CN207311001U - Robot dog - Google Patents
Robot dog Download PDFInfo
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- CN207311001U CN207311001U CN201720741479.3U CN201720741479U CN207311001U CN 207311001 U CN207311001 U CN 207311001U CN 201720741479 U CN201720741479 U CN 201720741479U CN 207311001 U CN207311001 U CN 207311001U
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- rotation axis
- propeller
- robot dog
- rotating shaft
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Abstract
The utility model is related to a kind of robot dog includes：Fuselage ring；Limbs, are connected to the fuselage ring；Screw mechanism, is arranged at the robot dog, which includes rotation axis and propeller, and the propeller is connected to the rotation axis, and the propeller can surround the rotation axis and rotate, and can be longitudinal folding close to each other by unfolded state；Elevating mechanism, drives the screw mechanism elevating movement.Robot dog provided by the utility model can fly, and not affect the appearance.
Description
Technical field
Robotic technology field is the utility model is related to, more particularly to a kind of robot dog that can be flown.
Background technology
Dog has extremely strong locomitivity and interaction capabilities, using dog as prototype, develops small portable and adaptable imitative
Development of the raw robot dog not only to robotics is of great significance, as smart home it is a kind of also have wide application and
Development prospect.
But at present everybody to robot dog research and development focus be usually interactive capability, possess a set of growth system with
And flexibility etc..With the development of science and technology, in production process of living, the use scope of robot dog is more and more wider
It is general.Bionic machine dog mainly or using limbs carries out ground moving, and which has limited its utilization rate, is better than without embodying completely
The advantage of dog living.Such as translational speed etc. is restricted and can not meet that modern's is allegro when needing to pass thing to owner
Life.
Utility model content
The utility model embodiment provides a kind of robot dog, can fly and then improve translational speed, in ground running
Nor affect on its appearance.
On the one hand, proposing a kind of robot dog according to the utility model embodiment includes：Fuselage ring；Limbs, are connected to
The fuselage ring；Screw mechanism, is arranged at the robot dog, which includes rotation axis and propeller, described spiral
Paddle is connected to the rotation axis, and the propeller can surround the rotation axis and rotate, and can be longitudinal folding by unfolded state
It is close to each other；Elevating mechanism, drives the screw mechanism elevating movement.
According to the one side of the utility model embodiment, propeller be connected to number in each rotation axis for two or
Multiple, the major axis of two or more propellers is respectively positioned on one first plane in the deployed state, the central axis of rotation axis in
First plane, the major axis of each propeller intersects with the center line of rotation axis defines second plane, and each propeller is
Two plane internal rotations fold the center line for being close to rotation axis.
According to the one side of the utility model embodiment, screw mechanism further comprises contiguous block and two or more times
The mode of the central axis of shaft, rotating shaft and rotation axis is connected to contiguous block, and propeller is connected to rotating shaft, can be by putting down
State of the row in revolution Spindle Status around rotating shaft as the center line parallel to rotation axis.
According to the one side of the utility model embodiment, the receiving that rotation axis includes being formed along the center line of rotation axis is empty
Between, one end of elevating mechanism is connected to the bottom that the propeller other end is connected to accommodation space.
According to the one side of the utility model embodiment, rotation axis includes：Interior shaft, extends along the center line of rotation axis
Set；Two or more rotating shafts, the central shaft of rotating shaft are set with interior shaft space intersection, and rotating shaft can surround rotating shaft
Central shaft rotation, around interior shaft revolve round the sun, propeller with revolution axis connection.
According to the one side of the utility model embodiment, the central shaft of each rotating shaft is vertical with interior shaft.
According to the one side of the utility model embodiment, rotation axis further comprises being arranged and is rotationally connected with interior shaft
Outer shaft, outer shaft includes the first surface and second surface that are oppositely arranged, and two or more rotating shafts are arranged at intervals at the
One surface.
According to the one side of the utility model embodiment, rotation axis further comprises being arranged and is rotationally connected with interior shaft
Outer shaft and two or more lugs, outer shaft include the outer surface away from interior shaft, rotating shaft is arranged at intervals at outer
Side surface, lug are correspondingly arranged with rotating shaft, and are connected by rotating shaft and outer shaft revolution, and propeller is arranged at lug and leads to
Cross lug and revolution axis connection.
According to the one side of the utility model embodiment, fuselage ring includes belly and the back surfaces backwards to belly,
Leg top end surface is concordant with back surfaces or higher than back surfaces, and limbs include foot and the leg being connected with foot, leg
Remote foot top end mask opening and by opening along the hollow appearance that is formed of leg centerline depression through top end surface
Receive portion, leg top end surface is concordant with back surfaces or higher than back surfaces, and screw mechanism is arranged at the hollow appearance of limbs
Receive portion.
According to the one side of the utility model embodiment, robot dog further comprises head and tail, the screw mechanism
It can recycle to accommodate and be correspondingly arranged the mode of component internal and be arranged at the fuselage ring, the top of the head and/or the tail
Bar top.
Compared with prior art, it is mounted with screw mechanism in the limbs for the robot dog that the utility model embodiment provides, with
Robot dog is flown and improve translational speed, and then adapt to more applications, and when robot dog is landed and walked, screw machine
Structure can be concealed in inside limbs under elevating mechanism drive, to realize with common robot dog indifference, and then on land
Its appearance is nor affected on during walking.
Brief description of the drawings
The feature of the utility model exemplary embodiment, advantage and technique effect described below with reference to the accompanying drawings.
Fig. 1 is a kind of dimensional structure diagram of the first state of the robot dog of embodiment of the utility model.
Fig. 2 is the local I enlarged diagram of robot dog shown in Fig. 1.
Fig. 3 is the close-up schematic view of second of state of robot dog shown in Fig. 1.
Fig. 4 is the structure diagram of the first screw mechanism of the robot dog of the utility model another kind embodiment.
Fig. 5 is the structure diagram of the first screw mechanism of the robot dog of the utility model another embodiment.
Embodiment
The embodiment of the utility model is described in further detail with reference to the accompanying drawings and examples.Following embodiments
The detailed description and the accompanying drawings be used to exemplarily illustrate the principle of the utility model, but cannot be used for limiting the model of the utility model
Enclose, i.e., the utility model is not limited to described embodiment.
In the description of the utility model, it is necessary to explanation, unless otherwise indicated, " some " be meant that one or
More than one；" multiple " are meant that two or more；Term " on ", " under ", "left", "right", " interior ", " outer ", " preceding
End ", " rear end ", " head ", the orientation of the instruction such as " afterbody " or position relationship be based on orientation shown in the drawings or position relationship,
It is for only for ease of description the utility model and simplifies and describe, rather than indicates or imply that signified device or element must have
Specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.In addition, term
" first ", " second ", " the 3rd " etc. are only used for description purpose, and it is not intended that instruction or hint relative importance.
In the description of the utility model, it is also necessary to explanation, unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary.
For the ordinary skill in the art, the above-mentioned term of visual concrete condition understanding specifically containing in the utility model
Justice.
Please refer to Fig.1 and Fig. 2, a kind of robot dog of the utility model one embodiment offer include fuselage ring 10, limbs
20th, the first screw mechanism 21 and elevating mechanism 60, limbs 20 are connected to fuselage ring 10, the first screw mechanism 21 and elevating mechanism
60 are connected to limbs 20.Limbs 20 include foot 24 and the leg being connected with foot 24, the top end of the remote foot 24 of leg
The tool opening of face 221 and the hollow receiver portion formed by opening along the leg centerline depression through top end surface 221.First is spiral
Mechanism 21 is arranged at the hollow receiver portion of limbs 20, and the first screw mechanism 21 includes the first rotation axis 217 and the first propeller
211, the first propeller 211 is connected to the first rotation axis 217, and the first propeller 211 can be rotated around the first rotation axis 217,
And can be longitudinal folding close to each other by unfolded state.Elevating mechanism 60 is connected to leg, and the drive first of elevating mechanism 60 is spiral
Mechanism 21 moves back and forth in hollow receiver portion.
The first screw mechanism 21 is mounted with the limbs 20 for the robot dog that the utility model embodiment provides, so that machine
Dog, which can fly, improves translational speed, and then adapts to more applications, and when robot dog is landed and walked, the first screw mechanism
21 can be concealed in inside limbs 20 under the drive of elevating mechanism 60, to realize with common robot dog indifference, and then in land
Its appearance is nor affected on when walking on the ground.
It is understood that the first screw mechanism 21 be installed on limbs 20 mode may be mounted on fuselage ring 10 or
Any position that be able to can be installed in the way of installed in limbs 20 of person's robot dog, is not limited to only be installed on limbs
20。
The present embodiment middle fuselage frame 10 includes belly 12, the back surfaces 11 formed backwards to belly 12, is connected to belly
Two opposite side 13, leading flank and trailing flanks between 12 and back surfaces 11, back surfaces 11 and spatial axes X-axis and Y
The horizontal plane that axis defines is parallel.It is understood that the three-dimensional surface that back surfaces 11 or emulation dog are set, at this time backbone position
Reduction higher and that height is from from backbone to the direction entirety of limbs 20 is put to set.
Limbs 20 are connected to fuselage ring 10 and set, and the number of limbs 20 is four in the present embodiment.Four limbs 20 are equal
Including thigh 22, shank 23 and foot 24, four limbs 20 are connected to 10 two opposite sides of fuselage ring by thigh 22
Face 13.Between thigh 22 and shank 23, articulated connection is used between shank 23 and foot 24.The remote shank 23 of thigh 22
The tool of top end surface 221 opening and the hollow receiver portion formed that is recessed by 222 direction of center line of opening along thigh 22.It can manage
Solution, shank 23 can surround the articulated shaft rotation set between thigh 22 and shank 23 and be close to thigh 22, to realize shank
23 folding storages are at 22 lateral wall of thigh.
In the present embodiment, the first rotation axis 217 is arranged at the hollow receiver portion of thigh 22, is quickly revolved relative to thigh 22
Turn, to be connected to 211 rotating levitation of the first propeller of the first rotation axis 217.First rotation axis 217 includes rotating along first
The first receiving space that the center line 222 of axis is formed.In the present embodiment, the first screw mechanism 21 further comprises contiguous block
215 and two rotating shafts 213, the mode of the central axis of each 213 and first rotation axis 217 of rotating shaft be connected to contiguous block
215, contiguous block 215 is arranged in first receiving space, and the first propeller 211 includes connecting portion and the rotation being connected with the connecting portion
Leaf, the first propeller 211 are connected to rotating shaft 213 by connecting portion, and one end of the remote vane of connecting portion and vane are located at position
In the opposite sides of rotating shaft, one end of the remote vane of connecting portion is linked with elevating mechanism 60.Therefore one end of elevating mechanism 60
One end of the remote vane of 211 connecting portion of the first propeller is connected to, the other end is connected to the bottom of first receiving space.Machine
Under state of flight, contiguous block 215 is arranged in first receiving space at the top end surface 221 of thigh 22 dog, is risen at the same time
One end that descending mechanism 60 withstands the remote vane of connecting portion causes the first propeller 211 to be located in horizontal plane, the first rotation axis 217
The first propeller 211 is driven to rotate when quickly being rotated relative to thigh 22.When robot dog is in land walking states, lifting
Mechanism 60 pulls one end of the remote vane of connecting portion that the first propeller 211 is erect perpendicular to the longitudinal direction of horizontal plane, at this time
By controlling the clamping part of contiguous block 215 to retract so that the first propeller 211 and contiguous block 215 fall to the first receiving
The bottom in space, to realize the storage of the first propeller 211, as described in Figure 3, the first propeller 211 can be concealed in greatly substantially
Inside leg 22, to realize with common robot dog indifference, and then while walking on land, nor affects on the appearance of robot dog.
It is understood that the number for the first propeller 211 being connected with each first rotation axis 217 can also be more
A, the major axis of multiple first propellers 211 is respectively positioned in the horizontal plane that solid axes X and Y are defined under state of flight.This
When, the number of rotating shaft 213 is corresponding with the number of the first propeller 211.The setting of multiple first propellers 211, folding machine are received
It is identical to receive the setting with the first propeller of above-mentioned two 211 such as mode, folding machine storage mode.
It is understood that 22 top end surface 221 of thigh is concordant with back surfaces 11 or higher than back surfaces 11.It is and then anti-
Only the first propeller 211 rotate when receptor site set it is improper and caused by interference.
It is understood that robot dog further comprises first 30, neck 40 and tail 50, first 30 are connected by neck 40
In the leading flank of fuselage ring 10, tail 50 is connected to the trailing flank of fuselage ring 10.In some alternative embodiments, robot dog into
One step include the second screw mechanism be arranged at first 30 top and tail 50 close to the end of the back surfaces 11, the second spiral shell
Rotation mechanism is able to recycling and is contained in first 30 and tail 50, and the second screw mechanism is spiral including the second rotation axis and second
Paddle, the second propeller are connected to the second rotation axis, and the second propeller can surround the second rotation axis and rotate, and can be by expansion shape
State is longitudinal folding close to each other.The setting of second screw mechanism, folding machine storage mode etc. can be with above-mentioned first propellers 211
Setting, folding machine storage mode it is identical.
Also referring to Fig. 1 and Fig. 4, another embodiment of the utility model provides a kind of robot dog, the machine of the present embodiment
The structure for the robot dog that the structure of device dog is provided with above-mentioned fact Example is essentially identical, and difference is, the first screw mechanism 21
The first rotation axis 217 include the interior shaft 2172, outer shaft 2171 and the two or more rotating shafts 213 that are mutually arranged, it is interior
Shaft 2172 is extended on the hollow receiver portion of thigh 22 along center line 222, and outer shaft 2171 includes first be oppositely arranged
Surface 2173 and second surface 2175, rotating shaft 213 are arranged at intervals at first surface 2173, and the central shaft of rotating shaft 213 with
Interior 2172 space intersection of shaft is set, and is preferably vertically arranged, and rotating shaft 213 can surround the central shaft of rotating shaft 213 certainly
Turn, revolve round the sun around interior shaft 2172.First propeller 211 is connected with rotating shaft 213, and is rotated around rotating shaft 213, Neng Goucong
Horizontality is folded to longitudinal direction.Outer shaft 2171 can rotate at a high speed around interior shaft 2172, and opposite by elevating mechanism 60
Moved back and forth in interior shaft 2172 in the hollow receiver portion of thigh 22.Robot dog outer shaft 2171 under state of flight passes through liter
Descending mechanism 60 is pushed up to the top end surface 221 of thigh 22, while the first propeller 211 is located in horizontal plane, and outer shaft 2171 encloses
The first propeller 211 is driven to rotate when being rotated at a high speed around interior shaft 2172.
Also referring to Fig. 1 and Fig. 5, another embodiment of the utility model provides a kind of robot dog, the machine of the present embodiment
The structure for the robot dog that the structure of device dog is provided with above-mentioned fact Example is essentially identical, and difference is, the first screw mechanism 21
The first rotation axis 217 include mutually be arranged interior shaft 2172, outer shaft 2171, two or more rotating shafts 213 and two
A or multiple lugs 215.First rotation axis 217 is extended on the hollow receiver portion of thigh 22 along center line 222, and passes through liter
Descending mechanism 60 moves back and forth in the hollow receiver portion of thigh 22.Outer shaft 2171 includes the outside table away from interior shaft 2172
Face, rotating shaft 213 is arranged at intervals at the outer surface of outer shaft 2171, and the central shaft of rotating shaft 213 and interior shaft 2172 are empty
Between intersect set, be preferably vertically arranged, rotating shaft 213 can surround rotating shaft 213 central shaft rotation, around interior shaft
2172 revolution.Each lug 215 is connected with each rotating shaft 213 and is rotated around rotating shaft 213, the first propeller 211 and
Lug 215 connects, and then the first propeller 211 can be folded to longitudinal direction from horizontality.Outer shaft 2171 can surround interior turn
Axis 2172 rotates at a high speed.Robot dog first rotation axis 217 under state of flight is pushed up to the top of thigh 22 by elevating mechanism 60
At end face 221, while the first propeller 211 is located in horizontal plane, outer shaft 2171 around interior shaft 2172 rotate at a high speed when band
Dynamic first propeller 211 rotates.
Although the present utility model has been described by reference to the preferred embodiments, but the model of the utility model is not being departed from
In the case of enclosing, various improvement can be carried out to it and component therein can be replaced with equivalent.Especially, as long as not depositing
In structural conflict, items technical characteristic mentioned in the various embodiments can be combined in any way.The utility model
It is not limited to specific embodiment disclosed herein, but all technical solutions including falling within the scope of the appended claims.
Claims (10)
- A kind of 1. robot dog, it is characterised in that including：Fuselage ring；Limbs, are connected to the fuselage ring；Screw mechanism, is arranged at the robot dog, which includes rotation axis and propeller, and the propeller is connected to institute Rotation axis is stated, the propeller can surround the rotation axis and rotate, and can be longitudinal folding close to each other by unfolded state；Elevating mechanism, drives the screw mechanism elevating movement.
- 2. robot dog according to claim 1, it is characterised in that the propeller is connected to the number in each rotation axis To be two or more, the major axis of two or more propellers is respectively positioned on one first plane, the rotation in the deployed state In first plane, the major axis of each propeller intersects with the center line of the rotation axis to be defined the central axis of axis One the second plane, each propeller fold the center line for being close to the rotation axis in second plane internal rotation.
- 3. robot dog according to claim 2, it is characterised in that the screw mechanism further comprises contiguous block and two Or multiple rotating shafts, the mode of the rotating shaft and the central axis of the rotation axis are connected to the contiguous block, the spiral shell Rotation paddle is connected to the rotating shaft, can be by becoming parallel to the revolution Spindle Status around the rotating shaft parallel to described turn The state of the center line of moving axis.
- 4. robot dog according to claim 3, it is characterised in that the rotation axis includes the center line along the rotation axis The accommodation space of formation, one end of the elevating mechanism are connected to the bottom that the propeller other end is connected to the accommodation space Portion.
- 5. robot dog according to claim 2, it is characterised in that the rotation axis includes：Interior shaft, is extended along the center line of the rotation axis；Two or more rotating shafts, the central shaft of the rotating shaft are set with the interior shaft space intersection, the rotating shaft energy Enough surround the central shaft rotation of the rotating shaft, revolve round the sun around the interior shaft, the propeller and the revolution axis connection.
- 6. robot dog according to claim 5, it is characterised in that the central shaft of each rotating shaft hangs down with the interior shaft Directly.
- 7. the robot dog according to claim 5 or 6, it is characterised in that the rotation axis further comprises being arranged and rotates It is connected to the outer shaft of the interior shaft, the outer shaft includes the first surface and second surface being oppositely arranged, two or more A rotating shaft is arranged at intervals at the first surface.
- 8. the robot dog according to claim 5 or 6, it is characterised in that the rotation axis further comprises being arranged and rotates The outer shaft of the interior shaft and two or more lugs are connected to, the outer shaft includes the outside away from the interior shaft Surface, the rotating shaft are arranged at intervals at outer surface, and the lug is correspondingly arranged with the rotating shaft, and passes through the revolution Axis is connected with outer shaft revolution, and the propeller is arranged at the lug and is connected by the lug and the rotating shaft Connect.
- 9. robot dog according to claim 1, it is characterised in that the fuselage ring includes belly and backwards to the belly Back surfaces, the limbs include foot and the leg that is connected with the foot, the top of the remote foot of the leg End surface tool opening and the hollow receiver formed by the opening along the leg centerline depression through the top end surface Portion, top end surface described in the leg is concordant with the back surfaces or is set higher than the back surfaces, the screw mechanism In the hollow receiver portion of the limbs.
- 10. robot dog according to claim 1, it is characterised in that further comprise head and tail, the screw mechanism energy The mode that enough recycling receivings are correspondingly arranged component internal is arranged at the fuselage ring, the top of the head and/or the tail Top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720741479.3U CN207311001U (en) | 2017-06-23 | 2017-06-23 | Robot dog |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720741479.3U CN207311001U (en) | 2017-06-23 | 2017-06-23 | Robot dog |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207311001U true CN207311001U (en) | 2018-05-04 |
Family
ID=62436359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720741479.3U Active CN207311001U (en) | 2017-06-23 | 2017-06-23 | Robot dog |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207311001U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108944303A (en) * | 2018-06-05 | 2018-12-07 | 吉林大学 | A kind of beetle type three is dwelt bionical mobile robot |
| WO2020187306A1 (en) * | 2019-03-19 | 2020-09-24 | 冯春魁 | Movable machine, control method, storage medium and control device |
-
2017
- 2017-06-23 CN CN201720741479.3U patent/CN207311001U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108944303A (en) * | 2018-06-05 | 2018-12-07 | 吉林大学 | A kind of beetle type three is dwelt bionical mobile robot |
| CN108944303B (en) * | 2018-06-05 | 2022-01-25 | 吉林大学 | Beetle type triphibian bionic mobile robot |
| WO2020187306A1 (en) * | 2019-03-19 | 2020-09-24 | 冯春魁 | Movable machine, control method, storage medium and control device |
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