of the toothed shaft (12) is fixed with a timing belt baffle (15) for limiting the position of the toothed timing belt (13) by screws.

7. The pet-playing robot chassis according to claim 4, characterized in that, The toothed shaft (12) has a hole on its outside, and the magnet (9) is installed in the hole.

8. The motion chassis for a pet-playing robot according to claim 4, characterized in that, The drive assembly also includes a second motor (16), which is externally fixedly connected to the inside of the lower housing (2). The output end of the second motor (16) is connected to a gear shaft (17). One side of the gear shaft (17) is meshed with a first gear (18), and the other side of the gear shaft (17) is meshed with a second gear (19). The ends of the first gear (18) and the second gear (19) are both meshed with a gear ring (20). One side of the gear shaft (17) is rotatably connected to the inside of the lower housing (2).

9. The pet-playing robot chassis according to claim 8, characterized in that, The wheel (14) is a McLambert wheel, and a roller (21) is provided on the outside of the wheel (14). The roller (21) is made of polyurethane, rubber or nylon. The axis of the roller (21) is at a 45° angle to the wheel axle. The roller (21) provided on the outside of the wheel (14) is in the opposite direction.

10. A control method for the motion chassis of a pet-playing robot, characterized in that, A pet-playing robot chassis according to any one of claims 1-9 comprises the following steps: S1. Connect the motion chassis to the main control system of the fuselage through the chassis conductive pin (7) to obtain the motion control command issued by the main control system; S2. According to the motion control command, control the first motor (11) to start or stop, and adjust its speed and direction, so that the toothed shaft (12) drives the wheels (14) on both sides to rotate synchronously in the same direction or in the opposite direction through the toothed synchronous belt (13), so as to achieve forward, backward or stationary turning motion; S3. When steering or attitude adjustment is required, control the second motor (16) to start, drive the gear shaft (17) to rotate, so that the first gear (18) and the second gear (19) can mesh differentially, thereby driving the gear ring (20) to move, and achieving steering control of the moving chassis. S4. By using the magnet (9) set on the toothed shaft (12) in conjunction with the corresponding sensor on the machine body, the wheel set speed and motion status information are collected, and the information is fed back to the main control system for real-time adjustment of the motion status. S5. When an abnormal motion is detected or a reset command is received, the reset switch (8) is triggered to stop the motion chassis from running and restore it to the initial standby state.

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