Pet accompanying wheel-legged robot

Abstract

The utility model discloses a pet accompanying wheel-legged robot which comprises a body part of a main body, bionic mechanical legs connected through a sliding rail and a push rod, and an internal grain feeder. Wherein the mechanical leg is divided into a front arm and a rear leg, the front arm is controlled by an electric sliding rail, actions such as clamping and loosening can be realized by adjusting the distance between the left arm and the right arm, and the rear leg adopts a double-wheel type and is connected with a body through an electric push rod, so that actions of lying down and standing can be realized, and the mechanical leg is closer to the shape of an animal; and good interaction with the pet can be realized. The rear wheel carries a motor to provide power for the device. A food feeder is carried inside and is connected through a belt, and the rotating speed of the turntable is controlled to realize timed and quantitative food feeding. The robot recognizes and monitors the pet through the eye depth camera at the front end and feeds back a command to each module. The robot not only can accompany the pet to do daily games, but also can provide grain feeding, and becomes an assistant between an owner and the pet.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically a pet companion wheeled robot. Background Technology

[0002] The development of mobile robot platforms is an important and relatively active research field. Mobile robots generally include wheeled, tracked, and legged robots. Compared to legged and tracked robots, wheeled robots operate at higher speeds and can also perform actions such as climbing stairs and crossing steps, making them more widely applicable. This quadruped robot is a biomimetic robot that mimics a domestic pet. It is a scaled-down model primarily used to study indoor human-computer interaction environments.

[0003] In recent years, many families have enjoyed keeping pets, and the number of pets has been increasing, making them a part of daily life. However, many caregivers are becoming increasingly busy with work, resulting in their pets not receiving sufficient care and companionship, which can lead to mild depression in the animals. This is especially true for clingy cats, who are prone to boredom and loneliness due to a lack of stimulation and entertainment.

[0004] Market: There are already pet companion robots on the market, but some of them have limited functions and slow movement, while others lack communication and are largely unable to interact effectively with pets.

[0005] Research on companion robots began earlier and is more mature overseas than in China. In the 1990s, companion robots gradually developed in developed countries such as the United States, the United Kingdom, and Japan. Companion robots have moved from schools and research institutions to corporate industrial research and development. Various industries have recognized the potential market and profit value of companion robots. More organized research and development is being carried out by manufacturers and professional R&D cooperation companies. In recent years, the foreign company Intuition Robotics designed a social and emotional robot called Ellit, and the American company Aeolus Robotics manufactured a two-armed humanoid robot called Aeo.

[0006] In recent years, China has also conducted research on companion robots. In 2010, a surge of research and development of hydraulically driven quadruped robots with high dynamic characteristics, large load capacity, and strong environmental adaptability emerged in China. The hydraulically driven quadruped bionic robot developed by the Robotics Research Center of Shandong University aims to design a hydraulically driven quadruped robot that can adapt to complex terrain environments and has high dynamics and high load capacity.

[0007] Even though research on quadruped robots and companion robots is being carried out in various fields both domestically and internationally, the development progress of robots specifically for pet companionship is still relatively small, so there is still much room for progress and breakthroughs in this field. Summary of the Invention

[0008] The purpose of this invention is to address the shortcomings of existing technologies by proposing a wheeled robot for pet companionship.

[0009] The objective of this utility model is achieved through the following technical solution: a pet companion wheeled robot, characterized in that the robot comprises:

[0010] The head is equipped with eyes, a hearing device, and a speaker;

[0011] The body is used to connect the head, forearms and hind legs, as well as to hold the food feeder and is equipped with a chute for the food to flow out.

[0012] The forearm includes a front wheel, a joint that enables pitch freedom, and a sliding mechanism for adjusting the forearm spacing.

[0013] The hind legs, including the rear wheels and the joints that hinge to the body;

[0014] A grain feeder includes a motor and a motor-driven turntable having a notch and a corresponding groove.

[0015] Furthermore, the head is located at the top of the body, the forearms are located on the front of the body, and the hind legs are located on the back of the body; the food feeder is located inside the body, near the hind legs.

[0016] Furthermore, the forearm consists of two active degrees of freedom: a front shoulder joint and a front knee joint for pitch. The front shoulder joint is driven by a front motor, and the front wheel is driven by a hub motor. The rear leg is connected by an electric push rod, the rear knee joint is hinged to a fixed support at the rear of the body, and the rear wheel is connected to a three-dimensional symmetrical body via a motor.

[0017] Furthermore, the sliding mechanism includes a slider and an electric slide rail, with the front motor fixed to the slider of the electric slide rail by screws.

[0018] Furthermore, the grain feeder is connected to a belt and a bottom turntable. A central motor drives the belt to rotate, and the belt in turn drives the bottom turntable to rotate.

[0019] Furthermore, the grain flows out through an inclined chute, which is connected to the body by a right-angle fastener and secured with screws.

[0020] Furthermore, the connections between the rear leg parts are all secured with pins.

[0021] Furthermore, a cover is provided at the top of the body, which is connected to the body via a hinge.

[0022] Furthermore, the earpiece installed in the head receives the information, and then the speaker in the mouth provides feedback.

[0023] Furthermore, the eye is a depth camera.

[0024] Compared with the prior art, the beneficial effects of this utility model are:

[0025] 1. This utility model modifies the structure of the original quadruped robot by adding electric slide rails to the forearms, allowing the previously fixed distance between the arms to be adjusted freely according to commands. Electric push rods are added to the hind legs, along with newly added rear wheels, enabling the robot to perform lying down and standing movements, more closely resembling the form of an animal. Due to the increased mobility of the forearms and hind legs, the robot can perform actions such as throwing, kicking, carrying, and quadrupedal walking, improving its interactive capabilities.

[0026] 2. This utility model incorporates an intelligent automatic food feeder, rationally planning the robot's internal space to achieve multi-functional integration. The food feeder rotates via a belt, turning at a set angle according to a set time, providing your pet with a day's worth of food. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of a wheeled robot for pet companionship.

[0028] Figure 2 This is a schematic diagram of the overall structure of the front legs and electric slide rails of a pet companion wheeled robot.

[0029] Figure 3 This is a schematic diagram of the hind legs of a pet companion wheeled robot.

[0030] Figure 4 This is a schematic diagram of a pet companion wheeled robot food feeder.

[0031] Figure 5 This is a schematic diagram of the head and body structure of a pet companion wheeled robot.

[0032] Figure 6 This is a schematic diagram of a three-dimensional symmetric body. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] like Figure 1As shown, the pet companion wheeled robot includes a head 1, a body 2, forearms 3, hind legs 4, and a food feeder 5.

[0035] The forearm 3 of the motion sensor can perform a ball throwing action. By adjusting the distance of the slider 10, the ball can be clamped or released. The depth camera of the eye 30 will output parameters such as position according to the target to be thrown, and change the rotation speed of the hub motor 13 to throw the ball to the target position.

[0036] like Figure 2 and Figure 3 As shown, the forearm 3 consists of two active degrees of freedom: a front shoulder joint 11 and a front knee joint 12, which allow for pitch. The front shoulder joint is driven by a front motor 7, and the front wheel is driven by a hub motor 13. The rear leg is connected by an electric push rod 14, and the rear knee joint 19 is hinged to a fixed support 18 at the rear of the body. The rear wheel 16 is connected to a three-dimensional symmetrical body 17 via a motor. The three-dimensional symmetrical body 17 is as follows: Figure 6 As shown.

[0037] The front knee joint 12 is connected to the passive telescopic joint 8, which acts as a buffer when the robot's leg contacts the ground, reducing impact and improving the robot's stability.

[0038] The small wheels 15 of the hind legs are not equipped with power and are responsible for supporting the robot to move forward after standing. When the electric push rod 14 is retracted, the small wheels 15 are lifted off the ground. When the electric push rod 14 is extended, the small wheels 15 are brought to the ground, realizing the actions of lying down, standing up, and walking on all four legs.

[0039] The front-end motor 7 is connected to the slider 10 of the electric slide rail via a right-angle fastener 9 and is fixed with screws.

[0040] One end of the slider 10 is inserted into the I-shaped slot 6, and the other end is fitted into the cylindrical slide rail to achieve horizontal movement.

[0041] like Figure 4 As shown, the food feeder 5 is used to feed pets three meals a day at regular intervals and in fixed quantities. It includes a chute 24, a belt 25, a food bin 26, a bottom turntable 27, and a motor 28. The motor 28 drives the belt 25 to rotate, which in turn drives the food bin 26 to rotate. The bottom turntable 27 is fixed. One-quarter of the bottom turntable 27 is hollowed out to release food. When the motor starts, the food bin 26 rotates the food inside. When it rotates to the hollowed-out part, the food falls into the chute 24 under gravity.

[0042] The grain bin 26 is divided into 4 sections, and the owner can pre-place the grain to be fed into 3 of the empty slots in the grain bin 26.

[0043] The body 2 of the grain feeder 5 is connected to the chassis and the rear legs 4 by a right-angle fastener 23.

[0044] The motor 28 has a built-in timer and angle controller. When the corresponding time is reached, the motor is started and rotates to the set angle.

[0045] The grain in the grain feeder 5 flows out through the inclined chute 24. The inclined chute is connected to the body 2 by a right-angle fastener 23 and is fixed by screws.

[0046] The connections between the four rear leg parts are all secured with pins 20.

[0047] like Figure 5 As shown, a cover 34 is provided on the top of the body 2, which is connected to the body 2 via a hinge 29. A latch is provided when lowering, and the lowest position is flush with the body 2.

[0048] The earpiece 31 installed on the head receives information to identify the pet's barks and provides feedback. The owner can also provide feedback through the mouth speaker 33, enabling remote communication with the pet.

[0049] The visual recognition system, with a depth camera installed in the eye 30, is used to identify the pet's species and position. Information acquired by the camera is fed back to the central processing unit; the high-definition projector 32 on the chest can project animations and videos.

[0050] The robot also includes an electromagnetic induction charging device 35, which is used to supply power to various electrical components in the robot.

[0051] The above embodiments are used to explain and illustrate the present utility model, and are not intended to limit the present utility model. Any modifications and changes made to the present utility model within the spirit and scope of the claims shall fall within the protection scope of the present utility model.

Claims

1. A pet companion wheeled robot, characterized in that, The robot includes: The head (1) is equipped with eyes (30), earpiece (31) and speaker (33); Body (2), for connecting head (1), forearm (3) and hind leg (4), and for placing food feeder (5), and provided with chute (24) for food to flow out. The forearm (3) includes a front wheel, a joint that enables pitch freedom, and a sliding mechanism that adjusts the distance between the forearms (3); The hind legs (4) include the rear wheel and the joint that is hinged to the body (2); The grain feeder (5) includes a motor and a motor-driven turntable having a notch and a corresponding sloping groove (24).

2. The pet companion wheeled robot according to claim 1, characterized in that, The head (1) is located on top of the body (2), the forearm (3) is located on the front side of the body (2), and the hind leg (4) is located on the back side of the body (2); the food feeder (5) is located inside the body (2), near the hind leg (4).

3. The pet companion wheeled robot according to claim 1, characterized in that, The forearm (3) consists of two active degrees of freedom: the front shoulder joint (11) and the front knee joint (12). The front shoulder joint is driven by the front motor (7), and the front wheel is driven by the hub motor (13). The rear leg is connected by an electric push rod (14), the rear knee joint (19) is hinged to the rear fixed support (18), and the rear wheel is connected to the three-dimensional symmetrical body (17) by a motor.

4. A pet companion wheeled robot according to claim 1, characterized in that, The sliding mechanism includes a slider (10) and an electric slide rail, with the front motor (7) fixed to the slider (10) of the electric slide rail by screws.

5. A pet companion wheeled robot according to claim 1, characterized in that, The grain feeder (5) is connected by a belt (25) and a bottom turntable (27). The motor (28) drives the belt (25) to rotate, and the belt then drives the bottom turntable (27) to rotate.

6. A pet companion wheeled robot according to claim 5, characterized in that, The grain flows out through the inclined chute (24), which is connected to the body (2) by a right-angle fastener (23) and fixed by screws.

7. A pet companion wheeled robot according to claim 2, characterized in that, The connections between the parts of the hind leg (4) are all fixed with pins (20).

8. A pet companion wheeled robot according to claim 1, characterized in that, The top of the body (2) is provided with a cover (34), which is connected to the body (2) by a hinge (29).

9. A pet companion wheeled robot according to claim 1, characterized in that, The head-mounted earpiece (31) receives the information, and then the mouth speaker (33) provides feedback.

10. A pet companion wheeled robot according to claim 1, characterized in that, The eye (30) is a depth camera.

Images