A motion structure for an artificial pet

Abstract

The utility model discloses a simulation pet's movement structure, including head subassembly, torso subassembly, four limbs subassembly, sole and control mainboard, head subassembly has neck joint and neck motor, torso subassembly has torso main frame body, and the front end of torso main frame body is connected neck joint, and torso main frame body has leg connecting assembly, four limbs subassembly includes two forelegs and two hind legs, and two forelegs are installed in the front end of leg connecting assembly, and two hind legs are installed in the rear end of leg connecting assembly, and foreleg and two hind legs respectively include hip joint, upper connecting piece, knee joint, lower connecting piece and ankle joint, and hip joint and knee joint are installed servo motor respectively, and upper connecting piece connects hip joint and knee joint, and lower connecting piece connects knee joint and sole, and the ankle joint is arranged between lower connecting piece and sole, and neck motor and each servo motor are connected control mainboard respectively. The utility model can promote the simulation pet's movement degree of simulation and structural stability.

Description

Technical Field

[0001] This utility model relates to the technical field of robots, and in particular to a motion structure for a simulated pet. Background Technology

[0002] Existing pet robot motion structures often suffer from insufficient degrees of freedom, poor movement flexibility, cumbersome assembly, and low balance control precision, making it difficult to achieve realistic motion effects. Furthermore, their adaptability and stability in complex environments are insufficient, failing to meet users' demands for a highly realistic pet robot motion experience. Therefore, there is an urgent need for a simulated intelligent pet motion structure that is structurally sound, easy to assemble, and offers flexible and stable movement.

[0003] In view of this, this utility model is developed by deeply exploring the many shortcomings and inconveniences caused by the imperfections in the existing pet robot motion structure design, and actively researching, improving and testing. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing pet robot motion structures, such as low degrees of freedom and stiff movements, by providing a motion structure for a simulated pet that can achieve flexible movement with multiple degrees of freedom.

[0005] To achieve the above objectives, the solution of this utility model is: A simulated pet's movement structure includes a head assembly, a torso assembly, limb assemblies, paws, and a control motherboard. The head assembly has a multi-degree-of-freedom cervical joint and a cervical motor connected to the cervical joint. The torso assembly has a main torso frame, the front end of which is connected to the cervical joint of the head assembly. The main torso frame has a leg connecting assembly. The limb assemblies include two front legs and two hind legs. The two front legs are mounted at the front end of the leg connecting assembly, and the two hind legs are mounted at the rear end of the leg connecting assembly. The two front legs and two hind legs have identical hardware structures, including a hip joint, an upper connector, a knee joint, a lower connector, and an ankle joint, respectively. Servo motors are installed on the hip joint and knee joint, and the movement of the hip joint and knee joint is controlled by the servo motors. One end of the upper connector is connected to the hip joint, and the other end is connected to the knee joint. One end of the lower connector is connected to the knee joint, and the other end is connected to the paw. The ankle joint is located between the lower connector and the paw. The cervical motor and each servo motor are connected to the control motherboard.

[0006] Furthermore, the lower connector is provided with two rotating motors, the foot has a connecting base plate, the bottom end of the lower connector is installed on the top surface of the connecting base plate, and an ankle joint seat is provided at the rear end of the connecting base plate. One end of a connecting rod is connected to each of the two rotating motors, and the other ends of the two connecting rods are located at the two opposite ends of the ankle joint seat. The ankle joint seat, the two rotating motors and the two connecting rods form the ankle joint.

[0007] Furthermore, the leg connection assembly of the main torso frame is provided with four annular fasteners for mounting the two front legs and two hind legs. Each hip joint of the limb assembly is connected to the annular fasteners through the torso connector, and the torso connector is equipped with a servo motor.

[0008] Furthermore, the motion structure of the simulated pet of this utility model also includes a balance control component, which includes a gyroscope and an accelerometer. The gyroscope and accelerometer are installed in the torso component, connected to the control motherboard, and electrically connected to the leg component and neck component to adjust the movement posture in real time and ensure movement balance.

[0009] Furthermore, the head assembly has a micro motor at the ears, an OLED display embedded in the forehead, fisheye cameras installed at the eyes, and a microphone array hidden in the ears. The micro motor, OLED display, fisheye camera, and microphone array are respectively connected to the control motherboard.

[0010] Furthermore, the torso assembly also includes a torso shell. The main torso frame includes a main support rod, a cross located near the center of the main support rod and perpendicular to the support rod, torso connectors located at each end of the cross, leg connectors located on the cross, a head support frame located at the front end of the main support rod, and a tail connector located at the rear end of the main support rod. The torso shell is connected and fixed to multiple torso connectors and tail connectors. The torso shell has openings for installing limb components at positions corresponding to the limbs.

[0011] Furthermore, the motion structure of the simulated pet of this utility model also includes a touch feedback unit, which includes multiple force sensors and feedback actuators. The force sensors are installed on the forehead, ears, front and back of the torso, and tail. The feedback actuators are miniature vibration motors, which are installed around the stress sensor positions. Each force sensor and feedback actuator is connected to the control motherboard via wires.

[0012] Furthermore, the front and hind legs are also provided with a leg shell, which is segmented and fitted onto the front and hind legs, and the leg shell is provided with clearance openings at the positions corresponding to the hip and knee joints.

[0013] Furthermore, the various components of the main frame of the torso are assembled and fixed using corner groove connectors and T-shaped connectors.

[0014] Furthermore, the gyroscope and accelerometer are integrated on the control motherboard using a six-axis IMU module.

[0015] By adopting the above structure, the motion structure of this novel simulated pet improves the realism of its motion and structural stability by integrating multi-degree-of-freedom joint design with a motor control system. Specifically, the multi-degree-of-freedom neck joint of the head assembly, combined with a neck motor, enhances interactive flexibility; the torso frame of the torso assembly serves as the core support structure, simplifying the assembly process; the symmetrical design of the limbs reduces manufacturing and maintenance complexity; servo motors are configured for the hip and knee joints, enabling precise control of joint movements; and all motors are connected to a unified control board, ensuring smooth coordination of joint movements. These features work synergistically to solve the problems of insufficient degrees of freedom, poor flexibility, and cumbersome assembly, enabling the pet robot to maintain a stable posture in complex environments. By precisely controlling the movements of the hip, knee, and ankle joints through multi-degree-of-freedom neck joints, servo motors, and rotary motors, the joint linkage mechanism is optimized, solving the problem of stiff movements caused by insufficient degrees of freedom in existing robots, and achieving more natural head rotation and coordinated limb movements. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the appearance of the present invention after removing the soft shell.

[0017] Figure 2 for Figure 1 A schematic diagram of the appearance from another direction.

[0018] Figure 3 This is a partial exploded view of the present invention after the soft shell has been removed.

[0019] Figure 4 for Figure 3 A schematic diagram of local decomposition from another direction.

[0020] Figure 5 This is a schematic diagram of the skeleton of this utility model.

[0021] Figure 6 This is a schematic diagram of the structure of the front leg of this utility model.

[0022] Figure 7 for Figure 6 A schematic diagram of the structure from another direction.

[0023] Figure 8 This is a schematic diagram of the main frame of this utility model.

[0024] Label Explanation: 1. Head assembly; 11. Neck joint; 12. Neck motor; 2. Torso assembly; 21. Torso main frame; 211. Main support rod; 212. Cross; 213. Torso connector; 214. Leg connector assembly; 215. Head support frame; 216. Tail connector; 217. Ring fastener; 22. Torso shell; 221. Opening; 3. Limb assembly; 3A. Foreleg; 3B. Hind leg; 31. Hip joint; 32. Upper connector; 33. Knee joint; 34. Lower connector; 35. Ankle joint; 36. Torso connector; 37. Rotating motor; 38. Linkage rod; 39. Ankle joint seat; 4. Foot; 41. Connecting base plate. Detailed Implementation

[0025] To further explain the technical solution of this utility model, the following detailed description is provided through specific embodiments.

[0026] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0027] like Figures 1 to 8 As shown, this utility model discloses a movement structure for a simulated pet. Taking a simulated panda as an example, the simulated panda is covered with a soft shell to simulate the rounded shape of a panda's torso. This utility model includes a head assembly 1, a torso assembly 2, limb assemblies 3, paws 4, and a control motherboard. The head assembly 1 has a multi-degree-of-freedom neck joint 11 and a neck motor 12 connected to the neck joint 11. The torso assembly 2 includes a main torso frame 21 and a torso shell 22. The front end of the main torso frame 21 is connected to the neck joint 11 of the head assembly 1. The front end of the neck joint 11 is inserted into the head. The neck motor 12 drives the head to rotate and swing up and down. The head presents a rounded facial contour and the iconic black eye circles and black ears. Miniature motors are provided in the ears to drive the ears to vibrate slightly, enhancing the realism. An OLED display screen is embedded in the forehead to display emotional states (such as a smiling face or a sleepy expression); fisheye cameras are integrated in the eyes for environmental perception and user expression recognition; and microphone arrays are hidden in the ears to capture voice commands.

[0028] The torso assembly 2 has an installation space for arranging cables, sensors, and power management modules, etc. The control motherboard is fixedly installed inside the main frame 21 of the torso assembly 2. The main frame 21 of the torso is a three-dimensional cross-shaped frame constructed of aluminum alloy profiles, including a main support rod 211, a cross 212 located near the middle of the main support rod, a torso connector 213 located at the end of the cross 212, a leg connector 214 located on the cross 212, a head support frame 215 located at the front end of the main support rod 211, and a tail connector 216 located at the rear end of the main support rod 211. These components are assembled using standardized parts such as corner joint connectors and T-shaped connectors to form a robust main skeleton. The leg connector 214 has four annular fasteners 217 for mounting the limb components 3, and the torso 12 of the outer shell 1 is locked to the torso connector 213. The torso outer shell 22 has openings 221 for mounting the limb components 3 at positions corresponding to the limbs.

[0029] The limb assembly 3 includes two front legs 3A and two hind legs 3B. The structures of the two front legs 3A and the two hind legs 3B are similar and each adopts a 3-degree-of-freedom drive design. Each front leg 3A includes a hip joint 31, an upper connector 32, a knee joint 33, a lower connector 34, and an ankle joint 35. The hip joint 31 and the knee joint 33 are respectively equipped with servo motors, and the power output is realized through the harmonic reducer of the servo motors, which controls the movement of the hip joint 31 and the knee joint 33 respectively. The hip joint 31 is connected to the annular fixing member 217 of the main frame 21 of the torso via the torso connector 36. The torso connector 36 is equipped with a servo motor to control the movement of the entire foreleg. The lower connector 34 has two rotating motors 37 arranged vertically. One end of a connecting rod 38 is connected to each of the two rotating motors 37. The other ends of the two connecting rods 38 are located at opposite ends of the ankle joint seat 39. The ankle joint seat 39, the two rotating motors 37, and the two connecting rods 38 form the ankle joint 35. The bottom of the ankle joint seat 39 is mounted on a connecting base plate 41, which is mounted on the foot 4, so that the ankle joint 35 can control the lifting and lowering of the foot 4. The limbs 13 of the outer shell 1 are segmented and fitted onto the limb assembly 3, so that the limbs 13 do not affect the movement of the limb assembly 3. In addition to the front leg 3A and the two hind legs 3B, a leg shell 3C is also provided. The leg shell 3C is segmented and fitted over the upper connector 32 and lower connector 34 of the front leg 3A and the hind leg 3B. The leg shell 3C is provided with clearance openings at the positions corresponding to the hip joint 31 and the knee joint 33.

[0030] The hind legs 3B have a similar structure to the front legs 3A and adopt a 3-degree-of-freedom drive design. They include a hip joint 31, an upper connector 32, a knee joint 33, a lower connector 34, and an ankle joint 35. The two hind legs 3B are connected to the annular fixing member 217 at the rear end of the main frame 21 of the torso through the torso connector 36, and work together with the front legs 3A to achieve walking, turning, and extension movements.

[0031] This utility model's limb component 3, through its three-degree-of-freedom legs and two-degree-of-freedom feet, makes the simulated panda's movement closer to that of a real panda, enabling complex movements such as walking, turning, and extending, thus enhancing realism. The three degrees of freedom include: forward and backward swinging of the forelegs 3A or 23B (the thigh or lower leg swings forward and backward, such as stepping forward or retracting while walking); left and right swinging (the thigh or lower leg swings left and right, such as swinging left or right to adjust direction when turning); and extension / contraction freedom (the extension or contraction movement between the thigh and lower leg, such as the extension movement when the leg is straightened and the contraction movement when it is bent). The two-degree-of-freedom feet include: forward and backward swinging of the feet (the feet swing forward and backward, such as tilting the feet forward and lifting them backward while walking); and left and right swinging of the feet (the feet swing left and right, such as adjusting the feet to the left or right when turning, coordinating with the legs to achieve turning movements).

[0032] This utility model also includes a balance control component, which includes a gyroscope and an accelerometer. The gyroscope and accelerometer are installed in the torso component, connected to the control motherboard, and electrically connected to the leg component and neck component to adjust the movement posture in real time and ensure movement balance.

[0033] To further enhance realism, this invention also includes a touch feedback unit, which comprises multiple force sensors and multiple feedback actuators. One to two miniature strain gauge force sensors are embedded in the panda's head (forehead, ears), back, abdomen, and tail. The force sensors are covered with soft shells to ensure that users do not experience any noticeable foreign object sensation when touching them. The force sensors are connected to a control board mounted on the skeleton via flexible wires. The feedback actuators are miniature vibration motors, which are installed around the stress sensor locations. Feedback is achieved through vibrations of different frequencies (such as low-frequency vibration when gently stroked and high-frequency vibration when patted).

[0034] The movement process of this simulated panda is as follows: Head movements: Neck motor 11 drives the neck joint to rotate, achieving left and right turns within a range of ±45°, which works in conjunction with the fisheye camera to identify the user's position; servo motor drives the neck joint to rotate around the horizontal axis, achieving up and down swings within a range of ±30°, simulating the posture of a panda "looking up to observe" and "looking down to interact". Combined with the output of the emotion computing engine, the head movements are linked with the OLED display (such as rapid head swings when happy + a smiling face on the screen, and slow head drooping when sleepy + a yawn on the screen).

[0035] Forward leg movement: The upper servo motor drives the hip joint to extend forward and backward and swing left and right, providing power for walking and turning; the middle servo motor drives the knee joint to bend / extend, coordinating with the hip joint to complete the stepping action.

[0036] Foot movement: The rotating motor drives the foot to swing back and forth through the linkage mechanism, adjusting the landing angle.

[0037] Hind leg movements: In coordination with the front legs, the hip, knee and foot joints move synchronously to alternately extend and retract the front and back legs, and the foot swings to simulate the natural walking gait of a panda; the left and right swing angle of one leg is adjusted, and the foot turns to achieve flexible turning; the front and back legs are straightened at the same time, so that the body is in an extended posture, simulating the panda's "stretching" action.

[0038] The above embodiments and figures are not intended to limit the product form and style of this utility model. Any appropriate changes or modifications made by those skilled in the art should be considered as not departing from the patent scope of this utility model.

Claims

1. A movement structure for simulating a pet, characterized in that, include: The device comprises a head assembly, a torso assembly, limb assemblies, feet, and a control motherboard. The head assembly has a multi-degree-of-freedom cervical joint and a cervical motor connected to the cervical joint. The torso assembly has a main torso frame, the front end of which is connected to the cervical joint of the head assembly. The main torso frame also has leg connecting assemblies. The limb assemblies include two forelegs and two hind legs. The two forelegs are mounted at the front end of the leg connecting assemblies, and the two hind legs are mounted at the rear end of the leg connecting assemblies. The two forelegs and two hind legs have identical hardware structures, including a hip joint, an upper connector, a knee joint, a lower connector, and an ankle joint, respectively. Servo motors are installed on the hip and knee joints, and their movement is controlled by the servo motors. One end of the upper connector is connected to the hip joint, and the other end is connected to the knee joint. One end of the lower connector is connected to the knee joint, and the other end is connected to the feet. An ankle joint is located between the lower connector and the feet. The cervical motor and each servo motor are connected to the control motherboard.

2. The motion structure of a simulated pet as described in claim 1, characterized in that: The lower connector is equipped with two rotating motors, the foot has a connecting base plate, the bottom end of the lower connector is installed on the top surface of the connecting base plate, and an ankle joint seat is provided at the rear end of the connecting base plate. One end of a connecting rod is connected to each of the two rotating motors, and the other ends of the two connecting rods are located at the two opposite ends of the ankle joint seat. The ankle joint seat, the two rotating motors and the two connecting rods form the ankle joint.

3. The motion structure of a simulated pet as described in claim 1, characterized in that: The leg connection assembly of the main torso frame is provided with four ring-shaped fasteners for mounting the two front legs and two hind legs. Each hip joint of the limb assembly is connected to the ring-shaped fasteners through the torso connector, and the torso connector is equipped with a servo motor.

4. The motion structure of a simulated pet as described in claim 1, characterized in that: It also includes a balance control component, which includes a gyroscope and an accelerometer. The gyroscope and accelerometer are installed in the torso component and connected to the control motherboard. They are also electrically connected to the leg component and the neck component to adjust the movement posture in real time and ensure movement balance.

5. The motion structure of a simulated pet as described in claim 1, characterized in that: The head assembly has a miniature motor at the ears, an OLED display embedded in the forehead, fisheye cameras installed at the eyes, and a microphone array hidden in the ears. The miniature motor, OLED display, fisheye camera, and microphone array are respectively connected to the control motherboard.

6. The motion structure of a simulated pet as described in claim 1, characterized in that: The torso assembly also includes a torso shell. The main torso frame includes a main support rod, a cross located near the center of the main support rod and perpendicular to the support rod, torso connectors located at each end of the cross, leg connectors located on the cross, a head support frame located at the front end of the main support rod, and a tail connector located at the rear end of the main support rod. The torso shell is connected and fixed to multiple torso connectors and tail connectors. The torso shell has openings for installing limb components at positions corresponding to the limbs.

7. The motion structure of a simulated pet as described in claim 1, characterized in that: It also includes a touch feedback unit, which includes multiple force sensors and feedback actuators. The force sensors are installed on the forehead, ears, front and back of the torso, and tail. The feedback actuators are miniature vibration motors, which are installed around the stress sensor locations. Each force sensor and feedback actuator is connected to the control motherboard via wires.

8. The motion structure of a simulated pet as described in claim 1, characterized in that: The forelegs and hindlegs are also provided with leg shells. The leg shells are segmented and fitted onto the forelegs and hindlegs, and the leg shells are provided with clearance openings at the positions corresponding to the hip joints and knee joints.

9. The motion structure of a simulated pet as described in claim 1, characterized in that: The various components of the main frame are assembled and fixed using corner slot connectors and T-shaped connectors.

10. The motion structure of a simulated pet as described in claim 4, characterized in that: The gyroscope and accelerometer are integrated on the control motherboard using a six-axis IMU module.

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