CN116176729A

CN116176729A - Mechanical dog

Info

Publication number: CN116176729A
Application number: CN202310406289.6A
Authority: CN
Inventors: 杨一航; 曾岩; 高晓婷; 王楠; 郑世昌; 邓荣峰; 钟昆座
Original assignee: Beijing Institute of Technology Zhuhai
Current assignee: Beijing Institute of Technology Zhuhai
Priority date: 2023-04-14
Filing date: 2023-04-14
Publication date: 2023-05-30

Abstract

The invention discloses a mechanical dog, which belongs to the technical field of intelligent machine equipment, and comprises a bearing plate, a first travelling mechanism and a second travelling mechanism, wherein the first travelling mechanism and the second travelling mechanism are respectively arranged on two sides of the bearing plate, the first travelling mechanism comprises a first mechanical leg, a first support frame and a second mechanical leg, the first mechanical leg is arranged at a first end of the first support frame, and the second mechanical leg is arranged at a second end of the first support frame; the first mechanical leg comprises a first driving piece and a first leg part, the first driving piece is connected with the end part of the first supporting frame, the top of the first leg part is arranged on the output end of the first driving piece, and the first leg part is bent; the first driving piece is used for driving the first leg to rotate, so that the first leg walks on the ground, the first driving piece and the first leg can be respectively arranged at four corners of the bearing plate, and the mechanical dog can simulate the motion of the canine animals by adjusting the rotating speed and the steering direction of the first driving piece, so that the rapid movement or walking is realized.

Description

Mechanical dog

Technical Field

The invention belongs to the technical field of intelligent machine equipment, and particularly relates to a mechanical dog.

Background

The mechanical dog performs bionic simulation on the motion structure of the canine animals. The four limbs of the mechanical dog are divided into parallel legs and serial legs according to the four limbs structure of the mechanical dog; however, in the structure of the existing mechanical dog, the similarity of the four limbs of the simulated canine is low no matter in a parallel or serial mode, and the flexibility of the four limbs of the mechanical dog is relatively general, so that the mechanical dog cannot realize rapid movement or walking.

Disclosure of Invention

The invention aims to provide a mechanical dog, which realizes the simulation of limb movement of dogs, improves the flexibility of the mechanical dog and realizes rapid movement or walking.

The technical scheme is as follows:

a mechanical dog comprising:

the bearing plate is provided with a plurality of grooves,

a first travel mechanism is provided for the first travel mechanism,

the first travelling mechanism and the second travelling mechanism are respectively arranged at two sides of the bearing plate, the first travelling mechanism comprises a first mechanical leg, a first supporting frame and a second mechanical leg, the first mechanical leg is arranged at the first end of the first supporting frame, and the second mechanical leg is arranged at the second end of the first supporting frame;

the first mechanical leg comprises a first driving piece and a first leg portion, the first driving piece is connected with the end portion of the first supporting frame, the top of the first leg portion is installed on the output end of the first driving piece, and the first leg portion is bent.

In one embodiment, the first mechanical leg further comprises a second driving piece and a second leg, and the first driving piece is arranged opposite to the output end of the second driving piece; the bottoms of the first leg and the second leg are in running fit and form a leg structure;

the first leg comprises a first connecting rod and a second connecting rod, the second leg comprises a third connecting rod and a fourth connecting rod, the third end of the first connecting rod is in running fit with the fourth end of the third connecting rod, the fifth end of the first connecting rod is in running fit with the sixth end of the second connecting rod, the seventh end of the third connecting rod is in running fit with the eighth end of the fourth connecting rod, the ninth end of the second connecting rod is connected with the output end of the first driving piece, and the tenth end of the fourth connecting rod is connected with the output end of the second driving piece.

In one embodiment, the first mechanical leg further comprises a rotating member and a bearing, the end part of the first connecting rod is provided with a first shaft hole, the end part of the third connecting rod is provided with a second shaft hole, the first shaft hole and the second shaft hole are respectively used for allowing two ends of the rotating member to pass through, one end of the rotating member is connected with the end part of the first connecting rod, and the bearing is installed in the second shaft hole and sleeved on the outer wall of the other end of the rotating member.

In one embodiment, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are connected end to end and form a diamond structure, and the diamond structure is telescopic in a vertical direction or a horizontal direction.

In one embodiment, the end portion of the first connecting rod or the third connecting rod is in an arc-shaped structure, and the convex surface of the arc-shaped structure faces outwards.

In one embodiment, the first travelling mechanism is provided with a connecting sleeve, the connecting sleeve is located between the first driving piece and the second driving piece, and two ends of the connecting sleeve are respectively sleeved at the output end of the first driving piece and the output end of the second driving piece and are in running fit with the output end.

In one embodiment, a plurality of kidney-shaped through grooves are formed in the first connecting rod and the third connecting rod, and the through grooves are arranged in a manner of being aligned along the length direction of the first connecting rod or the third connecting rod; the second connecting rod comprises a first rod body, a second rod body and two groups of connecting parts, and two ends of the first rod body and the second rod body are respectively connected with the two groups of connecting parts; the length direction of the first rod body is intersected with the length direction of the second rod body.

In one embodiment, the first supporting frame includes a supporting block and two supporting plates, the end parts of the supporting plates are connected with the first driving piece or the second driving piece, the two supporting plates are oppositely arranged, the supporting block is located between the two supporting plates, and two ends of the supporting block are respectively installed on the inner sides of the two supporting plates.

In one embodiment, the support plate comprises a connecting body and two groups of frame bodies, the two groups of frame bodies are connected through the connecting body, a mounting hole is formed in one end, far away from the connecting body, of each frame body, a first support rod and a second support rod are arranged in each frame body, the first support rods are obliquely arranged, the second support rods are perpendicular to the length direction of each frame body, a first hollowed-out portion is formed among the first support rods, the second support rods and the long edges of each frame body, and the first hollowed-out portions are right-angled triangles;

the connector is square, and at least one surface of the connector is provided with a second hollowed-out part; at least one surface of the connector is provided with a solid part.

In one embodiment, the second travelling mechanism comprises a third mechanical leg, a second supporting frame and a fourth mechanical leg, the second supporting frame is installed on the side wall of the bearing plate, the third mechanical leg is installed at the front end of the second supporting frame, and the fourth mechanical leg is installed at the rear end of the second supporting frame; the first mechanical leg, the second mechanical leg, the third mechanical leg and the fourth mechanical leg are respectively located at four corners of the bearing plate.

In one embodiment, the mechanical dog further comprises a first steering mechanism and a second steering mechanism, wherein the first steering mechanism and the second steering mechanism are respectively arranged on two sides of the bearing plate, the first steering mechanism is in running fit with the first supporting frame, and the second steering mechanism is in running fit with the second supporting frame;

the first steering mechanism comprises a first double-head steering engine, a first rotating shaft and a first connecting block, two first connecting plates are arranged on the side wall of the first support frame, the first rotating shaft is arranged at the output end of the first double-head steering engine, two ends of the first rotating shaft are respectively connected with the two first connecting plates, the first connecting block is sleeved on the first rotating shaft, and the side wall of the first connecting block is arranged on the side wall of the first support frame; the second steering mechanism comprises a second double-head steering engine, a second rotating shaft and a second connecting block, two second adapter plates are arranged on the side wall of the second support frame, the second rotating shaft is arranged at the output end of the second double-head steering engine, two ends of the second rotating shaft are respectively connected with the two second adapter plates, the second connecting block is sleeved on the second rotating shaft, and the side wall of the second connecting block is arranged on the side wall of the second support frame;

the front end and the rear end of the bearing plate are respectively provided with a connecting plate, and the end parts of the connecting plates are sleeved on the first rotating shaft or the second rotating shaft.

In one embodiment, the mechanical dog further comprises a battery module, a driving module, a voice module, a camera shooting module and an induction module, wherein the battery module, the driving module, the voice module, the camera shooting module and the induction module are all installed on the bearing plate, the battery module is electrically connected with the driving module, the driving module is respectively electrically connected with the first travelling mechanism, the second travelling mechanism, the first steering mechanism and the second steering mechanism, the driving module is further respectively electrically connected with the voice module, the camera shooting module and the induction module, and the induction range of the induction module covers the periphery of the bearing plate.

The technical scheme provided by the invention has the following advantages and effects:

1. the bearing plate is equipped with first running gear and second running gear respectively in both sides, running gear includes first mechanical leg and second mechanical leg, first mechanical leg and second mechanical leg mutually support, first mechanical leg and second mechanical leg install the first end and the second end at first support frame respectively, first mechanical leg includes first driving piece and first leg portion, first leg is the form of bending, the top of first leg is installed on the output of first driving piece, first driving piece is used for driving first leg rotation, thereby make first leg walk on ground, can install first driving piece and first leg respectively in the four corners of bearing plate, and through adjusting the rotational speed and the turning to of first driving piece, the four limbs motion of simulation canine animal has been realized, improve the flexibility of mechanical dog, realize quick travel or walking.

2. The first driving piece and the second driving piece are arranged oppositely and are respectively connected with the tops of the first leg part and the second leg part, wherein the first driving piece is used for driving the first leg part, and the second driving piece is used for driving the second leg part; the bottoms of the first leg part and the second leg part are in running fit to form a telescopic leg structure, the output ends of the first driving part and the second driving part can respectively apply acting forces in different directions, the first driving part is used for enabling the leg structure to simulate the action of leg extension, the second driving part is used for enabling the leg structure to simulate the action of leg lifting, and by adopting the structure, the second mechanical leg can lift the leg forwards when the first mechanical leg extends forwards; the swing frequency of the leg structure is improved by adjusting the rotation speed and the steering of the first driving piece and the second driving piece; further improving the limb movement similarity of the simulated dogs and improving the walking speed of the mechanical dogs.

3. The end parts of the first connecting rod and the third connecting rod are connected by adopting the rotating piece, the rotating fit is realized, the bearing is sleeved on the rotating piece, the rotating friction between the first connecting rod and the third connecting rod can be reduced, and the lower the rotating friction of the end parts of the leg structures is, the smoother the action of the leg structures when the legs are lifted and stretched is, so that the walking speed of the mechanical dog can be further improved by adopting the matching of the rotating piece and the bearing.

4. The connecting sleeve is arranged between the first driving piece and the second driving piece and is respectively sleeved on the output ends of the first driving piece and the second driving piece, the connecting sleeve is used for limiting the vibration amplitude of the output end of the first driving piece or the second driving piece, the stability of the first driving piece and the second driving piece in rotation is improved, and the walking stability of the mechanical dog is further improved.

5. The first connecting rod and the third connecting rod are internally provided with a plurality of waist-shaped through grooves, so that under the condition that the supporting strength of the first leg part or the second leg part is met, the dead weight of the first leg part or the second leg part can be lightened, the acting force for lifting the leg part structure is reduced, and the power consumption of the leg part structure during leg lifting and leg stretching is further reduced; meanwhile, the second connecting rod comprises a first rod body, a second rod body and two groups of connecting parts, the connecting parts are used for being in running fit with the end parts of the first connecting rod, and the first rod body and the second rod body are used for transmitting output torque of the first driving piece, so that the second connecting rod transmits acting force to the first connecting rod.

6. The two support plates and the support blocks are adopted, so that the first mechanical leg and the second mechanical leg are respectively arranged at the two ends of the two support plates, the two ends of the support plates are used for supporting the first mechanical leg and the second mechanical leg, and the walking stability of the first mechanical leg and the second mechanical leg is improved; moreover, adopt first bracing piece and second bracing piece to be used for guaranteeing the holding strength of backup pad, and be equipped with triangle-shaped's first fretwork portion in the backup pad to and be equipped with second fretwork portion in the connector, triangle-shaped has better stability, and the dead weight of backup pad is also alleviateed to above-mentioned structure, reduces the loading of first mechanical leg, further practices thrift the walking consumption of mechanical dog.

7. The first mechanical legs, the second mechanical legs, the third mechanical legs and the fourth mechanical legs are respectively arranged on the bearing plate, the four groups of mechanical legs cooperatively travel in a matched mode, and the travel track of each group of mechanical legs is set in advance, so that the mechanical dog can simulate the canine animal to walk, and the flexibility of the mechanical dog is improved.

8. The first steering mechanism and the second steering mechanism are arranged on two sides of the bearing plate, the first steering mechanism is in running fit with the first supporting frame, the second steering mechanism is in running fit with the second supporting frame, the rotating speeds of the first double-head steering engine and the second double-head steering engine are adjusted, the first supporting frame and the second supporting frame are respectively driven to rotate through the first rotating shaft and the second rotating shaft, and therefore steering of the mechanical dog is achieved.

9. The battery module is arranged on the bearing plate, so that the mechanical dog walks in a long distance, the sensing module and the camera module are arranged on the bearing plate, when the mechanical dog encounters an obstacle, the sensing module detects the obstacle, or the camera module transmits an image captured by the sensing module to the driving module, the driving module is used for processing electric signals of the sensing module and the camera module, so that whether the obstacle exists in front is judged, the voice module is fed back in time, the voice module is used for playing prompt tones and reminding people around, the driving module is used for avoiding the mechanical dog from bumping into the obstacle, and is further used for driving the first steering mechanism and the second steering mechanism to operate, and the mechanical dog is driven to realize steering, so that the mechanical dog is adapted to a complex environment.

Drawings

Fig. 1 is a schematic diagram of a mechanical dog in an embodiment of the invention.

FIG. 2 is a schematic view of a first travel mechanism in accordance with an embodiment of the invention.

Fig. 3 is a schematic view of a first mechanical leg according to an embodiment of the present invention.

Fig. 4 is a schematic diagram illustrating connection between a connecting rod and a third connecting rod according to an embodiment of the invention.

Fig. 5 is a side view of a first mechanical leg in an embodiment of the invention.

Fig. 6 is a top view of a first mechanical leg in an embodiment of the invention.

Fig. 7 is a schematic view of a first support frame according to an embodiment of the invention.

Fig. 8 is a schematic view of a first steering mechanism and a second steering mechanism in an embodiment of the invention.

Reference numerals illustrate:

100. a mechanical dog; 1. a bearing plate; 11. a connecting plate; 2. a first travel mechanism; 21. a first mechanical leg; 211. a first driving member; 212. a second driving member; 22. a second mechanical leg; 23. a first support frame; 231. a support plate; 232. a support block; 233. a frame body; 2331. a first support bar; 2332. a second support bar; 2333. a long side; 2334. a first hollowed-out part; 234. a connecting body; 2341. a second hollow part; 2342. a solid portion; 235. a first adapter plate; 236. a mounting hole; 24. a first leg; 241. a first connecting rod; 242. a second connecting rod; 2421. a first rod body; 2422. a second rod body; 2423. a connection part; 25. a second leg; 251. a third connecting rod; 252. a fourth connecting rod; 26. a through groove; 27. connecting sleeves; 28. a rotating member; 29. a bearing; 3. a second travelling mechanism; 31. a third mechanical leg; 32. a fourth mechanical leg; 33. a second support frame; 331. a second adapter plate; 4. a battery module; 5. an induction module; 6. a first steering mechanism; 61. the first double-head steering engine; 62. a first rotating shaft; 63. a first connection block; 7. a second steering mechanism; 71. the second double-head steering engine; 72. a second rotating shaft; 73. a second connection block; 8. and an image pickup module.

Detailed Description

In order that the invention may be readily understood, a more particular description of specific embodiments thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

As used herein, the terms "first and second …" are used merely to distinguish between names and not to represent a particular number or order unless otherwise specified or defined.

The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items, unless specifically stated or otherwise defined.

The term "fixed" or "connected" as used herein may be directly fixed or connected to an element, or indirectly fixed or connected to an element.

As shown in fig. 1-8, a mechanical dog 100 includes: the device comprises a bearing plate 1, a first travelling mechanism 2 and a second travelling mechanism 3, wherein the first travelling mechanism 2 and the second travelling mechanism 3 are respectively arranged on two sides of the bearing plate 1, the first travelling mechanism 2 comprises a first mechanical leg 21, a first supporting frame 23 and a second mechanical leg 22, the first mechanical leg 21 is arranged at a first end of the first supporting frame 23, and the second mechanical leg 22 is arranged at a second end of the first supporting frame 23; the first mechanical leg 21 includes a first driving element 211 and a first leg 24, the first driving element 211 is connected with an end of the first supporting frame 23, a top of the first leg 24 is mounted on an output end of the first driving element 211, and the first leg 24 is bent. The two sides of the bearing plate 1 are respectively provided with a first travelling mechanism 2 and a second travelling mechanism 3, the travelling mechanism 2 comprises a first mechanical leg 21 and a second mechanical leg 22, the first mechanical leg 21 and the second mechanical leg 22 are mutually matched, the first mechanical leg 21 and the second mechanical leg 22 are respectively arranged at a first end and a second end of a first supporting frame 23, the first mechanical leg 21 comprises a first driving piece 211 and a first leg 24, the first leg 24 is in a bent shape, the top of the first leg 24 is arranged at the output end of the first driving piece 211, the first driving piece 211 is used for driving the first leg 24 to rotate, so that the first leg 24 can travel on the ground, the first driving piece 211 and the first leg 24 can be respectively arranged at four corners of the bearing plate, and four limbs of a canine animal can be simulated by adjusting the rotating speed and the rotating direction of the first driving piece 211, the flexibility of the mechanical dog 100 is improved, and rapid movement or travelling is realized.

The principle of walking of this mechanical dog 100 is: firstly, the rotation speed and the rotation direction of the first driving piece 211 and the second driving piece 212 are regulated, the first driving piece 211 rotates anticlockwise, and leg lifting of the first leg 24 is realized; the first driving piece 211 rotates clockwise to realize the extension of the first leg 24; the second driving piece 212 rotates anticlockwise to realize leg extension of the second leg part 25, and the second driving piece 212 rotates clockwise to realize leg lifting of the second leg part 25; the difference of the swinging radian between the first driving piece 211 and the second driving piece 212 can enable the first mechanical leg 21 to have the action of extending legs or lifting legs, and the two driving pieces are mutually matched to realize the back and forth switching of the first mechanical leg 21 between extending legs and lifting legs. On this basis, the second mechanical leg 22, the third mechanical leg 31 and the fourth mechanical leg 32 are provided with the same leg stretching or leg lifting actions as the first mechanical leg 21, and when the first mechanical leg 21 is lifted, the second mechanical leg 22 stretches the legs to move the first travelling mechanism 2 forward, and similarly, the first mechanical leg 21 and the second mechanical leg 22 stretch the legs at the same time, the third mechanical leg 31 and the fourth mechanical leg 32 lift the legs at the same time, or the first mechanical leg 21 and the fourth mechanical leg 32 lift the legs at the same time, and the second mechanical leg 22 and the third mechanical leg 31 stretch the legs at the same time, so that the mechanical dog 100 can simulate the travelling mode of the canine animal.

In addition, the first mechanical leg 21 further includes a second driving member 212 and a second leg portion 25, where the first driving member 211 is disposed opposite to an output end of the second driving member 212; the bottoms of the first leg 24 and the second leg 25 are in a rotating fit and form a leg structure; the first leg 24 includes a first connecting rod 241 and a second connecting rod 242, the second leg 25 includes a third connecting rod 251 and a fourth connecting rod 252, a third end of the first connecting rod 241 is in running fit with a fourth end of the third connecting rod 251, a fifth end of the first connecting rod 241 is in running fit with a sixth end of the second connecting rod 242, a seventh end of the third connecting rod 251 is in running fit with an eighth end of the fourth connecting rod 252, a ninth end of the second connecting rod 242 is connected with an output end of the first driving member 211, and a tenth end of the fourth connecting rod 252 is connected with an output end of the second driving member 212. A first driving member 211 and a second driving member 212 are arranged oppositely and are respectively connected with the tops of the first leg 24 and the second leg 25, wherein the first driving member 211 is used for driving the first leg 24, and the second driving member 212 is used for driving the second leg 25; the bottoms of the first leg 24 and the second leg 25 are in running fit to form a telescopic leg structure, the output ends of the first driving piece 211 and the second driving piece 212 can respectively apply acting forces in different directions, the first driving piece 211 is used for enabling the leg structure to simulate the leg stretching action, the second driving piece 212 is used for enabling the leg structure to simulate the leg lifting action, and by adopting the structure, the second mechanical leg 22 can be lifted forwards when the first mechanical leg 21 stretches forwards; and by adjusting the rotational speeds and the turning directions of the first and second driving

members

211 and 212, the swing frequency of the leg structure is increased; further improving the similarity of motion of the limbs of the simulated canine of the mechanical dog 100 and improving the speed of walking of the mechanical dog 100.

In the present embodiment, the first driving member 211 and the second driving member 212 are servo motors; there are two ways in which the servo motor controls forward and reverse rotation: 1. forward pulse, reverse pulse (forward going forward, reverse going reverse). 2. The pulse adding direction is only connected with one pulse transmitting end, and is connected with one level signal control direction (one level bit in the forward direction and one level bit in the reverse direction). The rotation speed of the rotor of the servo motor is controlled by an input signal, can react quickly, is used as an executive component in an automatic control system, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can convert a received electric signal into angular displacement or angular speed on the motor shaft for output.

In addition, the first mechanical leg 21 further includes a rotating member 28 and a bearing 29, the end portion of the first connecting rod 241 is provided with a first shaft hole, the end portion of the third connecting rod 251 is provided with a second shaft hole, the first shaft hole and the second shaft hole are respectively provided for the two ends of the rotating member 28 to pass through, one end of the rotating member 28 is connected with the end portion of the first connecting rod 241, and the bearing 29 is installed in the second shaft hole and is sleeved on the outer wall of the other end of the rotating member 28. The ends of the first connecting rod 241 and the third connecting rod 251 are connected by the rotating member 28, and are in rotating fit, and the bearing 29 is sleeved on the rotating member 28, so that the rotating friction between the first connecting rod 241 and the third connecting rod 251 can be reduced, and the lower the rotating friction of the ends of the leg structures is, the smoother the actions of the leg structures when the legs are lifted and stretched are, so that the walking speed of the mechanical dog 100 can be further improved by adopting the matching of the rotating member 28 and the bearing 29.

In addition, the first connecting rod 241, the second connecting rod 242, the third connecting rod 251, the fourth connecting rod 252 and the output end of the driving member are matched end to end, and form a diamond structure, and the diamond structure is telescopic in the vertical direction or the horizontal direction. The first connecting rod 241, the second connecting rod 242, the third connecting rod 251 and the fourth connecting rod 252 are connected end to end and form a diamond structure, the rotation speed and the rotation direction of the first driving piece 211 and the second driving piece 212 are adjusted, the diamond structure stretches and contracts in the vertical direction or the horizontal direction, and the mechanical dog 100 walks along with the change of the diamond structure.

In addition, the end of the first connecting rod 241 or the third connecting rod 251 has an arc structure with the convex surface facing outwards. Because the mechanical dog 100 needs to adapt to complex terrains, the ground generally has an arc-shaped or irregular groove, so the leg structure adopts an arc-shaped structure, the convex surface of the arc-shaped structure is in the groove, and the arc surface is not easy to be blocked by the groove, thereby improving the adaptability of the mechanical dog 100.

In addition, the first travelling mechanism 2 is provided with a connecting sleeve 27, the connecting sleeve 27 is positioned between the first driving piece 211 and the second driving piece 212, and two ends of the connecting sleeve 27 are respectively sleeved at the output end of the first driving piece 211 and the output end of the second driving piece 212 and are in running fit with the output end; the connecting sleeve 27 is arranged between the first driving piece 211 and the second driving piece 212 and is respectively sleeved on the output ends of the first driving piece 211 and the second driving piece 212, the output ends of the first driving piece 211 and the second driving piece 212 are output shafts, the shaft axes of the output shafts and the connecting sleeve 27 are coaxially arranged, the connecting sleeve 27 is used for limiting the vibration amplitude of the output ends of the first driving piece 211 or the second driving piece 212, the stability of the first driving piece 211 and the second driving piece 212 in rotation is improved, and the walking stability of the mechanical dog 100 is further improved.

In addition, the first connecting rod 241 and the third connecting rod 251 are respectively provided with a plurality of kidney-shaped through grooves 26, and the plurality of through grooves 26 are arranged along the length direction of the first connecting rod 241 or the third connecting rod 251; the second connecting rod 242 includes a first rod 2421, a second rod 2422 and two sets of connecting parts 2423, and two ends of the first rod 2421 and the second rod 2422 are respectively connected with the two sets of connecting parts 2423; the length direction of the first lever 2421 intersects the length direction of the second lever 2422. The first connecting rod 241 and the third connecting rod 251 are internally provided with a plurality of kidney-shaped through grooves 26, so that under the condition that the supporting strength of the first leg 24 or the second leg 25 is met, the dead weight of the first leg 24 or the second leg 25 can be lightened, the acting force for lifting the leg structure is reduced, and the power consumption of the leg structure during leg lifting and leg stretching is further reduced; meanwhile, the second connecting rod 242 includes a first rod 2421, a second rod 2422 and two sets of connecting parts 2423, the connecting parts 2423 are used for being in running fit with the end parts of the first connecting rod 241, and the first rod 2421 and the second rod 4222 are used for transmitting the output moment of the first driving member 211, so that the second connecting rod 242 transmits the acting force to the first connecting rod 241.

In addition, the first supporting frame 23 includes a supporting block 232 and two supporting plates 231, the end portions of the supporting plates 231 are connected with the first driving piece 211 or the second driving piece 212, the two supporting plates 231 are oppositely arranged, the supporting block 232 is positioned between the two supporting plates 231, and two ends of the supporting block 232 are respectively installed on the inner sides of the two supporting plates 231; the support plate 231 comprises a connecting body 234 and two groups of frame bodies 233, the two groups of frame bodies 233 are connected through the connecting body 234, one end, far away from the connecting body 234, of the frame bodies 233 is provided with a mounting hole 236, the mounting hole 236 is used for mounting a first driving piece 211 or a second driving piece 212, a first support rod 2331 and a second support rod 2332 are arranged in the frame bodies 233, the first support rod 2331 is obliquely arranged, the second support rod 2332 is perpendicular to the length direction of the frame bodies 233, a first hollowed-out portion 2334 is formed among the first support rod 2331, the second support rod 2332 and the long edge 2333 of the frame bodies 233, and the first hollowed-out portion 2334 is in a right triangle shape; the connecting body 234 is square, and at least one surface of the connecting body 234 is provided with a second hollowed-out part 2341; at least one surface of the connecting body 234 is provided with a solid portion 2342. Two supporting plates 231 and supporting blocks 232 are adopted, so that the first mechanical leg 21 and the second mechanical leg 22 are respectively arranged at two ends of the two supporting plates 231, the two ends of the supporting plates 231 are used for supporting the first mechanical leg 21 and the second mechanical leg 22, and the walking stability of the first mechanical leg 21 and the second mechanical leg 22 is improved; moreover, the first support rod 2331 and the second support rod 2332 are adopted to ensure the support strength of the support plate 231, the triangular first hollow part 2334 is arranged in the support plate 231, and the triangular second hollow part 2341 is arranged in the connecting body 234, so that the triangular support plate has better stability, the hollow parts are hollow structures, the dead weight of the support plate 231 can be reduced, the load of the first mechanical leg 21 is reduced, and the walking power consumption of the mechanical dog 100 is further saved.

In addition, the second travelling mechanism 3 comprises a third mechanical leg 31, a second supporting frame 33 and a fourth mechanical leg 32, wherein the second supporting frame 33 is arranged on the side wall of the bearing plate 1, the third mechanical leg 31 is arranged at the front end of the second supporting frame 33, and the fourth mechanical leg 32 is arranged at the rear end of the second supporting frame 33; the first mechanical leg 21, the second mechanical leg 22, the third mechanical leg 31 and the fourth mechanical leg 32 are respectively positioned at four corners of the bearing plate 1; the first mechanical leg 21, the second mechanical leg 22, the third mechanical leg 31 and the fourth mechanical leg 32 are respectively arranged on the bearing plate 1, the four groups of mechanical legs cooperatively travel in a matched manner, the travel track of each group of mechanical legs is set in advance, and the mechanical dog 100 can simulate the canine walking according to the rotation speed difference of each group of mechanical legs, so that the flexibility of the mechanical dog 100 is improved.

In addition, the mechanical dog 100 further comprises a first steering mechanism 6 and a second steering mechanism 7, the first steering mechanism 6 and the second steering mechanism 7 are respectively arranged on two sides of the bearing plate 1, the first steering mechanism 6 is in rotating fit with the first supporting frame 23, and the second steering mechanism 7 is in rotating fit with the second supporting frame 33; the first steering mechanism 6 comprises a first double-head steering engine 61, a first rotating shaft 62 and a first connecting block 63, two first adapter plates 235 are arranged on the side wall of the first support frame 23, the first rotating shaft 62 is arranged at the output end of the first double-head steering engine 61, two ends of the first rotating shaft 62 are respectively connected with the two first adapter plates 235, the first connecting block 63 is sleeved on the first rotating shaft 62, and the side wall of the first connecting block 63 is arranged on the side wall of the first support frame 23; the second steering mechanism 7 comprises a second double-head steering engine 71, a second rotating shaft 72 and a second connecting block 73, two second adapter plates 331 are arranged on the side wall of the second support frame 33, the second rotating shaft 72 is arranged at the output end of the second double-head steering engine 71, two ends of the second rotating shaft 72 are respectively connected with the two second adapter plates 331, the second connecting block 73 is sleeved on the second rotating shaft 72, and the side wall of the second connecting block 73 is arranged on the side wall of the second support frame 33; the front end and the rear end of the bearing plate 1 are respectively provided with a connecting plate 11, and the end parts of the connecting plates 11 are sleeved on the first rotating shaft 62 or the second rotating shaft 72.

The first steering mechanism 6 and the second steering mechanism 7 are arranged on two sides of the bearing plate 1, the first steering mechanism 6 is in running fit with the first support frame 23, the second steering mechanism 7 is in running fit with the second support frame 33, the rotation speeds of the first double-head steering engine 61 and the second double-head steering engine 71 are adjusted, and the first support frame 23 and the second support frame 33 are respectively driven to rotate through the first rotating shaft 62 and the second rotating shaft 72, so that the steering of the mechanical dog 100 is realized. In this embodiment, the shapes of the first connecting block 63 and the second connecting block 73 are the same, and a notch for accommodating the first double-headed steering engine 61 is provided in the middle of the first connecting block 63, so that the first rotating shaft 62 is installed behind the output end of the first double-headed steering engine 61 and respectively passes through two ends of the first connecting block 63, the main body of the first connecting block 63 is installed on the side wall of the first supporting frame 23, the bearing weight of the output end of the first double-headed steering engine 61 or the second double-headed steering engine 71 is reduced through the first connecting block 63, the first connecting plate 235 and the connecting plate 11, and the connection strength of the first supporting frame 23 or the second supporting frame 33 and the bearing plate 1 is improved, so that the first travelling mechanism 2 or the second travelling mechanism 3 is more stable in steering.

The steering principle of the mechanical dog 100 is: when the first mechanical leg 21, the second mechanical leg 22, the third mechanical leg 31 and the fourth mechanical leg 32 walk in a coordinated manner, the first steering mechanism 6 rotates the first supporting frame 23 clockwise, the second steering mechanism 7 rotates the second supporting frame 7 anticlockwise, so that the footfall points of the first mechanical leg 21, the second mechanical leg 22, the third mechanical leg 31 and the fourth mechanical leg 32 are changed, the swinging frequency of the first steering mechanism 6 and the second steering mechanism 7 is accelerated, the mechanical legs are moved in small steps, the moving frequency is accelerated, and the footfall points of the mechanical legs are changed continuously because the mechanical legs are continuously moved, so that the steering of the mechanical dog 100 is realized.

In addition, the mechanical dog 100 further comprises a battery module 4, a driving module, a voice module, a camera shooting module 8 and an induction module 5, wherein the battery module 4, the driving module, the voice module, the camera shooting module 8 and the induction module 5 are all installed on the bearing plate 1, the battery module 4 is electrically connected with the driving module, the driving module is electrically connected with the first travelling mechanism 2, the second travelling mechanism 3, the first steering mechanism 6 and the second steering mechanism 7 respectively, the driving module is electrically connected with the voice module, the camera shooting module 8 and the induction module 5 respectively, and the induction range of the induction module 5 covers the periphery of the bearing plate 1. The battery module 4 is installed on the bearing plate 1, so that the mechanical dog 100 walks for a long distance, the sensing module 5 and the camera module 8 are installed on the bearing plate 1, when the mechanical dog 100 encounters an obstacle, the sensing module 5 detects the obstacle, or the camera module 8 transmits images captured by the sensor module to the driving module, the driving module is used for processing electric signals of the sensing module 5 and the camera module 8, thereby judging whether the front is provided with the obstacle or not, and timely feeding back the signals to the voice module, the voice module is used for playing prompt tones and reminding surrounding people, and the driving module is used for preventing the mechanical dog 100 from bumping into the obstacle, and is also used for driving the first steering mechanism 6 and the second steering mechanism 7 to steer, so that the mechanical dog 100 is steered, and the adaptability of the mechanical dog 100 is improved. The mechanical dog 100 may be used as a blind dog to assist the blind in walking.

The above examples are also not an exhaustive list based on the invention, and there may be a number of other embodiments not listed. Any substitutions and modifications made without departing from the spirit of the invention are within the scope of the invention.

Claims

1. A mechanical dog, comprising:

the bearing plate is provided with a plurality of grooves,

a first travel mechanism is provided for the first travel mechanism,

2. The mechanical dog of claim 1, wherein the first mechanical leg further comprises a second drive member, a second leg, the first drive member disposed opposite the output end of the second drive member; the bottoms of the first leg and the second leg are in running fit and form a leg structure;

3. The mechanical dog of claim 2, wherein the first mechanical leg further comprises a rotating member and a bearing, a first shaft hole is formed in an end portion of the first connecting rod, a second shaft hole is formed in an end portion of the third connecting rod, two ends of the rotating member respectively pass through the first shaft hole and the second shaft hole, one end of the rotating member is connected with an end portion of the first connecting rod, and the bearing is installed in the second shaft hole and is sleeved on an outer wall of the other end of the rotating member.

4. The mechanical dog of claim 2, wherein the first travelling mechanism is provided with a connecting sleeve, the connecting sleeve is positioned between the first driving piece and the second driving piece, and two ends of the connecting sleeve are respectively sleeved at the output end of the first driving piece and the output end of the second driving piece and are in running fit with the output end.

5. The mechanical dog according to claim 2, wherein a plurality of kidney-shaped through grooves are formed in each of the first connecting rod and the third connecting rod, and the through grooves are arranged in a length direction of the first connecting rod or the third connecting rod; the second connecting rod comprises a first rod body, a second rod body and two groups of connecting parts, and two ends of the first rod body and the second rod body are respectively connected with the two groups of connecting parts; the length direction of the first rod body is intersected with the length direction of the second rod body.

6. The mechanical dog according to any one of claims 2 to 5, wherein the first support frame includes a support block and two support plates, the ends of the support plates are connected to the first driving member or the second driving member, the two support plates are disposed opposite to each other, the support block is disposed between the two support plates, and both ends of the support block are respectively mounted on the inner sides of the two support plates.

7. The mechanical dog according to claim 6, wherein the support plate comprises a connecting body and two groups of frame bodies, wherein the two groups of frame bodies are connected through the connecting body, and a mounting hole is formed in one end of the frame body away from the connecting body; the frame body is internally provided with a first supporting rod and a second supporting rod, the first supporting rod is obliquely arranged, the second supporting rod is perpendicular to the length direction of the frame body, a first hollowed-out part is formed among the first supporting rod, the second supporting rod and the long side of the frame body, and the first hollowed-out part is in a right triangle shape;

8. The mechanical dog as claimed in any one of claims 1 to 5 wherein the second travelling mechanism comprises a third mechanical leg, a second support frame and a fourth mechanical leg, the second support frame being mounted on a side wall of the bearing plate, the third mechanical leg being mounted at a front end of the second support frame, the fourth mechanical leg being mounted at a rear end of the second support frame; the first mechanical leg, the second mechanical leg, the third mechanical leg and the fourth mechanical leg are respectively located at four corners of the bearing plate.

9. The mechanical dog of claim 8, further comprising a first steering mechanism and a second steering mechanism, the first steering mechanism and the second steering mechanism being mounted on opposite sides of the load bearing plate, the first steering mechanism being in rotational engagement with a first support frame and the second steering mechanism being in rotational engagement with the second support frame;

10. The mechanical dog of claim 9, further comprising a battery module, a drive module, a voice module, a camera module, and an induction module, wherein the battery module, the drive module, the voice module, the camera module, and the induction module are all mounted on the bearing plate, the battery module is electrically connected with the drive module, the drive module is electrically connected with the first traveling mechanism, the second traveling mechanism, the first steering mechanism, and the second steering mechanism, respectively, the drive module is further electrically connected with the voice module, the camera module, and the induction range of the induction module covers the periphery of the bearing plate.