WO2022016877A1 - 一种设有重心调节机制的四足机器犬 - Google Patents

一种设有重心调节机制的四足机器犬 Download PDF

Info

Publication number
WO2022016877A1
WO2022016877A1 PCT/CN2021/079431 CN2021079431W WO2022016877A1 WO 2022016877 A1 WO2022016877 A1 WO 2022016877A1 CN 2021079431 W CN2021079431 W CN 2021079431W WO 2022016877 A1 WO2022016877 A1 WO 2022016877A1
Authority
WO
WIPO (PCT)
Prior art keywords
shoulder
leg
center
assembly
piece
Prior art date
Application number
PCT/CN2021/079431
Other languages
English (en)
French (fr)
Inventor
李荣仲
Original Assignee
李荣仲
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 李荣仲 filed Critical 李荣仲
Publication of WO2022016877A1 publication Critical patent/WO2022016877A1/zh
Priority to US18/055,418 priority Critical patent/US20230072465A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Definitions

  • the invention relates to the technical field of foot-type sports machinery, in particular to a quadruped robot dog provided with a center of gravity adjustment mechanism.
  • Foot-type sports machinery can use discontinuous ground contact points to provide support and propulsion. Compared with wheeled machinery or crawler-type machinery, it has better terrain adaptability, and has a unique sense of life and ornamental.
  • Quadruped robots are suitable for complex terrain cruising, scientific research and teaching, performance entertainment or bionic pets.
  • the center of gravity is not adjustable, easy to dump.
  • the main technical problem to be solved by the present invention is to provide a quadruped robot dog with a center of gravity adjustment mechanism, which can adjust the center of gravity by sliding the sliding bars in the battery box on the elastic slide rails in the chassis so that the user can adjust the center of gravity. Its center of gravity can be easily adjusted to make it difficult to tip over.
  • a technical solution adopted in the present invention is to provide a quadruped robot dog with a center of gravity adjustment mechanism, which includes a base, a head assembly, a shoulder assembly and a leg assembly;
  • the base assembly is connected to the base, the head assembly is connected to the top of the shoulder assembly, and the leg assembly is connected to the side of the shoulder assembly;
  • the base includes a chassis and a battery compartment , the chassis is provided with an elastic slide rail, the elastic slide rail is provided with two cap holes, the battery box is provided with a sliding bar, both ends of the sliding bar are provided with round caps, the battery The box can be snapped into the cap hole through the round cap and can slide in the elastic slide rail through the sliding bar.
  • the shoulder assembly includes two shoulder plates and two side shoulders, the two shoulder plates are respectively located at the front and rear ends of the base, and the two side shoulders are respectively located at the Both sides of the base; both sides of the chassis are provided with first latches, both sides of the shoulder plate are provided with second latches, and the side shoulders are provided with inserts for the insertion of the first latches a slot and a socket for insertion of the second pin.
  • the chassis is provided with mounting posts for fixing the circuit board;
  • the base further includes an upper cover, and the upper cover can be connected by two raised snap rings on the side shoulders on the shoulder assembly and covering the circuit board.
  • the head assembly includes a connected head and a neck, the bottom of the neck is provided with three short tenons, and the front end of the chassis is provided with three sockets for the insertion of the short tenons hole.
  • the bottom of the neck is also provided with a buckle
  • the front end of the chassis is also provided with an inner hole for the buckle to be inserted.
  • the rear end of the neck is provided with a long tenon
  • the shoulder plate at the front end of the chassis is provided with a long groove, and the long tenon can be inserted into the long groove;
  • the top of the neck is connected with the head through the rocker arm of the head servo.
  • the leg assembly includes an axially connected thigh and a calf
  • the thigh includes two leg half-pieces
  • the two leg half-pieces are inserted in opposite directions to form the thigh
  • the leg half-pieces The front end is provided with a front insert
  • the inner side of the leg half is provided with a first convex insert
  • the rear end of the leg half is provided with an empty slot
  • the middle of the leg half is provided with a front insert for the front insert.
  • the slot and the second protruding post are used for corresponding to the first protruding post, the first protruding post and the second protruding post form a cylinder, and the spring is sleeved on the cylinder.
  • the hollow slot at the front end of the thigh is connected to the shoulder plate through the rocker arm of the shoulder steering gear; the hollow slot at the rear end of the thigh is connected to the shoulder plate through the knee steering gear
  • the rocker arm is connected with the calf.
  • the end of the lower leg is provided with anti-slip teeth.
  • the head includes an upper piece and a lower piece, the upper piece is hinged with the lower piece through the head rotating shaft, the front end of the upper piece is provided with canine teeth, and the front end of the lower piece is provided with canine teeth.
  • Set with canine tongue The rear edge of the upper piece is in contact with the lower piece, and when the upper piece rotates around the rotation axis of the head, the contact point will move along a circle.
  • the beneficial effects of the present invention are: compared with the prior art, the present invention adjusts the center of gravity by sliding the sliding bars in the battery box on the elastic slide rails in the chassis, and the user can easily adjust the center of gravity when using it. , so that it is not easy to fall; the leg joints have elastic buffering mechanism to protect the steering gear; the operation is convenient, and they are connected by tenon and mortise or buckle, which is convenient for production, assembly and maintenance.
  • Fig. 1 is the structural representation of the present invention
  • Fig. 2 is the connection explosion schematic diagram of the chassis and shoulder assembly of the present invention
  • Fig. 3 is the connection schematic diagram of the chassis and shoulder assembly of the present invention.
  • Fig. 4 is the structural representation of the chassis of the present invention.
  • Fig. 5 is the front view of Fig. 4;
  • FIG. 6 is a schematic structural diagram of the battery case of the present invention.
  • Fig. 7 is the front view of Fig. 6;
  • Fig. 8 is the side view of Fig. 6;
  • FIG. 9 is a schematic diagram of an exploded connection of the chassis and the battery box of the present invention.
  • FIG. 10 is a schematic diagram of the connection between the chassis of the present invention and the battery box;
  • Fig. 11 is the structural representation of the thigh of the present invention.
  • Fig. 12 is the front view of Fig. 11;
  • Fig. 13 is the top view of Fig. 11;
  • Fig. 14 is the front view of the leg half piece of the present invention.
  • Fig. 15 is the top view of Fig. 14;
  • Fig. 16 is the connection schematic diagram of the leg half piece of the present invention and the rocker arm of the shoulder steering gear;
  • Figure 17 is a schematic diagram of the neck of the present invention.
  • Fig. 18 is the front view of Fig. 17;
  • Fig. 19 is the connection explosion schematic diagram of the neck and the chassis of the present invention.
  • Figure 20 is a schematic diagram of the connection of the neck, the chassis and the shoulder assembly of the present invention.
  • Figure 21 is a side view of Figure 20;
  • Figure 22 is a schematic diagram of the head assembly of the present invention.
  • Fig. 23 is the first structural schematic diagram of the head of the present invention.
  • Fig. 24 is the second structural schematic diagram of the head of the present invention.
  • FIG. 25 is a schematic diagram of Embodiment 1 of the calibration mechanism of the present invention.
  • Figure 26 is a schematic diagram one of a ruler
  • Figure 27 is a schematic diagram two of the ruler
  • Fig. 29 is the schematic diagram that the round bar of the present invention is inserted into the toe hole
  • FIG. 31 is a schematic diagram 3 of Embodiment 2 of the calibration mechanism of the present invention.
  • the present invention provides a quadruped robot dog with a center of gravity adjustment mechanism, comprising a base 1, a head assembly 2, a shoulder
  • the shoulder assembly 3 is connected to the base 1
  • the head assembly 2 is connected to the top of the shoulder assembly 3
  • the leg assembly 4 is connected to the side of the shoulder assembly 3.
  • the base 1 includes a chassis 11 and a battery box 12 .
  • the chassis 11 is provided with an elastic slide rail 111
  • the elastic slide rail 111 is provided with two cap holes 112
  • the battery box 12 is provided with sliding rails 112 .
  • Bar 121, both ends of the sliding bar 121 are provided with round caps 122, the battery box 12 can be snapped into the cap hole 112 through the round cap 122, and can slide in the elastic slide rail 111 through the sliding bar 121;
  • the base 1 also It includes an upper cover 13, and the chassis 11 is provided with mounting posts 14 for fixing the circuit board; the base 1 also includes an upper cover 13, and the upper cover 13 can be connected to the shoulder plate 31 through the raised snap rings on the two side shoulders 32.
  • the tail 5 is connected to the rear end of the upper cover 13 .
  • the weight of the battery box 12 accounts for one-third of the robot's own weight, so the center of gravity of the robot can be adjusted by changing its position.
  • the center of gravity of the robot will be offset.
  • the balance of the preset action is affected by shifting, and the change of the center of gravity can be compensated by changing the position of the battery box 12.
  • the adjustment mechanism is provided by the elastic sliding rail 111 on the chassis 11 and the sliding bar 121 on the top plate of the battery box 12.
  • the sliding bar 121 is set on the There are two round caps 122, and there is a row of cap holes 112 on the elastic slide rail 111 that are slightly larger than the diameter of the column of the round cap 122.
  • the number and spacing of the cap holes 112 are determined by the size of the fuselage and the accuracy of the center of gravity adjustment.
  • 122 can just be stuck in the cap hole 112, or can be stretched by the elasticity of the elastic slide rail 111 and slide back and forth in the elastic slide rail 111; the diameter of the round cap 122 is slightly larger than that of the cap hole 112, and the battery box 12 can be suspended in the elastic slide rail 111.
  • the diameter of the cap hole 112 at the end of the elastic slide rail 111 is slightly larger than that of the round cap 122, and the battery box 12 enters the elastic slide rail 111 from there. position and adjust the balance parameters; during use, if the user adds weight to the front and rear sides of the fuselage, the battery box 12 can be slid in the opposite direction to offset the change in the position of the center of gravity.
  • the shoulder assembly 3 includes two shoulder plates 31 and two side shoulders 32 , the two shoulder plates 31 are located at the front and rear ends of the base 1 respectively, and the two side shoulders 32 are respectively located on both sides of the base 1; both sides of the chassis 11 are provided with first latches 113, both sides of the shoulder plate 31 are provided with second latches 311, and the side shoulders 31 are provided with inserts for the first latches 113 to be inserted.
  • the slot 321 and the socket 322 for inserting the second plug 311; specifically, the robot torso is formed by the chassis 11, the shoulder plate 31, and the side shoulder 32, and the four first plugs 113 of the chassis 11 are inserted into the side
  • the slot 321 of the shoulder 32 locks the distance between the side shoulders on both sides
  • the front and rear shoulder plates 31 support the upper and lower ends of the side shoulder 32 to prevent rolling and shaking
  • the second pin 311 of the shoulder plate 31 buckles the socket 322 of the side shoulder 32 , to prevent the side shoulders 32 from being warped back and forth.
  • the head assembly 2 includes a head 21 and a neck 22 that are connected together.
  • the bottom of the neck 22 is provided with three short tenons 221
  • the front end of the chassis 11 is provided with three short tenons 221 .
  • the shoulder plate 31 of the front end of the chassis 11 is provided with a long groove 312, and the long tenon 223 can be inserted into the long groove 312;
  • the top of the neck 22 is connected with the head 21 through the rocker arm 61 of the head steering gear 6; specifically speaking of, there are three short tenons 221 on the bottom surface of the neck 22, which can be inserted obliquely into the three 90 holes 114 of the round hole at the end of the chassis 11, and there is another buckle 222 on the bottom surface of the neck 22, which can be stuck on the inner edge of the inner hole 115, the neck 22
  • There is another long tenon 223 on the back which can be stuck in the groove 22 on the inner side of the shoulder plate 31.
  • the head 21 includes an upper piece 211 and a lower piece 212, the upper piece 211 is hinged with the lower piece 212 through the head rotating shaft 213, and the front end of the upper piece 211 is provided with canine teeth 214,
  • the front end of the lower piece 212 is provided with a dog tongue 215; specifically, the head is composed of the upper piece 211 and the lower piece 212 connected by the head shaft 213.
  • the back of the head of the upper piece 211 contacts and squeezes the rear shrapnel of the lower piece 212. After pressing the rear shrapnel, the rear shrapnel deforms and produces elastic force to restore the closure of the mouth.
  • the contact point there is a contact point between the rear edge of the upper piece 211 of the head and the lower piece 212 .
  • the contact point will move along a circle and contact the surface of the rear elastic piece at the rear of the lower piece 212 .
  • the distance is getting smaller and smaller, thereby pushing the rear shrapnel.
  • the rear shrapnel generates a restoring force, and the mouth generates a bite force through the principle of leverage.
  • the canine teeth 214 and tongue 215 at the front of the mouth can hold and stabilize additional accessories, such as decorative props, extended sensor modules, and the like.
  • the leg assembly 4 includes a thigh 41 and a lower leg 42 that are axially connected, the thigh 41 includes two leg half pieces 411 , and the two leg half pieces 411 are inserted in opposite directions to form the thigh 41 ,
  • the front end of the leg half piece 411 is provided with a front insert piece 412
  • the inner side of the leg half piece 411 is provided with a first convex insert 413
  • the rear end of the leg half piece 411 is provided with an empty slot 414
  • the middle of the leg half piece 411 is provided with a front insert piece 412.
  • the inserted front slot 415 and the second protruding post 416 corresponding to the first protruding post 413, the first protruding post 413 and the second protruding post 416 form a cylinder, and the spring 417 is sleeved on the cylinder;
  • the empty slot 414 at the front end of the thigh 41 is connected to the shoulder plate 31 through the rocker arm 71 of the shoulder steering gear 7;
  • the empty slot 414 at the rear end of the thigh 41 is connected to the lower leg 42 through the rocker arm 81 of the knee steering gear 8,
  • the end of 42 is provided with anti-skid teeth 421 .
  • the leg assembly 4 needs to be calibrated to a specific position to accurately perform the target action.
  • the present invention provides the first embodiment of the calibration mechanism.
  • the present invention uses a special scale to calibrate the leg assembly. 4.
  • Perform calibration The calibration zero position is defined as the thigh 41 is perpendicular to the chassis 11, and the calf 42 is perpendicular to the thigh 41. Under the condition that the chassis is horizontal, that is, the thigh joint axis 9 connecting the thigh 41 and the side shoulder 32 is connected with the thigh 41 and the calf 42.
  • connection line of the calf joint shaft 91 is perpendicular to the connection line between the calf joint shaft 91 and the toe hole 92, and the connection line between the toe round hole 92 and the calf joint shaft 91 is horizontal;
  • the ruler 10 is a right-angled L shape, on the vertical side
  • the present invention provides the second embodiment of the calibration mechanism.
  • Reference marks are respectively introduced into the robot body, so that joint calibration can be performed without using special tools;
  • the round hole 92, the installation screw 195 of the knee servo, the installation screw 296 of the knee servo, and the installation screw 97 of the knee servo are collinear, and will be in the same line with the empty slot 414 of the thigh 41 at the zero position.
  • the round bar 98 can be inserted into the toe hole 92 to observe from the front of the robot. It is only necessary to ensure that the round bar 77, the mounting screw 95 of the knee servo, and the empty slot 414 are collinear to ensure that the knee joint reaches the calibration zero position.
  • the above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Abstract

一种设有重心调节机制的四足机器犬，包括基座（1）、头部组件（2）、肩部组件（3）和腿部组件（4）；肩部组件（3）连接在基座（1）上，头部组件（2）连接在肩部组件（3）的顶部，腿部组件（4）连接在肩部组件（3）的侧边；基座（1）包括底盘（11）和电池盒（12），底盘（11）上设置有弹性滑轨（111），弹性滑轨（111）上设置有两个帽孔（112），电池盒（12）上设置有滑动条（121），滑动条（121）的两端均设置有圆帽（122），电池盒（12）可通过圆帽（122）卡入帽孔（112）内且可通过滑动条（121）在弹性滑轨（111）内滑动；通过电池盒（12）内滑动条（121）在底盘（11）内的弹性滑轨（111）上滑动，从而来进行重心调节，用户在使用时，随便调节其重心，使之不易倾倒；腿部关节具有弹性缓冲机制，保护舵机；操作方便，而且均通过榫卯或卡扣连接，便于生产、组装和维护。

Description

一种设有重心调节机制的四足机器犬 技术领域
本发明涉及足式运动机械技术领域，特别涉及一种设有重心调节机制的四足机器犬。
背景技术
足式运动机械可以利用不连续的地面接触点提供支撑和推进，相比于轮式机械或履带式机械有更好的地形适应性，且别具生命感和观赏性。
四足机器人适用于复杂地形巡航、科研教学、表演娱乐或仿生宠物，但由于其多自由度关节的硬件结构和控制算法的复杂性，四足机器人往往十分笨重和昂贵，而且不方便后续的改进，重心不可调，易倾倒。
发明内容
本发明主要解决的技术问题是提供一种设有重心调节机制的四足机器犬，其通过电池盒内滑动条在底盘内的弹性滑轨上滑动，从而来进行重心调节，用户在使用时，可以很方便地调节其重心，使之不易倾倒。
为解决上述技术问题，本发明采用的一个技术方案是：提供一种设有重心调节机制的四足机器犬，其中，包括基座、头部组件、肩部组件和腿部组件；所述肩部组件连接在所述基座上，所述头部组件连接在所述肩部组件的顶部，所述腿部组件连接在所述肩部组件的侧边；所述基座包括底盘和电池盒，所述底盘上设置有弹性滑轨，所述弹性滑轨上设置有两个帽孔，所述电池盒上设置有滑动条，所述滑动条的两端均设置有圆帽，所述电池盒可通过所述圆帽卡入所述帽孔内且可通过所述滑动条在所述弹性滑轨内滑动。
作为本发明的一种改进，所述肩部组件包括两个肩板和两个侧肩，两个所述肩板分别处于所述基座的前后两端，两个所述侧肩分别处于所述基座的两侧；所述底盘的两侧均设置有第一插销，所述肩板的两侧均设置有第二插销，所述侧肩上设置有用于所述第一插销插入的插槽和用于所述第二插销插入的插孔。
作为本发明的进一步改进，所述底盘上设置有用于固定电路板的安装柱；所述基座还包括上盖，所述上盖可通过两个所述侧肩上的凸起的卡环连接在所述肩部组件上且遮盖住所述电路板。
作为本发明的更进一步改进，所述头部组件包括相连接的头部和脖子，所述脖子的底部设置有三个短榫头，所述底盘的前端设置有三个用于所述短榫头插入的卯孔。
作为本发明的更进一步改进，所述脖子的底部还设置有卡扣，所述底盘的前端还设置有用于所述卡扣卡入的内孔。
作为本发明的更进一步改进，所述脖子的后端设置有长榫条，处于底盘的前端的所述肩板设置有长条槽，所述长榫条可卡入所述长条槽内；所述脖子的顶端通过头部舵机的摇臂与头部连接。
作为本发明的更进一步改进，所述腿部组件包括轴接的大腿和小腿，所述大腿包括两个腿半片，两个所述腿半片反向对插组成所述大腿，所述腿半片的前端设置有前插片，所述腿半片的内侧设置有第一凸插柱，所述腿半片的后端设置有空槽，所述腿半片的中部设置有用于所述前插片插入的前插槽和用于与所述第一凸插柱对应的第二凸插柱，所述第一凸插柱与所述第二凸插柱形成一个圆柱，弹簧套在该圆柱上。
作为本发明的更进一步改进，处于所述大腿的前端的所述空槽通过肩部舵机的摇臂与所述肩板连接；处于所述大腿的后端的所述空槽通过膝部舵机的摇臂与所述小腿连接。
作为本发明的更进一步改进，所述小腿的末端设置有防滑齿。
作为本发明的更进一步改进，所述头部包括上片和下片，所述上片通过头部转轴与所述下片铰接，所述上片的前端设置有犬齿，所述下片的前端设置有犬舌。所述上片的后边缘和所述下片接触，所述上片绕所述头部转轴转动时，接触点会沿一段圆周运动。
本发明的有益效果是：与现有技术相比，本发明通过电池盒内滑动条在底盘内的弹性滑轨上滑动，从而来进行重心调节，用户在使用时，可以很方便地调节其重心，使之不易倾倒；腿部关节具有弹性缓冲机制，保护舵机；操作方便，而且均通过榫卯或卡扣连接，便于生产、组装和维护。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本发明的结构示意图；
图2为本发明的底盘与肩部组件的连接爆炸示意图；
图3为本发明的底盘与肩部组件的连接示意图；
图4为本发明的底盘的结构示意图；
图5为图4的主视图；
图6为本发明的电池盒的结构示意图；
图7为图6的主视图；
图8为图6的侧视图；
图9为本发明的底盘与电池盒的连接爆炸示意图；
图10为本发明的底盘与电池盒的连接示意图；
图11为本发明的大腿的结构示意图；
图12为图11的主视图；
图13为图11的俯视图；
图14为本发明的腿半片的主视图；
图15为图14的俯视图；
图16为本发明的腿半片与肩部舵机的摇臂的连接示意图；
图17为本发明的脖子的示意图；
图18为图17的主视图；
图19为本发明的脖子与底盘的连接爆炸示意图；
图20为本发明的脖子与底盘及肩部组件的连接示意图；
图21为图20的侧视图；
图22为本发明的头部组件的示意图；
图23为本发明的头部的结构示意图一；
图24为本发明的头部的结构示意图二；
图25为本发明的校准机制的实施例一的示意图；
图26为标尺的示意图一；
图27为标尺的示意图二；
图28为本发明的校准机制的实施例二的示意图一；
图29为本发明的圆棒插入脚尖圆孔的示意图；
图30为本发明的校准机制的实施例二的示意图二；
图31为本发明的校准机制的实施例二的示意图三；
附图标记：1-基座，11-底盘，111-弹性滑轨，112-帽孔，113-第一插销，114-卯孔，115-内孔，12-电池盒，121-滑动条，122-圆帽，13-上盖，14-安 装柱，2-头部组件，21-头部，211-上片，212-下片，213-头部转轴，214-犬齿，215-犬舌，22-脖子，221-短榫头，222-卡扣，223-长榫条，3-肩部组件，31-肩板，311-第二插销，312-长条槽，32-侧肩，321-插槽，322-插孔，4-腿部组件，41-大腿，411-腿半片，412-前插片，413-第一凸插柱，414-空槽，415-前插槽，416-第二凸插柱，417-弹簧，42-小腿，421-防滑齿，5-尾巴，6-头部舵机，61-头部舵机的摇臂，7-肩部舵机，71-肩部舵机的摇臂，8-膝部舵机，9-大腿关节轴，91-小腿关节轴，92-脚尖圆孔，93-大腿的斜边，94-侧肩的斜边，95-膝部舵机的安装螺丝一，96-膝部舵机的安装螺丝二，97-膝部舵机的安装螺丝三，98-圆棒，10-标尺，101-第一圆孔，102-长孔，103-第二圆孔，104-三角孔，105-长槽。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
以下结合具体实施例对本发明的具体实现进行详细描述：如图1至图31所示，本发明提供一种设有重心调节机制的四足机器犬，包括基座1、头部组件2、肩部组件3和腿部组件4；肩部组件3连接在基座1上，头部组件2连接在肩部组件3的顶部，腿部组件4连接在肩部组件3的侧边。
如图1至图5所示，基座1包括底盘11和电池盒12，底盘11上设置有弹性滑轨111，弹性滑轨111上设置有两个帽孔112，电池盒12上设置有滑动条121，滑动条121的两端均设置有圆帽122，电池盒12可通过圆帽122卡入 帽孔112内且可通过滑动条121在弹性滑轨111内滑动；进一步，基座1还包括上盖13，底盘11上设置有用于固定电路板的安装柱14；基座1还包括上盖13，上盖13可通过两个侧肩32上的凸起的卡环连接在肩板31上且遮盖住电路板；在本发明内，尾巴5连接在上盖13的后端。具体地讲，电池盒12的重量占机器人自重的三分之一，所以可以通过改变它的位置调节机器人的重心，另一方面，如果用户在机器人身上添加其他元件，会使机器人的重心发生偏移影响预设动作的平衡，而通过改变电池盒12的位置可以补偿重心的变化，调节机制由底盘11上的弹性滑轨111和电池盒12盒顶盘的滑动条121，滑动条121上设置有两个圆帽122，弹性滑轨111上有一列比圆帽122的立柱的直径略大的帽孔112，帽孔112的数量和间距由机身尺寸和重心调节的精度要求决定，圆帽122恰好可以卡在帽孔112中，也可以利用弹性滑轨111的弹性撑开并在弹性滑轨111内前后滑动；圆帽122直径比帽孔112略大，可以把电池盒12悬挂在弹性滑轨111上，在弹性滑轨111末端的帽孔112直径比圆帽122略大，电池盒12由此进入弹性滑轨111，预设机器人动作时，固定电池盒12在弹性滑轨111中的位置并调节平衡参数；用户在使用时，如果在机身前后某侧添加了重量，则可以把电池盒12向相反的方向滑动来抵消重心位置的变化。
如图2至图3所示，在本发明内，肩部组件3包括两个肩板31和两个侧肩32，两个肩板31分别处于基座1的前后两端，两个侧肩32分别处于基座1的两侧；底盘11的两侧均设置有第一插销113，肩板31的两侧均设置有第二插销311，侧肩31上设置有用于第一插销113插入的插槽321和用于第二插销311插入的插孔322；具体地讲，机器人躯干由底盘11、肩板31、侧肩32拼插而成，底盘11的四个第一插销113卡入侧肩32的插槽321，锁定两边侧肩之间的距离，前后肩板31支撑侧肩32的上下两端，防止滚动摇晃，肩板 31的第二插销311扣住侧肩32的插孔322，防止侧肩32前后翘开。
如图19至图24所示，在本发明内，头部组件2包括相连接的头部21和脖子22，脖子22的底部设置有三个短榫头221，底盘11的前端设置有三个用于短榫头221插入的卯孔114；脖子22的底部还设置有卡扣222，底盘11的前端还设置有用于卡扣222卡入的内孔115；脖子22的后端设置有长榫条223，处于底盘11的前端的肩板31设置有长条槽312，长榫条223可卡入长条槽312内；脖子22的顶端通过头部舵机6的摇臂61与头部21连接；具体地讲，脖子22底面有三个短榫头221，可以斜插入底盘11端部圆孔的三个卯孔114里，脖子22底面另有一个卡扣222，可以卡在内孔115的内缘，脖子22背面另有一个长榫条223，可以卡在肩板31内侧的凹槽22里，头部舵机6的摇臂61的连接头可以放入脖子22顶面的凹槽里并由螺丝锁定。
如图23至图24所示，在本发明内，头部21包括上片211和下片212，上片211通过头部转轴213与下片212铰接，上片211的前端设置有犬齿214，下片212的前端设置有犬舌215；具体地讲，头部由上片211和下片212通过头部转轴213连接组成，嘴张开时，上片211后脑勺与下片212的后弹片接触并挤压后弹片，后弹片形变并产生弹力使嘴恢复闭合。具体的，头部的上片211的后边缘和下片212有一个接触点，上片211绕头部转轴213转动时，接触点会沿一段圆周运动，与下片212后部的后弹片表面距离越来越小，从而推动后弹片。后弹片产生回复力，通过杠杆原理使嘴部产生咬合力。嘴前端的犬齿214和舌头215可以夹持并稳定额外的配件，比如装饰性道具、扩展的传感器模块等。
如图14至图16所示，在本发明内，腿部组件4包括轴接的大腿41和小腿42，大腿41包括两个腿半片411，两个腿半片411反向对插组成大腿41， 腿半片411的前端设置有前插片412，腿半片411的内侧设置有第一凸插柱413，腿半片411的后端设置有空槽414，腿半片411的中部设置有用于前插片412插入的前插槽415和用于与第一凸插柱413对应的第二凸插柱416，第一凸插柱413与第二凸插柱416形成一个圆柱，弹簧417套在该圆柱上；处于大腿41的前端的空槽414通过肩部舵机7的摇臂71与肩板31连接；处于大腿41的后端的空槽414通过膝部舵机8的摇臂81与小腿42连接，小腿42的末端设置有防滑齿421。
如图25至图27所示，在本发明内，腿部组件4需要校准到特定位置以准确执行目标动作，本发明提供校准机制的实施例一，本发明利用一个专门的标尺对腿部组件4进行校准，校准零位定义为大腿41与底盘11垂直，小腿42与大腿41垂直，在底盘水平的条件下，即大腿41与侧肩32连接的大腿关节轴9与大腿41与小腿42连接的小腿关节轴91的连线垂直于小腿关节轴91和脚尖圆孔92的连线，并且脚尖圆孔92和小腿关节轴91的连线水平；标尺10为直角L形，在竖直边上有第一圆孔101、第二圆孔103，其圆心分别指向小腿关节轴91的圆心；在第一圆孔101下方有圆形及长条形的长孔102，它们的边界与大腿41上的纹理对齐，作为辅助参考；在标尺10横边有一个三角孔104，边界与小腿42上的三角孔104对齐；在标尺10末端有长槽105，它的中轴线经过脚尖圆孔92,移动视角时可以观察到脚尖圆孔92在长槽105中移动；如果大腿41与水平面的角度不垂直，则第一圆孔101、第二圆孔103与大腿上的纹理会形成一个夹角；如果小腿不水平，则标尺10和小腿42上的三角孔104也会形成一个夹角；通过在软件中输入修正量可以转动关节实现上述的对齐效果，借助平行或共线的参考系，可以避免由于视角变化而引入的校准误差。
如图28至图31所示，除了借助前文的工具作为校准器，本发明提供校准机制的实施例二，在机器人本体各自引入了参考标志，从而无需借助专门的工具就可进行关节校准；在大腿41末端有斜边93，在肩部部件3零位时斜边93应与侧肩的斜边94平行，通过改变视角可以观察到两条边共线，小腿42末端的防滑齿421、脚尖圆孔92、膝部舵机的安装螺丝一95、膝部舵机的安装螺丝二96、膝部舵机的安装螺丝三97共线，并且在零位时会与大腿41的空槽414共线，可以用圆棒98插入脚尖圆孔92从机器人前方观察，只需要保证圆棒77、膝部舵机的安装螺丝一95、空槽414共线即可保证膝盖关节到达校准零位。以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种设有重心调节机制的四足机器犬，其特征在于，包括基座、头部组件、肩部组件和腿部组件；所述肩部组件连接在所述基座上，所述头部组件连接在所述肩部组件的顶部，所述腿部组件连接在所述肩部组件的侧边；所述基座包括底盘和电池盒，所述底盘上设置有弹性滑轨，所述弹性滑轨上设置有两个帽孔，所述电池盒上设置有滑动条，所述滑动条的两端均设置有圆帽，所述电池盒可通过所述圆帽卡入所述帽孔内且可通过所述滑动条在所述弹性滑轨内滑动。
  2. 根据权利要求1所述一种设有重心调节机制的四足机器犬，其特征在于，所述肩部组件包括两个肩板和两个侧肩，两个所述肩板分别处于所述基座的前后两端，两个所述侧肩分别处于所述基座的两侧；所述底盘的两侧均设置有第一插销，所述肩板的两侧均设置有第二插销，所述侧肩上设置有用于所述第一插销插入的插槽和用于所述第二插销插入的插孔。
  3. 根据权利要求2所述一种设有重心调节机制的四足机器犬，其特征在于，所述底盘上设置有用于固定电路板的安装柱；所述基座还包括上盖，所述上盖可通过两个所述侧肩上的凸起的卡环连接在所述肩部组件上且遮盖住所述电路板。
  4. 根据权利要求3所述一种设有重心调节机制的四足机器犬，其特征在于，所述头部组件包括相连接的头部和脖子，所述脖子的底部设置有三个短榫头，所述底盘的前端设置有三个用于所述短榫头插入的卯孔。
  5. 根据权利要求4所述一种设有重心调节机制的四足机器犬，其特征在于，所述脖子的底部还设置有卡扣，所述底盘的前端还设置有用于所述卡扣卡入的内孔。
  6. 根据权利要求5所述一种设有重心调节机制的四足机器犬，其特征在于，所述脖子的后端设置有长榫条，处于底盘的前端的所述肩板设置有长条槽，所述长榫条可卡入所述长条槽内；所述脖子的顶端通过头部舵机的摇臂与头部连接。
  7. 根据权利要求6所述一种设有重心调节机制的四足机器犬，其特征在于，所述腿部组件包括轴接的大腿和小腿，所述大腿包括两个腿半片，两个所述腿半片反向对插组成所述大腿，所述腿半片的前端设置有前插片，所述腿半片的内侧设置有第一凸插柱，所述腿半片的后端设置有空槽，所述腿半片的中部设置有用 于所述前插片插入的前插槽和用于与所述第一凸插柱对应的第二凸插柱，所述第一凸插柱与所述第二凸插柱形成一个圆柱，弹簧套在该圆柱上。
  8. 根据权利要求7所述一种设有重心调节机制的四足机器犬，其特征在于，处于所述大腿的前端的所述空槽通过肩部舵机的摇臂与所述肩板连接；处于所述大腿的后端的所述空槽通过膝部舵机的摇臂与所述小腿连接。
  9. 根据权利要求8所述一种设有重心调节机制的四足机器犬，其特征在于，所述小腿的末端设置有防滑齿。
  10. 根据权利要求9所述一种设有重心调节机制的四足机器犬，其特征在于，所述头部包括上片和下片，所述上片通过头部转轴与所述下片铰接，所述上片的前端设置有犬齿，所述下片的前端设置有犬舌；所述上片的后边缘和所述下片接触，所述上片绕所述头部转轴转动时，接触点会沿一段圆周运动。
PCT/CN2021/079431 2020-07-21 2021-03-06 一种设有重心调节机制的四足机器犬 WO2022016877A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US18/055,418 US20230072465A1 (en) 2020-07-21 2022-11-15 Quadruped robotic dog with center of gravity adjustment mechanism

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010705191.7A CN111846004A (zh) 2020-07-21 2020-07-21 一种设有重心调节机制的四足机器犬
CN202010705191.7 2020-07-21

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/055,418 Continuation US20230072465A1 (en) 2020-07-21 2022-11-15 Quadruped robotic dog with center of gravity adjustment mechanism

Publications (1)

Publication Number Publication Date
WO2022016877A1 true WO2022016877A1 (zh) 2022-01-27

Family

ID=73002192

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/079431 WO2022016877A1 (zh) 2020-07-21 2021-03-06 一种设有重心调节机制的四足机器犬

Country Status (3)

Country Link
US (1) US20230072465A1 (zh)
CN (1) CN111846004A (zh)
WO (1) WO2022016877A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111846004A (zh) * 2020-07-21 2020-10-30 李荣仲 一种设有重心调节机制的四足机器犬

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003225875A (ja) * 2002-02-05 2003-08-12 Matsushita Electric Ind Co Ltd ペット型ロボットおよびペット型ロボットの育成支援システム
CN103192898A (zh) * 2013-04-09 2013-07-10 北京交通大学 一种具有首尾平衡调节装置的仿生四足机器人
KR20140021752A (ko) * 2012-08-09 2014-02-20 성균관대학교산학협력단 보행 로봇의 기어 체결, 관절의 구동력 전달 및, 2자유도 구현 메커니즘과, 이를 적용한 생체모방형 사족 보행 로봇
KR101477068B1 (ko) * 2013-06-21 2014-12-30 성균관대학교산학협력단 보행로봇의 충격 완충 장치
CN108818515A (zh) * 2018-08-16 2018-11-16 邢明的 一种多功能警犬机器人
CN109204602A (zh) * 2018-10-31 2019-01-15 南京航空航天大学 微型四足机器人
CN209080040U (zh) * 2018-10-31 2019-07-09 南京航空航天大学 微型四足机器人
WO2019136356A1 (en) * 2018-01-08 2019-07-11 Petoi, Llc Legged robots and methods for controlling legged robots
CN110126939A (zh) * 2019-06-25 2019-08-16 福州大学 一种重心可调的常速电驱动四足机器人及其使用方法
CN111846004A (zh) * 2020-07-21 2020-10-30 李荣仲 一种设有重心调节机制的四足机器犬
CN212354207U (zh) * 2020-07-21 2021-01-15 李荣仲 一种设有重心调节机制的四足机器犬

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003225875A (ja) * 2002-02-05 2003-08-12 Matsushita Electric Ind Co Ltd ペット型ロボットおよびペット型ロボットの育成支援システム
KR20140021752A (ko) * 2012-08-09 2014-02-20 성균관대학교산학협력단 보행 로봇의 기어 체결, 관절의 구동력 전달 및, 2자유도 구현 메커니즘과, 이를 적용한 생체모방형 사족 보행 로봇
CN103192898A (zh) * 2013-04-09 2013-07-10 北京交通大学 一种具有首尾平衡调节装置的仿生四足机器人
KR101477068B1 (ko) * 2013-06-21 2014-12-30 성균관대학교산학협력단 보행로봇의 충격 완충 장치
WO2019136356A1 (en) * 2018-01-08 2019-07-11 Petoi, Llc Legged robots and methods for controlling legged robots
CN108818515A (zh) * 2018-08-16 2018-11-16 邢明的 一种多功能警犬机器人
CN109204602A (zh) * 2018-10-31 2019-01-15 南京航空航天大学 微型四足机器人
CN209080040U (zh) * 2018-10-31 2019-07-09 南京航空航天大学 微型四足机器人
CN110126939A (zh) * 2019-06-25 2019-08-16 福州大学 一种重心可调的常速电驱动四足机器人及其使用方法
CN111846004A (zh) * 2020-07-21 2020-10-30 李荣仲 一种设有重心调节机制的四足机器犬
CN212354207U (zh) * 2020-07-21 2021-01-15 李荣仲 一种设有重心调节机制的四足机器犬

Also Published As

Publication number Publication date
US20230072465A1 (en) 2023-03-09
CN111846004A (zh) 2020-10-30

Similar Documents

Publication Publication Date Title
WO2022016877A1 (zh) 一种设有重心调节机制的四足机器犬
GB1496196A (en) Molecular models
US8038158B1 (en) Infant crawler
US11673069B2 (en) Transformable toy and toy set including transformable toy
GB2118851A (en) Reversibly transformable toy block assembly
US2816360A (en) Dental articulator
US11679336B2 (en) Toy set
CN212354207U (zh) 一种设有重心调节机制的四足机器犬
US3905112A (en) Dental articulator
US7229284B2 (en) Dental articulator having dual balls
WO2014148073A1 (ja) 形態変化玩具
US20160123360A1 (en) Joint Assembly and Joint Apparatus Having the Same
US3478431A (en) Hinge joint for dental articulator
US20180028927A1 (en) Toy with moveable component
US6558161B2 (en) Completely reproducible articulator
CA2132609A1 (en) Manipulatable Puzzle
KR101500864B1 (ko) 트랙터용 써레의 연결 장치
US20070281582A1 (en) Doll Joint
US3818595A (en) Dental articulator
KR20180060713A (ko) 직립이 가능한 다관절 나무인형
TWM611040U (zh) 鉸鏈
US2180673A (en) Articulator
JPS644388Y2 (zh)
WO2018214292A1 (zh) 推车
CN217391577U (zh) 一种变形飞机玩具

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21846036

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 28.06.2023)

122 Ep: pct application non-entry in european phase

Ref document number: 21846036

Country of ref document: EP

Kind code of ref document: A1