Walking device of mechanical seeing-eye dog

Abstract

The utility model provides a mechanical seeing-eye dog walking device which comprises a mechanical seeing-eye dog body and a walking mechanism, the walking mechanism comprises a driving mechanism, a leg structure and a driving steering engine, the driving steering engine is arranged on the mechanical seeing-eye dog body, the driving mechanism is rotationally connected with the driving steering engine through a driving shaft, and the leg structure comprises a thigh arm and a shank arm. A leg linkage shaft is arranged above the thigh arm, the driving mechanism is arranged between the leg structure and the mechanical guide dog body, the driving mechanism comprises an inner rotor brushless motor and an outer rotor brushless motor, an inner transmission shaft is arranged between the outer rotor brushless motor and the inner rotor brushless motor, and the thigh arm is rotationally connected with the driving mechanism through the inner transmission shaft. The outer rotor brushless motor is rotationally connected with the leg linkage shaft through an outer transmission shaft, and the outer transmission shaft is located on the outer side of the outer rotor brushless motor and is offset from the inner transmission shaft; the walking coordination of the mechanical seeing-eye dog and the self-adaptive movement force to the environment can be improved.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a walking device for a mechanical guide dog. Background Art

[0002] In real life, the blind need to live, work, and go out to do things, so it is of great significance to help the blind improve their mobility. Traditionally, the blind use canes and guide dogs to travel, but due to limitations, they cannot meet the needs of blind people. Therefore, guide robots came into being. Guide robots are service robots that provide navigation assistance for the visually impaired. They use a variety of sensors to detect the surrounding environment, process the detected information, and then provide corresponding feedback to the drive device and the visually impaired to help users avoid obstacles effectively.

[0003] In the patent document with Chinese patent application number 202311420515.2 and publication date 2024.01.30, a rescue quadruped robot dog is disclosed, including a body, mechanical legs and a control system arranged inside the body, the number of the mechanical legs is set to four, and the four mechanical legs are evenly distributed on both sides of the front and rear ends of the body, and the mechanical legs are in a V-shaped structure, which is used to drive the body to move; the control system includes a gas detection module, an image recognition module, a sound recognition module and a Beidou positioning module. However, in the above patent document, the second servo needs to drive the rotating arm to drive the long connecting rod arranged on the thigh to rotate, and the thigh needs to be driven by the first servo, and the drive needs to be realized separately. In this way, in the process of dealing with complex road environments, it is easy to make the coordination of the robot's leg structure inconsistent, thereby affecting the walking stability. Utility Model Content

[0004] The utility model aims to provide a walking device for a mechanical guide dog, which controls the leg linkage shaft through the swinging thigh arm to drive the lower end of the calf arm to rotate, so as to be more in line with the movement flexibility of quadrupeds, improve the adaptive movement force to the environment, increase the obstacle crossing ability of the mechanical guide dog, and can adapt to most complex road surfaces.

[0005] The utility model provides the following technical solution: a walking device for a mechanical guide dog, comprising a mechanical guide dog body, a walking mechanism arranged outside the mechanical guide dog body, the walking mechanism comprising a driving mechanism, a leg structure and a driving steering engine, the driving steering engine being arranged on the mechanical guide dog body, the driving mechanism being rotatably connected with the driving steering engine through a driving shaft, the leg structure comprising a thigh arm and a calf arm, a leg linkage shaft being arranged above one end of the thigh arm, the driving mechanism being arranged between the leg structure and the mechanical guide dog body, the driving mechanism comprising an inner rotor brushless motor and an outer rotor brushless motor, an inner transmission shaft being arranged between the outer rotor brushless motor and the inner rotor brushless motor, the thigh arm being rotatably connected with the driving mechanism through the inner transmission shaft, the outer rotor brushless motor being rotatably connected with the leg linkage shaft through the outer transmission shaft, the outer transmission shaft being located outside the outer rotor brushless motor and being offset from the inner transmission shaft.

[0006] The above arrangement, by arranging a driving shaft between the driving mechanism and the driving servo, can make the driving servo arranged on one side of the driving mechanism drive the driving mechanism to rotate through the driving shaft. Since the inner rotor brushless motor and the outer rotor brushless motor in the driving mechanism are rotationally connected through the inner transmission shaft, the inner rotor brushless motor and the outer rotor brushless motor in the driving mechanism can be driven to rotate synchronously. In addition, since the thigh arm in the leg structure is rotationally connected to one end of the inner transmission shaft, the thigh arm can be driven to rotate through the rotation of the inner transmission shaft. An outer transmission shaft is arranged on the outer side of the outer rotor brushless motor, and the outer transmission shaft is rotationally connected to the leg linkage shaft, and the leg linkage shaft is rotationally connected to the calf arm. In this way, in the process of the inner transmission shaft driving the thigh arm to rotate, the outer transmission shaft and the leg linkage shaft are simultaneously driven to realize hinged rotation, and then the calf arm is driven to realize rotation, so that the thigh arm and the calf arm are synchronously rotated under the drive of the same servo, thereby improving the coordination of the walking action of the mechanical guide dog and improving the adaptive movement force to the environment.

[0007] Furthermore, a power supply mechanism is installed between the outer side of the mechanical guide dog body and the driving servo, and an anti-slip foot pad is installed at the lower end of the calf arm.

[0008] The above settings can increase the power supply for driving the servo to achieve normal operation. At the same time, the friction between the leg structure and the ground is greater, so that walking is more stable.

[0009] Furthermore, heat dissipation holes are installed on the upper surface of the main body of the mechanical guide dog.

[0010] The above arrangement facilitates the diffusion of heat inside the main body of the mechanical guide dog.

[0011] Furthermore, the calf arm is rotatably connected to one end of the thigh arm via a rotating shaft, and both ends of the leg linkage shaft are rotatably connected to one end of the external transmission shaft and the protruding end on the calf arm via a connecting shaft.

[0012] With the above arrangement, when the thigh arm rotates, the calf arm can be driven to rotate synchronously.

[0013] Furthermore, a driving shaft is installed between the driving mechanism and the driving steering gear.

[0014] The above arrangement facilitates the driving of the steering gear to drive the driving mechanism to rotate via the driving shaft.

[0015] Furthermore, the power supply mechanism is electrically connected to the driving steering gear.

[0016] The above arrangement makes it easier for the power supply mechanism to provide continuous power to drive the servo.

[0017] Furthermore, the outer rotor brushless motor is coaxially arranged with the inner rotor brushless motor, and the other end of the thigh arm is rotationally connected to the inner transmission shaft.

[0018] With the above arrangement, when the driving servo drives the driving mechanism to rotate, the rotation of the outer rotor brushless motor and the inner rotor brushless motor can simultaneously drive the thigh arm to rotate through the inner transmission shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the leg structure of the utility model;

[0021] Figure 3 This is a schematic diagram of the leg structure of the utility model from another perspective;

[0022] Figure 4 It is a top view of the utility model. DETAILED DESCRIPTION

[0023] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0024] like Figure 1-4As shown, the present embodiment provides a walking device for a mechanical guide dog, comprising a mechanical guide dog body 1, a walking mechanism is arranged outside the mechanical guide dog body 1, the walking mechanism comprises a driving mechanism, a leg structure and a driving steering engine 6, the driving steering engine 6 is installed between the walking mechanism and the mechanical guide dog body 1, the driving mechanism is rotatably connected with the driving steering engine 6 through a driving shaft, the leg structure comprises a thigh arm 201 and a calf arm 202, a rotating shaft is installed between the calf arm 202 and the thigh arm 201, in the present embodiment, the calf arm 202 is rotatably connected with one end of the thigh arm 201 through the rotating shaft, a leg linkage shaft 203 is installed above one end of the thigh arm 201, a driving mechanism is arranged between the thigh arm 201 and the mechanical guide dog body 1, the driving mechanism comprises an inner rotor brushless motor 207, an outer rotor brushless motor 208, an inner transmission shaft 205 and an outer transmission shaft 204, and both ends of the leg linkage shaft 203 are respectively connected to one end of the outer transmission shaft 204 through a connecting shaft The inner transmission shaft 205 is rotatably connected to the protruding end on the calf arm 202, so that during the rotation of the thigh arm, the calf arm can be driven to realize synchronous rotation at the same time; in this embodiment, the inner transmission shaft 205 is installed between the outer rotor brushless motor 208 and the inner rotor brushless motor 207, and the thigh arm 201 is rotatably connected to the driving mechanism through the inner transmission shaft 205. In this embodiment, the other end of the thigh arm 201 is rotatably connected to the inner transmission shaft 205, and the outer transmission shaft 204 is connected between the outer rotor brushless motor 208 and the leg linkage shaft 203 to be rotatably connected through the outer transmission shaft 204. The outer transmission shaft 204 is located on the outside of the outer rotor brushless motor 208 and is offset from the inner transmission shaft 205. In this way, it can be avoided that the inner transmission shaft 205 drives the thigh arm 201 to rotate, and the outer transmission shaft 204 drives the leg linkage shaft 203 to rotate. The process does not interfere with each other, thereby realizing synchronous rotation, improving the coordination of the walking action of the mechanical guide dog, and improving the adaptive motion force to the environment.

[0025] like Figure 2-4 As shown, a power supply mechanism 8 is installed between the outer side of the mechanical guide dog body 1 and the driving steering engine 6, the power supply mechanism 8 is electrically connected to the driving steering engine 6, a driving shaft is installed between the driving mechanism and the driving steering engine 6, a non-slip foot pad 206 is installed at the lower end of the calf arm 202, and a heat dissipation hole is installed on the upper surface of the mechanical guide dog body 1. In this embodiment, four walking mechanisms are arranged on the mechanical guide dog body 1, namely, a first front foot walking mechanism 2, a second front foot walking mechanism 3, a first rear foot walking mechanism 4, and a second rear foot walking mechanism 5, and the driving motion principles of the first front foot walking mechanism 2, the second front foot walking mechanism 3, the first rear foot walking mechanism 4, and the second rear foot walking mechanism 5 are all consistent. The walking action is realized by controlling the four walking mechanisms, so that the thigh arm and the calf arm in each walking mechanism can realize synchronous rotation under the drive of the same steering engine, thereby improving the coordination of the walking action of the mechanical guide dog and improving the adaptive motion force to the environment.

[0026] The working principle of the utility model is as follows: when the mechanical guide dog body 1 is used as a whole, the first front foot walking mechanism 2, the second front foot walking mechanism 3, the first rear foot walking mechanism 4, and the second rear foot walking mechanism 5 outside the mechanical guide dog body 1 can move independently, and the driving sequence can be the first front foot walking mechanism 2, then the second rear foot walking mechanism 5, then the second front foot walking mechanism 3, and finally the first rear foot walking mechanism 4 to perform reciprocating motion, which can ensure that there are three support points and the travel plane to ensure contact under any circumstances, and can be applied to most complex travel roads, and the inner rotor brushless motor 207 and the outer rotor brushless motor 208 inside the driving mechanism drive the thigh arm 201 as a whole. The movement of the mechanical guide dog body 1 is controlled by the movement of the calf arm 202, the inner rotor brushless motor 207 drives the outer transmission shaft 204 to drive the thigh arm 201 to swing, and the outer rotor brushless motor 208 drives the leg linkage shaft 203 to drive the lower end of the calf arm 202 to rotate, then the calf arm 202 can be used to swing to move, and the driving steering engine 6 is used to drive the entire driving mechanism to move as a whole, so that the overall swing of the thigh arm 201 and the calf arm 202 can be controlled, thereby increasing the deflection of the first front foot walking mechanism 2, the second front foot walking mechanism 3, the first rear foot walking mechanism 4, and the second rear foot walking mechanism 5, thereby improving the whole mechanical guide dog body 1 to cope with different walking environments.

Claims

1. A walking device for a mechanical guide dog, comprising a mechanical guide dog body (1), characterized in that: A walking mechanism is arranged outside the mechanical guide dog body (1), the walking mechanism comprising a driving mechanism, a leg structure and a driving steering engine (6), the driving steering engine (6) being arranged on the mechanical guide dog body (1), the driving mechanism being rotatably connected to the driving steering engine (6) via a driving shaft, the leg structure comprising a thigh arm (201) and a calf arm (202), a leg linkage shaft (203) being arranged above one end of the thigh arm (201), the driving mechanism being arranged between the leg structure and the mechanical guide dog body (1), the driving mechanism being arranged between the leg structure and the mechanical guide dog body (1), the driving mechanism being arranged on the upper side of the thigh arm (201), and the driving mechanism being arranged on the lower side of the thigh arm (202). The structure comprises an inner rotor brushless motor (207) and an outer rotor brushless motor (208); an inner transmission shaft (205) is arranged between the outer rotor brushless motor (208) and the inner rotor brushless motor (207); the thigh arm (201) is rotationally connected to the drive mechanism via the inner transmission shaft (205); the outer rotor brushless motor (208) and the leg linkage shaft (203) are rotationally connected via the outer transmission shaft (204); the outer transmission shaft (204) is located outside the outer rotor brushless motor and is arranged offset from the inner transmission shaft (205).

2. A walking device for a mechanical guide dog according to claim 1, characterized in that: A power supply mechanism (8) is installed between the outer side of the mechanical guide dog body (1) and the driving steering engine (6), and an anti-slip foot pad (206) is installed at the lower end of the calf arm (202).

3. The walking device for a mechanical guide dog according to claim 1, characterized in that: The upper surface of the mechanical guide dog body (1) is provided with heat dissipation holes.

4. The walking device for a mechanical guide dog according to claim 1, characterized in that: The calf arm (202) is rotatably connected to one end of the thigh arm (201) via a rotating shaft, and the two ends of the leg linkage shaft (203) are rotatably connected to one end of the external transmission shaft (204) and the protruding end on the calf arm (202) via a connecting shaft.

5. The walking device for a mechanical guide dog according to claim 1, characterized in that: A drive shaft is installed between the drive mechanism and the drive steering gear (6).

6. The walking device for a mechanical guide dog according to claim 2, characterized in that: The power supply mechanism (8) is electrically connected to the driving steering gear (6).

7. The walking device for a mechanical guide dog according to claim 1, characterized in that: The outer rotor brushless motor (208) is coaxially arranged with the inner rotor brushless motor (207), and the other end of the thigh arm (201) is rotationally connected to the inner transmission shaft (205).

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