CN214629046U - Pet companion robot - Google Patents

Abstract

A pet companion robot comprises five parts, namely a six-wheel power system, a monitoring system, a feces cleaning system, a feeding system and a traction rope scaling system, wherein the six-wheel power system comprises a lower bottom plate and six power wheels, and four wheel motor supports are respectively arranged on the lower bottom plate through a quadrilateral cushioning structure; the two rear driving motor supports are respectively arranged on the left side and the right side of the rear end of the lower bottom plate through triangular shock absorption structures, and a connecting plate is arranged between the two rear power wheels and is simultaneously connected with the two triangular shock absorption structures; the excrement cleaning system is installed on the bottom front side of the lower base plate, the upper plate is hinged to the upper ends of the four quadrilateral cushioning structures, the feeding system is arranged between the upper plate and the lower base plate, the traction rope scaling system is installed on the upper plate, and the monitoring system is installed at the front end of the upper plate. The utility model provides a pet companion robot, overall structure is simple, is convenient for install and maintain.

Description

Pet companion robot

Technical Field

The utility model belongs to the technical field of the pet robot and specifically relates to a pet companion robot is related to.

Background

With the acceleration of urban rhythm, people's study and work become busy more and more, can be at home with the time that the pet accompanies also receive the extrusion because of it. Because of reasons such as work or study, people can not take their pets to walk on time, but walking the dog is significant for the pet-walking the dog not only means taking the pet to move downstairs and defecate, but also helps the pet maintain physical and mental health and keeps socialization.

Pet companion robot on the market mainly uses companion pet to entertain, feeds functions such as eating to the pet and beats as the owner, however, go out the haulage rope system that the amusement is indispensable to the pet, but hardly find on the market: the hauling rope not only is a basic requirement for outgoing of pets at present in China, but also is bidirectional protection for passers-by and pets themselves in China.

Disclosure of Invention

In order to overcome the defect that prior art exists, the utility model provides a pet companion robot, each system independent drive, relative independence is nevertheless not isolated, and each transmission selects drive methods such as member transmission, gear drive and drive belt transmission according to its function, and overall structure is simple, is convenient for install and maintain.

The utility model provides a technical scheme that its technical problem adopted is:

a pet companion robot comprises five parts, namely a six-wheel power system, a monitoring system, a feces cleaning system, a feeding system and a traction rope scaling system, wherein the six-wheel power system comprises a lower bottom plate and six power wheels, the front four power wheels are respectively connected with four wheel motors, the four wheel motors are respectively arranged on wheel motor supports, the four wheel motor supports are respectively arranged on the lower bottom plate through quadrilateral cushioning structures, and the two quadrilateral cushioning structures on the same side of the left side and the right side are linked through a cross rod; the rear two power wheels are respectively connected with the two rear driving motors, the two rear driving motors are respectively arranged on the rear driving motor supports, the two rear driving motor supports are respectively arranged on the left side and the right side of the rear end of the lower bottom plate through triangular shock absorption structures, and meanwhile, a connecting plate is also arranged between the rear two power wheels and is obliquely arranged towards the rear lower side and is simultaneously connected with the two triangular shock absorption structures; the excrement cleaning system is installed on the bottom front side of the lower base plate through a crank rocker mechanism, the upper plate is hinged to the upper ends of the four quadrilateral cushioning structures, the feeding system is arranged between the upper plate and the lower base plate, the hauling rope scaling system is installed on the upper plate, and the monitoring system is located in front of the hauling rope scaling system and installed at the front end of the upper plate.

Furthermore, the two triangular shock absorption structures are arranged in a bilateral symmetry mode, each triangular shock absorption structure comprises two triangular shock absorption link mechanisms, the two triangular shock absorption link mechanisms are arranged in a bilateral symmetry mode, each triangular shock absorption link mechanism comprises a first triangular shock absorption link rod, a second triangular shock absorption link rod, a first shock absorption spring and a first L-shaped support, the front end of the first triangular shock absorption link rod is hinged to the first L-shaped support, the first L-shaped support is fixedly installed at the rear end of the lower base plate, the front end of the second triangular shock absorption link rod is hinged to the rear end of the first triangular shock absorption link rod, the middle of the first triangular shock absorption link rod is connected with the middle of the second triangular shock absorption link rod through the first shock absorption spring, and the first shock absorption spring inclines towards the rear lower side; the rear end of the second triangular shock absorption connecting rod positioned on the outer side is hinged with the corresponding rear driving motor support through a second L-shaped support, and the rear end of the second triangular shock absorption connecting rod positioned on the inner side is hinged with the connecting plate through a third L-shaped support.

Still further, the quadrilateral cushioning structure comprises four quadrilateral connecting rods, a long rod, a short rod and two second damping springs, wherein the long rod is vertically arranged, an upper waist-shaped groove and a lower waist-shaped groove are respectively arranged at the upper part and the lower part of the long rod, the four quadrilateral connecting rods form a quadrilateral structure comprising a first quadrilateral connecting rod, a second quadrilateral connecting rod, a third quadrilateral connecting rod and a fourth quadrilateral connecting rod, the upper end of the first quadrilateral connecting rod is hinged with the upper end of the second quadrilateral connecting rod through an upper pin shaft, the upper pin shaft is matched with the upper waist-shaped groove and can be connected with the upper waist-shaped groove in a vertical sliding manner, the lower end of the first quadrilateral connecting rod is hinged with the upper end of the third quadrilateral connecting rod through a front pin shaft, the lower end of the second quadrilateral connecting rod is hinged with the upper end of the fourth quadrilateral connecting rod through a rear pin shaft, and the lower end of the third quadrilateral connecting rod is hinged with the lower end of the fourth quadrilateral connecting rod through a lower pin shaft, meanwhile, the lower pin shaft is matched with the lower waist-shaped groove and can be connected in a vertical sliding manner; the middle part of the first quadrilateral connecting rod is connected with the middle part of the third quadrilateral connecting rod through a second damping spring, and the middle part of the second quadrilateral connecting rod is connected with the middle part of the fourth quadrilateral connecting rod through another second damping spring;

the upper end of the short rod is hinged with the long rod, the hinged point is positioned between the lower waist-shaped groove and the upper waist-shaped groove, the lower end of the short rod is hinged with the cross rod, the lower end of the long rod is hinged with the end part of the cross rod, and the upper end of the long rod is connected with the upper layer plate through the short L-shaped frame; the lower end of the quadrilateral structure is connected with the wheel motor bracket through the long L-shaped frame.

Still further, the excrement cleaning system comprises a cleaning shovel and a square groove, the square groove is positioned below the lower bottom plate, the cleaning shovel is connected with the front end of the square groove, and the left side and the right side of the square groove are respectively connected with the lower bottom plate through telescopic link mechanisms;

the crank and rocker mechanism comprises a rocker steering engine, a rocker and a crank, the rocker steering engine is installed on the bottom of the lower bottom plate, a steering wheel of the rocker steering engine is connected with the rear end of the rocker, the front end of the rocker is connected with the rear part of the crank, and the front end of the crank is connected with the square groove.

Still further, the feeding system comprises a feeding trough, a front connecting rod mechanism, a rear connecting rod mechanism and a feeding motor, wherein the feeding trough is located in the middle of the lower base plate, the front end of the feeding trough is connected with the lower base plate through the front connecting rod mechanism, the rear end of the feeding trough is connected with the upper plate through the rear connecting rod mechanism, the feeding motor is installed on the lower base plate, a driving gear is arranged on an output shaft of the feeding motor, two transmission gears are fixed to the side face of the feeding trough, the two transmission gears are located above the driving gear and matched with the driving gear, and the feeding motor drives the driving gear to stir the two transmission gears to drive the feeding trough to move back and forth.

Still further, monitored control system is including the camera that is used for gathering pet position data, the frame of falling U type, be used for driving first steering wheel and the second steering wheel of the frame swing back and forth of falling U type, the camera passes through the camera support mounting on the top surface of the frame of falling U type, and the lower extreme unilateral of the frame of falling U type is installed on the steering wheel of first steering wheel, first steering wheel is installed on the steering wheel of second steering wheel through first steering wheel support, and the second steering wheel is used for driving first steering wheel support and its upper part to rotate together, and the second steering wheel is installed on second steering wheel support, and second steering wheel support passes through L type support and installs on the upper plate.

Still further, haulage rope system of zooming includes haulage rope rim plate, rim plate motor, driving pulley, driven pulley, rotation motor and rim plate support, rotate the motor and install on the top plate through rotating the motor support to its output shaft is connected with driving pulley, and the rotatable installation of driven pulley is on the top plate, and is connected with driving pulley through the drive belt, the haulage rope rim plate leads to the rim plate support mounting on the driven pulley up end, the rotatable installation of haulage rope rim plate is on the upper end left side of rim plate support, the rim plate motor passes through rim plate motor support mounting on the upper end right side of rim plate support to be equipped with the driving gear on the output shaft of rim plate motor, be equipped with driven gear on the side of haulage rope rim plate, driving gear and driven gear meshing.

Still further, the robot still includes the industrial computer, and the industrial computer is installed on the industrial computer support, and the industrial computer support mounting is on the upper plate, monitored control system is connected with the industrial computer, the industrial computer is connected with the singlechip, and the singlechip is connected with six rounds of driving system, excrement and urine clearance system, feeding system and haulage rope system of contracting respectively.

The beneficial effects of the utility model are that: the pet-carrying device has the advantages that the work of cleaning excrement, pulling ropes, feeding and the like originally required by people when a pet goes out is realized, the whole mechanism can adapt to various terrains, and the requirements of complex terrain conditions for the pet to pass through when going out are met; this pet companion robot overall structure is simple, and the convertibility is strong, and applicable in the pet of difference can effectively promote the security that the pet is out.

Drawings

Fig. 1 is an overall structure diagram of the present invention.

Fig. 2 is a left side view of the present invention.

Fig. 3 is a partial enlarged view of the rear portion of the present invention.

Fig. 4 is a front view of the present invention.

FIG. 5 is a top view of a six-wheel powertrain.

Fig. 6 is a partial enlarged view of the quadrilateral cushioning structure of the present invention.

Fig. 7 is a bottom view of the present invention.

Fig. 8 is a side view of the fecal cleaning system.

Fig. 9 is a side view of the pull-cord retraction system.

Fig. 10 is a front view of the pull-cord retraction system.

Fig. 11 is a top view of the pull-cord retraction system.

Fig. 12 is an enlarged view of the traction rope scaling system pulley.

Fig. 13 is an enlarged view of a portion of the feeding system.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

Referring to fig. 1 to 13, a pet companion robot comprises five parts, namely a six-wheel power system, a monitoring system, an excrement cleaning system, a feeding system and a traction rope scaling system, wherein the six-wheel power system comprises a lower base plate and six power wheels, the front four power wheels are respectively connected with four wheel motors, the four wheel motors are respectively arranged on wheel motor supports, the four wheel motor supports are respectively arranged on the lower base plate through quadrilateral cushioning structures, and the two quadrilateral cushioning structures on the same side of the left side and the right side are linked through a 49-cross rod; the rear two power wheels are respectively connected with the two rear driving motors, the two rear driving motors are respectively arranged on the rear driving motor supports, the two rear driving motor supports are respectively arranged on the left side and the right side of the rear end of the lower bottom plate through triangular shock absorption structures, and meanwhile, a connecting plate is also arranged between the rear two power wheels and is obliquely arranged towards the rear lower side and is simultaneously connected with the two triangular shock absorption structures; the excrement cleaning system is installed on the bottom front side of the lower base plate through a crank rocker mechanism, the upper plate is hinged to the upper ends of the four quadrilateral cushioning structures, the feeding system is arranged between the upper plate and the lower base plate, the hauling rope scaling system is installed on the upper plate, and the monitoring system is located in front of the hauling rope scaling system and installed at the front end of the upper plate.

As shown in fig. 3 and 5, the six-wheel power system frame is mainly composed of aluminum alloy members, the lower bottom plate is mainly composed of an aluminum plate 16 and two aluminum plates 13 and 14, the connecting plate between the two rear power wheels is an aluminum plate 15, the aluminum plates 13 and 14 are directly connected with the aluminum plate 16 through holes reserved on the plate, a triangular shock absorption structure is respectively arranged between the aluminum plate 13 and the motor 1 and between the aluminum plate 14 and the motor 6, the two triangular shock absorption structures are arranged in bilateral symmetry, each triangular shock absorption structure comprises two triangular shock absorption link mechanisms, the two triangular shock absorption link mechanisms are arranged in bilateral symmetry, each triangular shock absorption link mechanism comprises a first triangular shock absorption link, a second triangular shock absorption link, a first shock absorption spring and a first L-shaped bracket, the front end of the first triangular shock absorption link is hinged with the first L-shaped bracket, the first L-shaped bracket is fixedly arranged at the rear end of the lower bottom plate, the front end of the second triangular shock absorption connecting rod is hinged with the rear end of the first triangular shock absorption connecting rod, the middle part of the first triangular shock absorption connecting rod is connected with the middle part of the second triangular shock absorption connecting rod through a first shock absorption spring, and the first shock absorption spring inclines towards the rear lower part; the rear end of the second triangular shock absorption connecting rod positioned on the outer side is hinged with the corresponding rear driving motor support through a second L-shaped support, and the rear end of the second triangular shock absorption connecting rod positioned on the inner side is hinged with the connecting plate through a third L-shaped support;

the first L-shaped supports 17 and 18 are both mounted on an aluminum plate 13 and are hinged to first triangular shock absorption connecting rods 24 and 23 respectively, the first L-shaped supports 19 and 20 are both mounted on an aluminum plate 14 and are hinged to first triangular shock absorption connecting rods 22 and 21 respectively, the first triangular shock absorption connecting rod 21 is connected with a middle hole of a second triangular shock absorption connecting rod 25 through a first shock absorption spring 32, the first triangular shock absorption connecting rod 22 is connected with a middle hole of the second triangular shock absorption connecting rod 26 through a first shock absorption spring 31, the first triangular shock absorption connecting rod 23 is connected with a middle hole of a second triangular shock absorption connecting rod 27 through a first shock absorption spring 29, and the first triangular shock absorption connecting rod 24 is connected with a middle hole of a second triangular shock absorption connecting rod 28 through a first shock absorption spring 30; a triangular shock absorption structure with good structural strength is formed, and good shock absorption effect is achieved through springs 29, 30, 31 and 32;

the rear end of the second triangular shock absorption connecting rod 25 is hinged with the rear driving motor support 36 through the second L-shaped support 34, the rear end of the second triangular shock absorption connecting rod 26 is hinged with the connecting plate through the third L-shaped support 101, the rear end of the second triangular shock absorption connecting rod 28 is hinged with the rear driving motor support 35 through the second L-shaped support 33, and the rear end of the second triangular shock absorption connecting rod 27 is hinged with the connecting plate through the third L-shaped support 102. The rear drive motor 1 is mounted on the rear drive motor bracket 35, and the rear drive motor 6 is mounted on the rear drive motor bracket 36.

As shown in fig. 6, the quadrilateral vibration damping structure comprises four quadrilateral connecting rods, a long rod 38, a short rod and two second damping springs, wherein the long rod 38 is vertically arranged, an upper waist-shaped groove and a lower waist-shaped groove are respectively arranged at the upper part and the lower part of the long rod 38, the four quadrilateral connecting rods form a quadrilateral structure, the quadrilateral structure comprises a first quadrilateral connecting rod 39, a second quadrilateral connecting rod 41, a third quadrilateral connecting rod 44 and a fourth quadrilateral connecting rod 46, the upper end of the first quadrilateral connecting rod 39 is hinged with the upper end of the second quadrilateral connecting rod 41 through an upper pin shaft, the upper pin shaft is matched with the upper waist-shaped groove and can be connected in a vertical sliding manner, the lower end of the first quadrilateral connecting rod 39 is hinged with the upper end of the third quadrilateral connecting rod 44 through a front pin shaft, the lower end of the second quadrilateral connecting rod 41 is hinged with the upper end of the fourth quadrilateral connecting rod 46 through a rear pin shaft, the lower end of the third quadrilateral connecting rod 44 is hinged with the lower end of the fourth quadrilateral connecting rod 46 through a lower pin shaft, meanwhile, the lower pin shaft is matched with the lower waist-shaped groove and can be connected in a vertical sliding manner; the middle part of the first quadrangular link 39 is connected with the middle part of the third quadrangular link 44 through a second damping spring, and the middle part of the second quadrangular link 41 is connected with the middle part of the fourth quadrangular link 46 through another second damping spring;

the upper end of the short rod is hinged with the long rod, the hinged point is positioned between the lower waist-shaped groove and the upper waist-shaped groove, the lower end of the short rod is hinged with the cross rod, the lower end of the long rod 38 is hinged with the end part of the cross rod, and the upper end of the long rod 38 is connected with the upper layer plate through a short L-shaped frame 37; the lower end of the quadrilateral structure is connected with a wheel motor bracket 51 through a long L-shaped frame 50.

The second damping springs 42, 45 are hung outside the quadrilateral structure through small round gaskets 40, 43, 47, 48, the outer ends of the quadrilateral connecting rods are connected in pairs, and the long rod 38 penetrates through the upper and lower hinged points and is installed on the cross rod 49. The quadrilateral cushioning structure is arranged at four positions on the vehicle body and used as a connection and cushioning mode of the two wheel motors in the front and the two motors in the middle. The two shock absorption structures are connected with six motors to form a vehicle body, wherein power wheels 7, 8, 9, 10, 11 and 12 are sequentially arranged on wheel motors 1, 2, 3, 4, 5 and 6. The quadrilateral bradyseism structure can effectively bradyseism, and the purpose that the monitoring system and the haulage rope telescopic system on the upper layer are stable is achieved.

As shown in fig. 7 and 8, the excrement cleaning system comprises a cleaning shovel and a square groove, the square groove is located below the lower base plate, the cleaning shovel is connected with the front end of the square groove, and the left side and the right side of the square groove are connected with the lower base plate through telescopic link mechanisms respectively.

The crank and rocker mechanism comprises a rocker steering engine 52, a rocker 53 and a crank 54, the rocker steering engine 52 is installed on the bottom of the lower bottom plate, a steering wheel of the rocker steering engine is connected with the rear end of the rocker 53, the front end of the rocker 53 is connected with the rear part of the crank 54, and the front end of the crank 54 is connected with a square groove 55.

The rocker steering engine 52 is fixed on the bottom of the lower bottom plate through a steering engine bracket 60 and a short L-shaped frame 59, a rocker 53 is connected on a steering wheel of the rocker steering engine 52 and used as a driving element to drive a crank 54 and a square groove 55 arranged at the front end of the crank and a shovel 56 arranged at the front end of the square groove to reciprocate back and forth, two sides of the square groove 55 are connected with a telescopic connecting rod mechanism through a short L-shaped frame 61, the telescopic connecting rod mechanism comprises connecting rods 62, 58 and 57, the front end of the connecting rod 57 is hinged with the square groove 55, the rear end of the connecting rod 57 is hinged with the lower end of the connecting rod 58, the upper end of the connecting rod 58 is hinged with the lower end of the connecting rod 62, and the upper end of the connecting rod 62 is hinged with the lower bottom plate through a short L-shaped frame 61.

As shown in fig. 9, 10, 11 and 12, the monitoring system includes a camera, an inverted U-shaped frame 71, a first steering engine 77 and a second steering engine 69 for driving the inverted U-shaped frame 71 to swing back and forth, the camera is mounted on the top surface of the inverted U-shaped frame 71 through a camera support 72, one side of the lower end of the inverted U-shaped frame 71 is mounted on a steering wheel of the first steering engine 77, the first steering engine 77 is mounted on a steering wheel of the second steering engine 69 through a first steering engine support 70, the second steering engine 69 is used for driving the first steering engine support 70 and upper components thereof to rotate together, the second steering engine 69 is mounted on a second steering engine support 75, and the second steering engine support is mounted on an upper layer board through an L-shaped support 68.

The second steering engine 69 is fixed on a second steering engine support 75 through screws on two sides, the side face of the first steering engine support 70 is fixed on a steering wheel of the second steering engine 69, the first steering engine 77 is laterally fixed on the first steering engine support 70, the inverted U-shaped frame is fixed on the steering wheel of the first steering engine 77 on one side, and the camera support 72 is fixed on the surface, horizontal to the ground, of the U-shaped frame 71.

The traction rope scaling system comprises a traction rope wheel 74, a wheel motor 65, a driving pulley 82, a driven pulley 78, a rotating motor 67 and a wheel bracket 73, wherein the rotating motor 67 is arranged on an upper plate through the rotating motor bracket, and the output shaft thereof is connected with a driving pulley 82, the driven pulley 78 is rotatably mounted on the upper plate, and is connected with a driving pulley 82 through a transmission belt 66, the traction rope sheave 74 is installed on the upper end surface of the driven pulley 78 through a sheave bracket 73, the traction rope wheel 74 is rotatably installed on the left side of the upper end of the wheel bracket 73, the wheel motor 65 is installed on the right side of the upper end of the wheel bracket 73 through the wheel motor bracket, and the output shaft of the sheave motor 65 is provided with a driving gear 64, the side surface of the traction rope sheave 74 is provided with a driven gear 63, and the driving gear 64 is engaged with the driven gear 63.

The upper plate is formed by aluminum plate 79, 80 concatenation, and driving pulley 82 is connected with lower floor's little disc 85 through eight double-screw bolts by upper small disc 84, and driven pulley 78 is connected with lower floor's little disc 86 through eight double-screw bolts by the big disc 87 in upper strata, is connected with the upper plate through the axis of rotation of little disc centre of a circle department, is connected through drive belt 66 between driven pulley 78 and driving pulley 82, drives haulage rope pantograph system and turns to. The rotary motor support is composed of strip-shaped motor supports 81, 82.

The towed pet is primarily a small canine or a small feline.

Furthermore, except that the six-wheel power system is used as a main power source and the monitoring system is used as a control source, the rest parts are all selectable and detachable parts, so that the maintenance and the upgrade of the whole machine are facilitated. The gear ratios and the diameters of the belt wheels of the traction rope scaling system can be adjusted to meet different output force requirements.

The robot further comprises an industrial personal computer, the industrial personal computer is mounted on an industrial personal computer support 76, the industrial personal computer support 76 is mounted on an upper plate, the monitoring system is connected with the industrial personal computer, the industrial personal computer is connected with a single chip microcomputer, and the single chip microcomputer is respectively connected with a six-wheel power system, a feces cleaning system, a feeding system and a traction rope scaling system. The industrial personal computer is a small computer.

As shown in fig. 13, the feeding system includes a trough 89, a front link mechanism, a rear link mechanism and a feeding motor 99, the trough 89 is located in the middle of the lower plate, the front end of the trough 89 is connected with the lower plate through the front link mechanism, the rear end of the trough 99 is connected with the upper plate through the rear link mechanism, the feeding motor 99 is installed on the lower plate, a driving gear 100 is arranged on an output shaft of the feeding motor 99, two transmission gears are fixed on the side of the trough 89, the two transmission gears 92 and 93 are located above the driving gear and are matched with the driving gear 100, and the feeding motor 99 drives the driving gear to shift the two transmission gears 92 and 93 to drive the trough 89 to move back and forth;

the feeding motor 99 is arranged on the lower bottom plate through a short L-shaped frame 98, two non-rotatable transmission gears are fixed on the trough 89, the front connecting rod mechanism comprises two connecting rods 88, two connecting rods 91 and a connecting rod 90, the rear ends of the two connecting rods 88 are respectively hinged with the left side and the right side of the front end of the trough 89, the front ends of the two connecting rods 88 are respectively hinged with the upper ends of the two connecting rods 91, the lower ends of the two connecting rods 91 are simultaneously hinged with the upper ends of the connecting rods 90, and the lower ends of the connecting rods 90 are arranged on the lower bottom plate through aluminum profiles; the rear link mechanism comprises two connecting rods 97, two connecting rods 96 and two connecting rods 94, the lower ends of the two connecting rods 97 are respectively hinged with the left side and the right side of the rear end of the crib 89, the upper ends of the two connecting rods 97 are respectively hinged with the rear ends of the two connecting rods 96, the front ends of the two connecting rods 96 are respectively hinged with the lower ends of the two connecting rods 94, the upper ends of the two connecting rods 94 are respectively connected with an upper plate through two short L-shaped frames 95, and when the feeding motor 99 drives the gear 100 to rotate, the transmission gears 93 and 92 move forwards or backwards without rotating to drive the crib 89 to move forwards and backwards.

The utility model discloses a theory of operation does: after the pet position is collected by the camera, the data are sent to the industrial personal computer for processing, and then the data are transmitted to the single chip microcomputer. Through the data that the industrial computer handled and the signal that the singlechip sent, this pet companion robot can reach and follow the pet motion, clears up pet excrement and urine through excrement and urine clearance system, attracts the pet attention through feeding the system of eating, through haulage rope scaling system adjustment pet haulage rope orientation, guarantees that the pet is in functions such as suitable radius on every side of the machine.

The lower bottom plate structure of the pet companion robot utilizes a six-wheel driving structure of a lunar vehicle, and the power is sufficient due to the fact that the six-wheel driving structure of the direct-current motor is adopted. The tail of the robot is provided with a triangular shock absorption structure, and the triangular shock absorption structure is mainly used for connecting the wheels with the lower bottom plate. When the pet companion robot runs on an uneven road surface, the wheels vibrate in the vertical direction, the vibration energy of the wheels is consumed by the triangular shock absorption structure, the amplitude of the chassis is reduced, and the running smoothness of the pet companion robot is improved. The triangular shock absorption structure is combined with the quadrilateral shock absorption structure with four front wheels to form a complete shock absorption system, so that the pet companion robot can adapt to different road conditions, and the phenomena of skidding and stagnation caused by the road conditions are reduced, and better walking experience is brought to a pet. In addition, the power system of the robot is mainly positioned below the mechanism, so that the gravity center of the robot is greatly reduced, the friction force of the robot can be effectively improved, and the slippage is reduced. If, the robot possess sufficient power and superior cross-country performance, the sight that the pet liked playing in various different occasions such as meadow, puddle when can effectively laminating the dog of sauntering realizes the all-terrain dog of sauntering.

The utility model is used for solve the problem that people can't walk the dog on time, through solving this problem, help people to look after the pet better, improve pet person, pet both sides's quality of life. The system is a system capable of adjusting the retraction function of the pet pulling rope according to the motion state of the pet in real time.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims (8)

1. A pet companion robot, characterized in that: the device comprises five parts, namely a six-wheel power system, a monitoring system, a feces cleaning system, a feeding system and a traction rope scaling system, wherein the six-wheel power system comprises a lower bottom plate and six power wheels, the front four power wheels are respectively connected with four wheel motors, the four wheel motors are respectively arranged on wheel motor supports, the four wheel motor supports are respectively arranged on the lower bottom plate through quadrilateral cushioning structures, and the two quadrilateral cushioning structures on the same side of the left side and the right side are linked through a cross rod; the rear two power wheels are respectively connected with the two rear driving motors, the two rear driving motors are respectively arranged on the rear driving motor supports, the two rear driving motor supports are respectively arranged on the left side and the right side of the rear end of the lower bottom plate through triangular shock absorption structures, and meanwhile, a connecting plate is also arranged between the rear two power wheels and is obliquely arranged towards the rear lower side and is simultaneously connected with the two triangular shock absorption structures; the excrement cleaning system is installed on the bottom front side of the lower base plate through a crank rocker mechanism, the upper plate is hinged to the upper ends of the four quadrilateral cushioning structures, the feeding system is arranged between the upper plate and the lower base plate, the hauling rope scaling system is installed on the upper plate, and the monitoring system is located in front of the hauling rope scaling system and installed at the front end of the upper plate.

2. The pet companion robot of claim 1, wherein: the two triangular shock absorption structures are arranged in a bilateral symmetry mode, each triangular shock absorption structure comprises two triangular shock absorption connecting rod mechanisms, the two triangular shock absorption connecting rod mechanisms are arranged in a bilateral symmetry mode, each triangular shock absorption connecting rod mechanism comprises a first triangular shock absorption connecting rod, a second triangular shock absorption connecting rod, a first shock absorption spring and a first L-shaped support, the front end of the first triangular shock absorption connecting rod is hinged to the first L-shaped support, the first L-shaped support is fixedly installed on the rear end of the lower base plate, the front end of the second triangular shock absorption connecting rod is hinged to the rear end of the first triangular shock absorption connecting rod, the middle of the first triangular shock absorption connecting rod is connected with the middle of the second triangular shock absorption connecting rod through the first shock absorption spring, and the first shock absorption spring inclines towards the rear lower side; the rear end of the second triangular shock absorption connecting rod positioned on the outer side is hinged with the corresponding rear driving motor support through a second L-shaped support, and the rear end of the second triangular shock absorption connecting rod positioned on the inner side is hinged with the connecting plate through a third L-shaped support.

3. The pet companion robot of claim 2, wherein: the quadrilateral cushioning structure comprises four quadrilateral connecting rods, a long rod, a short rod and two second damping springs, wherein the long rod is vertically arranged, an upper waist-shaped groove and a lower waist-shaped groove are respectively arranged at the upper part and the lower part of the long rod, the four quadrilateral connecting rods form a quadrilateral structure and comprise a first quadrilateral connecting rod, a second quadrilateral connecting rod, a third quadrilateral connecting rod and a fourth quadrilateral connecting rod, the upper end of the first quadrilateral connecting rod is hinged with the upper end of the second quadrilateral connecting rod through an upper pin shaft, the upper pin shaft is matched with the upper waist-shaped groove and can be connected with the upper part and the lower part in a sliding way, the lower end of the first quadrilateral connecting rod is hinged with the upper end of the third quadrilateral connecting rod through a front pin shaft, the lower end of the second quadrilateral connecting rod is hinged with the upper end of the fourth quadrilateral connecting rod through a rear pin shaft, and the lower end of the third quadrilateral connecting rod is hinged with the lower end of the fourth quadrilateral connecting rod through a lower pin shaft, meanwhile, the lower pin shaft is matched with the lower waist-shaped groove and can be connected in a vertical sliding manner; the middle part of the first quadrilateral connecting rod is connected with the middle part of the third quadrilateral connecting rod through a second damping spring, and the middle part of the second quadrilateral connecting rod is connected with the middle part of the fourth quadrilateral connecting rod through another second damping spring;

the upper end of the short rod is hinged with the long rod, the hinged point is positioned between the lower waist-shaped groove and the upper waist-shaped groove, the lower end of the short rod is hinged with the cross rod, the lower end of the long rod is hinged with the end part of the cross rod, and the upper end of the long rod is connected with the upper layer plate through the short L-shaped frame; the lower end of the quadrilateral structure is connected with the wheel motor bracket through the long L-shaped frame.

4. The pet companion robot of claim 3, wherein: the excrement cleaning system comprises a cleaning shovel and a square groove, the square groove is positioned below the lower bottom plate, the cleaning shovel is connected with the front end of the square groove, and the left side and the right side of the square groove are respectively connected with the lower bottom plate through telescopic link mechanisms;

the crank and rocker mechanism comprises a rocker steering engine, a rocker and a crank, the rocker steering engine is installed on the bottom of the lower bottom plate, a steering wheel of the rocker steering engine is connected with the rear end of the rocker, the front end of the rocker is connected with the rear part of the crank, and the front end of the crank is connected with the square groove.

5. The pet companion robot of claim 4, wherein: the feeding system comprises a feeding trough, a front connecting rod mechanism, a rear connecting rod mechanism and a feeding motor, wherein the feeding trough is located in the middle of the lower base plate, the front end of the feeding trough is connected with the lower base plate through the front connecting rod mechanism, the rear end of the feeding trough is connected with the upper plate through the rear connecting rod mechanism, the feeding motor is installed on the lower base plate, a driving gear is arranged on an output shaft of the feeding motor, two transmission gears are fixed to the side face of the feeding trough, the two transmission gears are located above the driving gear and are matched with the driving gear, and the feeding motor drives the driving gear to stir the two transmission gears to drive the feeding trough to move back and forth.

6. The pet companion robot of claim 5, wherein: the monitoring system comprises a camera used for collecting pet position data, an inverted U-shaped frame, a first steering engine and a second steering engine, wherein the first steering engine and the second steering engine are used for driving the inverted U-shaped frame to swing back and forth, the camera is installed on the top surface of the inverted U-shaped frame through a camera support, the lower end of the inverted U-shaped frame is installed on a steering wheel of the first steering engine on one side, the first steering engine is installed on a steering wheel of the second steering engine through a first steering engine support, the second steering engine is used for driving the first steering engine support and parts on the first steering engine support to rotate together, the second steering engine is installed on a second steering engine support, and the second steering engine support is installed on an upper layer plate through an L-shaped support.

7. The pet companion robot of claim 6, wherein: the haulage rope system of zooming includes haulage rope rim plate, rim plate motor, driving pulley, driven pulleys, rotates motor and rim plate support, it installs on the top plate through rotating the motor support to rotate the motor to its output shaft is connected with driving pulley, and the rotatable installation of driven pulleys is on the top plate, and is connected with driving pulley through the drive belt, the haulage rope rim plate leads to the rim plate support mounting on the driven pulleys up end, the rotatable installation of haulage rope rim plate is on the upper end left side of rim plate support, the rim plate motor passes through rim plate motor support mounting on the upper end right side of rim plate support to be equipped with the driving gear on the output shaft of rim plate motor, be equipped with driven gear on the side of haulage rope rim plate, driving gear and driven gear meshing.

8. The pet companion robot of claim 7, wherein: the robot further comprises an industrial personal computer, the industrial personal computer is installed on an industrial personal computer support, the industrial personal computer support is installed on an upper layer plate, the monitoring system is connected with the industrial personal computer, the industrial personal computer is connected with a single chip microcomputer, and the single chip microcomputer is connected with a six-wheel power system, an excrement cleaning system, a feeding system and a traction rope scaling system respectively.

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