mechanical dog

Abstract

The application discloses a mechanical dog and belongs to the technical field of intelligent machine devices, wherein the mechanical dog comprises a bearing plate, a first walking mechanism and a second walking mechanism, the first walking mechanism and the second walking mechanism are respectively installed on the two sides of the bearing plate, the first walking mechanism comprises a first mechanical leg, a first support frame and a second mechanical leg, the first mechanical leg is installed on the first end of the first support frame, and the second mechanical leg is installed on the 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 of the first support frame, the top of the first leg part is installed on the output end of the first driving piece, and the first leg part is in a bent shape; the first driving piece is used for driving the first leg part to rotate, so that the first leg part walks on the ground, the first driving piece and the first leg part can be respectively installed on the four corners of the bearing plate, and the rotating speed and the steering of the first driving piece are adjusted, so that the mechanical dog simulates the movement of a canine and realizes rapid movement or walking.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent machine equipment, and in particular relates to a mechanical dog. Background Art

[0002] Robotic dogs are bionic simulations of canine locomotion. Their limbs are categorized into parallel and series configurations. However, existing robotic dog structures, regardless of whether they employ parallel or series configurations, lack a high degree of similarity to canine limb motion. Furthermore, the flexibility of their limbs is limited, making them incapable of rapid movement or walking. Summary of the Invention

[0003] The purpose of the present invention is to provide a mechanical dog that simulates the limb movements of canine animals, improves the flexibility of the mechanical dog, and enables rapid movement or walking.

[0004] The technical solution is as follows:

[0005] A mechanical dog, comprising:

[0006] load-bearing plates,

[0007] The first walking mechanism,

[0008] a second walking mechanism, wherein the first walking mechanism and the second walking mechanism are respectively mounted on both sides of the load-bearing plate, the first walking mechanism comprising a first mechanical leg, a first support frame and a second mechanical leg, the first mechanical leg being mounted on a first end of the first support frame, and the second mechanical leg being mounted on a second end of the first support frame;

[0009] The first mechanical leg includes a first driving member and a first leg. The first driving member is connected to the end of the first support frame. The top of the first leg is installed on the output end of the first driving member, and the first leg is bent.

[0010] In one embodiment, the first mechanical leg further includes a second driving member and a second leg portion, wherein the output ends of the first driving member and the second driving member are arranged opposite to each other; the bottom of the first leg portion and the bottom of the second leg portion are rotatably engaged with each other to form a leg structure;

[0011] The first leg includes a first connecting rod and a second connecting rod, the second leg includes a third connecting rod and a fourth connecting rod, the third end of the first connecting rod is rotatably engaged with the fourth end of the third connecting rod, the fifth end of the first connecting rod is rotatably engaged with the sixth end of the second connecting rod, the seventh end of the third connecting rod is rotatably engaged with the eighth end of the fourth connecting rod, the ninth end of the second connecting rod is connected to the output end of the first driving member, and the tenth end of the fourth connecting rod is connected to the output end of the second driving member.

[0012] In one embodiment, the first mechanical leg also includes a rotating part and a bearing, the end of the first connecting rod is provided with a first axial hole, the end of the third connecting rod is provided with a second axial hole, the first axial hole and the second axial hole are respectively used for the two ends of the rotating part to pass through, and one end of the rotating part is connected to the end of the first connecting rod, and the bearing is installed in the second axial hole and is sleeved on the outer wall of the other end of the rotating part.

[0013] 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 to form a diamond structure, and the diamond structure is retractable in a vertical direction or a horizontal direction.

[0014] In one embodiment, the end 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 outward.

[0015] In one embodiment, the first walking mechanism is provided with a connecting sleeve, which is located between the first driving member and the second driving member, and the two ends of the connecting sleeve are respectively sleeved on the output end of the first driving member and the output end of the second driving member, and rotated with the output ends.

[0016] In one embodiment, a plurality of waist-shaped through grooves are provided in the first connecting rod and the third connecting rod, and the plurality of through grooves are arranged along the length direction of the first connecting rod or the third connecting rod; the second connecting rod includes a first rod body, a second rod body and two groups of connecting parts, and the two ends of the first rod body and the second rod body are respectively connected to the two groups of connecting parts; the length direction of the first rod body intersects with the length direction of the second rod body.

[0017] In one embodiment, 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 arranged opposite to each other, the support block is located between the two support plates, and the two ends of the support block are respectively installed on the inner sides of the two support plates.

[0018] In one embodiment, the support plate includes a connector and two groups of frames, the two groups of frames are connected by the connector, a mounting hole is provided at one end of the frame away from the connector, a first support rod and a second support rod are provided in the frame, the first support rod is tilted, the second support rod is perpendicular to the length direction of the frame, a first hollow portion is formed between the first support rod, the second support rod and the long side of the frame, and the first hollow portion is a right triangle;

[0019] The connector is in a cube shape, and at least one side of the connector is provided with a second hollow portion; at least one side of the connector is provided with a solid portion.

[0020] In one embodiment, the second walking mechanism includes a third mechanical leg, a second support frame and a fourth mechanical leg, the second support frame is installed on the side wall of the load-bearing plate, the third mechanical leg is installed at the front end of the second support frame, and the fourth mechanical leg is installed at the 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 the four corners of the load-bearing plate.

[0021] In one embodiment, the mechanical dog further includes a first steering mechanism and a second steering mechanism, wherein the first steering mechanism and the second steering mechanism are respectively mounted on both sides of the load-bearing plate, the first steering mechanism is rotationally coupled to the first support frame, and the second steering mechanism is rotationally coupled to the second support frame;

[0022] The first steering mechanism includes a first double-headed servo, a first rotating shaft and a first connecting block, the side wall of the first supporting frame is provided with two first adapter plates, the first rotating shaft is installed at the output end of the first double-headed servo, and the two ends of the first rotating shaft are respectively connected to the two first adapter plates, the first connecting block is sleeved on the first rotating shaft, and the side wall of the first connecting block is installed on the side wall of the first supporting frame; the second steering mechanism includes a second double-headed servo, a second rotating shaft and a second connecting block, the side wall of the second supporting frame is provided with two second adapter plates, the second rotating shaft is installed at the output end of the second double-headed servo, and the two ends of the second rotating shaft are respectively connected to 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 installed on the side wall of the second supporting frame;

[0023] Connecting plates are respectively provided at the front and rear ends of the load-bearing plate, and the ends of the connecting plates are sleeved on the first rotating shaft or the second rotating shaft.

[0024] In one embodiment, the mechanical dog also includes a battery module, a drive module, a voice module, a camera module and a sensing module. The battery module, drive module, voice module, camera module and sensing module are all installed on the load-bearing plate. The battery module is electrically connected to the drive module. The drive module is electrically connected to the first walking mechanism, the second walking mechanism, the first steering mechanism and the second steering mechanism respectively. The drive module is also electrically connected to the voice module, the camera module and the sensing module respectively. The sensing range of the sensing module covers all four sides of the load-bearing plate.

[0025] The technical solution provided by the present invention has the following advantages and effects:

[0026] 1. A first walking mechanism and a second walking mechanism are respectively provided on both sides of the load-bearing plate, and the walking mechanism includes a first mechanical leg and a second mechanical leg, and the first mechanical leg and the second mechanical leg cooperate with each other. The first mechanical leg and the second mechanical leg are respectively installed at the first end and the second end of the first support frame, and the first mechanical leg includes a first driving member and a first leg. The first leg is bent, and the top of the first leg is installed on the output end of the first driving member. The first driving member is used to drive the first leg to rotate so that the first leg walks on the ground. The first driving member and the first leg can be respectively installed at the four corners of the load-bearing plate, and by adjusting the speed and direction of the first driving member, the limb movement of canine animals is simulated, the flexibility of the mechanical dog is improved, and rapid movement or walking is achieved.

[0027] 2. A first driving member and a second driving member are arranged relative to each other and are respectively connected to the top of the first leg and the second leg, wherein the first driving member is used to drive the first leg and the second driving member is used to drive the second leg; the bottoms of the first leg and the second leg are rotated to cooperate to form a retractable leg structure, and the output ends of the first driving member and the second driving member can respectively apply forces in different directions, the first driving member is used to make the leg structure simulate the action of extending the leg, and the second driving member is used to make the leg structure simulate the action of lifting the leg. With the above structure, when the first mechanical leg extends its leg forward, the second mechanical leg lifts its leg forward; and by adjusting the rotation speed and direction of the first driving member and the second driving member, the swing frequency of the leg structure is increased; further improve the similarity of the mechanical dog's simulation of the limb movements of canine animals, and increase the walking speed of the mechanical dog.

[0028] 3. A rotating part is used to connect the ends of the first connecting rod and the third connecting rod to achieve rotational coordination, and a bearing is sleeved on the rotating part to reduce the rotational friction between the first connecting rod and the third connecting rod. Since the smaller the rotational friction at the end of the leg structure, the smoother the movement of the leg structure when lifting and extending the leg, the use of a rotating part and a bearing can further increase the walking speed of the mechanical dog.

[0029] 4. A connecting sleeve is located between the first driving member and the second driving member, and is respectively sleeved on the output ends of the first driving member and the second driving member. The connecting sleeve is used to limit the vibration amplitude of the output end of the first driving member or the second driving member, thereby improving the stability of the first driving member and the second driving member during rotation, thereby improving the walking smoothness of the mechanical dog.

[0030] 5. A plurality of waist-shaped through grooves are provided in the first connecting rod and the third connecting rod. When the supporting strength of the first leg or the second leg is met, the dead weight of the first leg or the second leg can be reduced, and the force of lifting the leg structure is reduced, thereby reducing the power consumption of the leg structure when lifting and extending the leg; at the same time, the second connecting rod includes a first rod body, a second rod body and two groups of connecting parts, the connecting parts are used to rotate with the end of the first connecting rod, and the first rod body and the second rod body are used to transmit the output torque of the first driving member, so that the second connecting rod transmits the force to the first connecting rod.

[0031] 6. Two support plates and support blocks are used to install the first mechanical leg and the second mechanical leg at the two ends of the two support plates respectively. The two ends of the support plates are used to support the first mechanical leg and the second mechanical leg, thereby improving the walking stability of the first mechanical leg and the second mechanical leg. Moreover, the first support rod and the second support rod are used to ensure the supporting strength of the support plate, and a first triangular hollow portion is provided in the support plate, and a second hollow portion is provided in the connector. The triangle has better stability. The above structure also reduces the weight of the support plate, reduces the load on the first mechanical leg, and further saves the walking power consumption of the mechanical dog.

[0032] 7. Set the first mechanical leg, the second mechanical leg, the third mechanical leg and the fourth mechanical leg on the load-bearing plate respectively. The four groups of mechanical legs work together to walk. The running trajectory of each group of mechanical legs is set in advance, so that the mechanical dog can simulate the walking of canines and improve the flexibility of the mechanical dog.

[0033] 8. Install the first steering mechanism and the second steering mechanism on both sides of the load-bearing plate. The first steering mechanism rotates in coordination with the first support frame, and the second steering mechanism rotates in coordination with the second support frame. Adjust the rotation speed of the first double-headed servo and the second double-headed servo, and drive the first support frame and the second support frame to rotate respectively through the first rotating shaft and the second rotating shaft, thereby realizing the steering of the mechanical dog.

[0034] 9. A battery module is installed on the load-bearing plate to enable the mechanical dog to walk long distances. A sensing module and a camera module are also installed on the load-bearing plate. When the mechanical dog encounters an obstacle, the sensing module detects the obstacle, or the camera module transmits the captured image to the driving module. The driving module is used to process the electrical signals of the sensing module and the camera module to determine whether there is an obstacle ahead, and to provide timely feedback to the voice module. The voice module is used to play a prompt tone and alert the people around. The driving module is used to prevent the mechanical dog from colliding with obstacles, and is also used to drive the first steering mechanism and the second steering mechanism to operate, drive the mechanical dog to achieve steering, and enable the mechanical dog to adapt to complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 Schematic diagram of a mechanical dog according to an embodiment of the present invention.

[0036] Figure 2 FIG. 1 is a schematic view of a first walking mechanism according to an embodiment of the present application.

[0037] Figure 3 FIG. 2 is a schematic view of a first mechanical leg according to an embodiment of the present application.

[0038] Figure 4 FIG. 3 is a schematic view of a connection between a connecting rod and a third connecting rod according to an embodiment of the present application.

[0039] Figure 5 FIG. 4 is a side view of the first mechanical leg according to an embodiment of the present application.

[0040] Figure 6 FIG. 5 is a top view of the first mechanical leg according to an embodiment of the present application.

[0041] Figure 7 FIG. 6 is a schematic view of a first support frame according to an embodiment of the present application.

[0042] Figure 8 FIG. 7 is a schematic view of a first steering mechanism and a second steering mechanism according to an embodiment of the present application.

[0043] BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 100, mechanical dog; 1, load bearing plate; 11, connecting plate; 2, first walking mechanism; 21, first mechanical leg; 211, first driving member; 212, second driving member; 22, second mechanical leg; 23, first support frame; 231, support plate; 232, support block; 233, frame body; 2331, first support rod; 2332, second support rod; 2333, long side; 2334, first hollow part; 234, connecting body; 2341, second hollow part; 2342, solid part; 235, first adapter plate; 236, mounting hole; 24, first leg part; 241, first connecting rod; 242, second connecting rod; 2421, first rod body; 2422, second rod body; 2423, connecting part; 25, second leg part; 251, third connecting rod; 252, fourth connecting rod; 26, through slot; 27, connecting sleeve; 28, rotating member; 29, bearing; 3, second walking mechanism; 31, third mechanical leg; 32, fourth mechanical leg; 33, second support frame; 331, second adapter plate; 4, battery module; 5, sensing module; 6, first steering mechanism; 61, first double-head steering engine; 62, first rotating shaft; 63, first connecting block; 7, second steering mechanism; 71, second double-head steering engine; 72, second rotating shaft; 73, second connecting block; 8, camera module. DETAILED DESCRIPTION

[0045] In order to facilitate the understanding of the present application, specific embodiments of the present application will be described in more detail below with reference to the accompanying drawings.

[0046] Unless otherwise specified or defined, the "first, second..." used in this article is only used to distinguish names and does not represent a specific quantity or order.

[0047] Unless stated otherwise or defined otherwise, the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0048] It should be noted that, in this document, “fixed to” or “connected to” may mean directly fixing or connecting to an element, or indirectly fixing or connecting to an element.

[0049] like Figures 1 to 8 As shown, a mechanical dog 100 includes: a load-bearing plate 1, a first walking mechanism 2 and a second walking mechanism 3, the first walking mechanism 2 and the second walking mechanism 3 are respectively installed on both sides of the load-bearing plate 1, the first walking mechanism 2 includes a first mechanical leg 21, a first support frame 23 and a second mechanical leg 22, the first mechanical leg 21 is installed at the first end of the first support frame 23, and the second mechanical leg 22 is installed at the second end of the first support frame 23; wherein, the first mechanical leg 21 includes a first driving member 211 and a first leg 24, the first driving member 211 is connected to the end of the first support frame 23, the top of the first leg 24 is installed on the output end of the first driving member 211, and the first leg 24 is bent. A first walking mechanism 2 and a second walking mechanism 3 are respectively provided on both sides of the load-bearing plate 1. The walking mechanism 2 includes a first mechanical leg 21 and a second mechanical leg 22. The first mechanical leg 21 and the second mechanical leg 22 cooperate with each other. The first mechanical leg 21 and the second mechanical leg 22 are respectively installed at the first end and the second end of the first support frame 23. The first mechanical leg 21 includes a first driving member 211 and a first leg 24. The first leg 24 is bent, and the top of the first leg 24 is installed on the output end of the first driving member 211. The first driving member 211 is used to drive the first leg 24 to rotate so that the first leg 24 walks on the ground. The first driving member 211 and the first leg 24 can be respectively installed at the four corners of the load-bearing plate, and by adjusting the speed and direction of the first driving member 211, the simulation of the limb movement of canine animals is realized, the flexibility of the mechanical dog 100 is improved, and rapid movement or walking is achieved.

[0050] The walking principle of this mechanical dog 100 is: first adjust the speed and direction of the first driving member 211 and the second driving member 212, the first driving member 211 rotates counterclockwise to realize the first leg 24 lifting the leg; the first driving member 211 rotates clockwise to realize the first leg 24 extending the leg; the second driving member 212 rotates counterclockwise to realize the second leg 25 extending the leg, and the second driving member 212 rotates clockwise to realize the second leg 25 lifting the leg; the different swinging arcs between the first driving member 211 and the second driving member 212 can make the first mechanical leg 21 have the action of extending or lifting the leg, and the two driving members cooperate with each other to realize the first mechanical leg 21 switching back and forth between extending and lifting the leg. On this basis, the second mechanical leg 22, the third mechanical leg 31 and the fourth mechanical leg 32 all have the same leg extension or leg lifting action as the first mechanical leg 21. When the first mechanical leg 21 is lifting its leg, the second mechanical leg 22 extends its leg to move the first walking mechanism 2 forward. Similarly, it can also be set so that the first mechanical leg 21 and the second mechanical leg 22 extend their legs at the same time, and the third mechanical leg 31 and the fourth mechanical leg 32 lift their legs at the same time, or the first mechanical leg 21 and the fourth mechanical leg 32 lift their legs at the same time, and the second mechanical leg 22 and the third mechanical leg 31 extend their legs at the same time, so that the mechanical dog 100 can simulate the walking style of canines.

[0051] In addition, the first mechanical leg 21 also includes a second driving member 212 and a second leg 25, and the output ends of the first driving member 211 and the second driving member 212 are arranged opposite to each other; the bottom of the first leg 24 and the bottom of the second leg 25 are rotatably matched to form a leg structure; the first leg 24 includes a first connecting rod 241 and a second connecting rod 242, and the second leg 25 includes a third connecting rod 251 and a fourth connecting rod 252, the third end of the first connecting rod 241 is rotatably matched with the fourth end of the third connecting rod 251, the fifth end of the first connecting rod 241 is rotatably matched with the sixth end of the second connecting rod 242, the seventh end of the third connecting rod 251 is rotatably matched with the eighth end of the fourth connecting rod 252, the ninth end of the second connecting rod 242 is connected to the output end of the first driving member 211, and the tenth end of the fourth connecting rod 252 is connected to the output end of the second driving member 212. The first driving member 211 and the second driving member 212 are arranged opposite to each other and are respectively connected to the top of the first leg 24 and the second leg 25, wherein the first driving member 211 is used to drive the first leg 24, and the second driving member 212 is used to drive the second leg 25; the bottoms of the first leg 24 and the second leg 25 rotate to cooperate to form a retractable leg structure, and the output ends of the first driving member 211 and the second driving member 212 can respectively apply forces in different directions, the first driving member 211 is used to make the leg structure simulate the action of extending the leg, and the second driving member 212 is used to make the leg structure simulate the action of lifting the leg. With the above structure, when the first mechanical leg 21 extends its leg forward, the second mechanical leg 22 lifts its leg forward; and by adjusting the rotation speed and direction of the first driving member 211 and the second driving member 212, the swing frequency of the leg structure is increased; further improving the similarity of the limb movement of the mechanical dog 100 to that of canine animals, and increasing the walking speed of the mechanical dog 100.

[0052] In this embodiment, the first drive element 211 and the second drive element 212 are servo motors. There are two ways to control forward and reverse rotation of a servo motor: 1. Forward pulse and reverse pulse (forward direction is forward, reverse direction is reverse). 2. Pulse plus direction: only one pulse sending terminal is connected, and a level signal is also connected to control the direction (one level for forward direction, one level for reverse direction). The rotor speed of a servo motor is controlled by the input signal and can respond quickly. In automatic control systems, it is used as an actuator and has characteristics such as a small electromechanical time constant, high linearity, and a starting voltage. It can convert the received electrical signal into an angular displacement or angular velocity output on the motor shaft.

[0053] Further, the first mechanical leg 21 further comprises a rotating piece 28 and a bearing 29, the end of the first connecting rod 241 is provided with a first shaft hole, the end of the third connecting rod 251 is provided with a second shaft hole, the two ends of the rotating piece 28 pass through the first shaft hole and the second shaft hole respectively, and one end of the rotating piece 28 is connected with the end of the first connecting rod 241, and the bearing 29 is installed in the second shaft hole and sleeved on the outer wall of the other end of the rotating piece 28. The rotating piece 28 is used to connect the ends of the first connecting rod 241 and the third connecting rod 251, and the rotating piece 28 is used to realize the rotating cooperation, the bearing 29 is sleeved on the rotating piece 28, the rotating friction between the first connecting rod 241 and the third connecting rod 251 is reduced, the end of the leg structure has smaller rotating friction, the movement of the leg structure is more smooth when the leg is lifted and stretched, and therefore, the rotating piece 28 and the bearing 29 are used in cooperation, so that the walking speed of the mechanical dog 100 is further improved.

[0054] Further, 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 piece are connected in series and form a rhombus structure, and the rhombus 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 in series and form a rhombus structure, the rotating speed and the rotating direction of the first driving piece 211 and the second driving piece 212 are adjusted, the rhombus structure is telescopic in the vertical direction or the horizontal direction, and the walking of the mechanical dog 100 is realized with the change of the rhombus structure.

[0055] Further, the end of the first connecting rod 241 or the third connecting rod 251 is in an arc structure, and the convex surface of the arc structure faces outward. Since the mechanical dog 100 needs to adapt to complex terrain, the ground generally has an arc or irregular groove in general, the leg structure is in an arc structure, the convex surface of the arc structure is in the groove, and the arc surface is not easily stuck in the groove, so that the adaptability of the mechanical dog 100 is improved.

[0056] Further, the first walking mechanism 2 is provided with a connecting sleeve 27, the connecting sleeve 27 is located between the first driving piece 211 and the second driving piece 212, the two ends of the connecting sleeve 27 are sleeved on the output end of the first driving piece 211 and the output end of the second driving piece 212 respectively and are in rotating cooperation with the output end; the connecting sleeve 27 is located between the first driving piece 211 and the second driving piece 212 and is sleeved on the output end of the first driving piece 211 and the second driving piece 212 respectively, the output end of the first driving piece 211 and the second driving piece 212 is an output shaft, the output shaft and the axis of the connecting sleeve 27 are coaxially arranged, the connecting sleeve 27 is used to limit the vibration amplitude of the output end of the first driving piece 211 or the second driving piece 212, improve the stability of the first driving piece 211 and the second driving piece 212 during rotation, and further improve the stability of the walking of the mechanical dog 100.

[0057] Further, the first connecting rod 241 and the third connecting rod 251 are each provided with a plurality of waist-shaped through grooves 26 arranged along the length direction of the first connecting rod 241 or the third connecting rod 251; the second connecting rod 242 comprises a first rod body 2421, a second rod body 2422 and two groups of connecting portions 2423, the two ends of the first rod body 2421 and the second rod body 2422 are respectively connected with the two groups of connecting portions 2423; the length direction of the first rod body 2421 intersects with the length direction of the second rod body 2422. The plurality of waist-shaped through grooves 26 arranged in the first connecting rod 241 and the third connecting rod 251 can reduce the self weight of the first leg portion 24 or the second leg portion 25, reduce the acting force of the leg lifting structure, and further reduce the power consumption of the leg portion structure when the leg portion is lifted and stretched, while meeting the support strength of the first leg portion 24 or the second leg portion 25; meanwhile, the second connecting rod 242 comprises the first rod body 2421, the second rod body 2422 and the two groups of connecting portions 2423, the connecting portions 2423 are used for rotatingly matching with the end portions of the first connecting rod 241, the first rod body 2421 and the second rod body 4222 are used for transmitting the output torque of the first driving member 211, so that the second connecting rod 242 transmits the acting force to the first connecting rod 241.

[0058] Further, the first support frame 23 comprises a support block 232 and two support plates 231, the end of the support plate 231 is connected with the first driving member 211 or the second driving member 212, the two support plates 231 are oppositely arranged, the support block 232 is located between the two support plates 231, and the two ends of the support block 232 are respectively installed on the inner sides of the two support 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, the end of the frame body 233 away from the connecting body 234 is provided with a mounting hole 236, the mounting hole 236 is used for mounting the first driving member 211 or the second driving member 212, the first support rod 2331 and the second support rod 2332 are arranged in the frame body 233, the first support rod 2331 is arranged in an inclined manner, the second support rod 2332 is perpendicular to the length direction of the frame body 233, the first support rod 2331, the second support rod 2332 and the long side 2333 of the frame body 233 form a first hollow part 2334, and the first hollow part 2334 is in the shape of a right triangle; the connecting body 234 is in the shape of a square, at least one side of the connecting body 234 is provided with a second hollow part 2341; and at least one side of the connecting body 234 is provided with a solid part 2342. The two support plates 231 and the support block 232 are adopted, so that the first mechanical leg 21 and the second mechanical leg 22 are respectively installed at the two ends of the two support plates 231, the two ends of the support plate 231 are used for supporting the first mechanical leg 21 and the second mechanical leg 22, and the stability of the first mechanical leg 21 and the second mechanical leg 22 in walking is improved; further, the first support rod 2331 and the second support rod 2332 are adopted to ensure the support strength of the support plate 231, the first hollow part 2334 in the shape of a triangle is arranged in the support plate 231, the second hollow part 2341 is arranged in the connecting body 234, the triangle has good stability, the hollow part is in a hollow structure, the self-weight of the support plate 231 can be reduced, the weight of the first mechanical leg 21 is reduced, and the walking power consumption of the mechanical dog 100 is further saved.

[0059] Further, the second walking mechanism 3 comprises a third mechanical leg 31, a second support frame 33 and a fourth mechanical leg 32, the second support frame 33 is installed on the side wall of the load-bearing plate 1, the third mechanical leg 31 is installed at the front end of the second support frame 33, and the fourth mechanical leg 32 is installed at the rear end of the second support 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 located at the four corners of the load-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 load-bearing plate 1, the four groups of mechanical legs are cooperatively walked, the running tracks of the groups of mechanical legs are set in advance, the speed difference of the groups of mechanical legs is determined, so that the mechanical dog 100 can simulate the walking of a canine, and the flexibility of the mechanical dog 100 is improved.

[0060] Further, 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 installed on both sides of the load-bearing plate 1, the first steering mechanism 6 is in rotary cooperation with the first support frame 23, and the second steering mechanism 7 is in rotary cooperation with the second support 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, the side wall of the first support frame 23 is provided with two first adapter plates 235, the first rotating shaft 62 is installed at the output end of the first double-head steering engine 61, and both 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 installed 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, the side wall of the second support frame 33 is provided with two second adapter plates 331, the second rotating shaft 72 is installed at the output end of the second double-head steering engine 71, and both 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 installed on the side wall of the second support frame 33; the front end and the rear end of the load-bearing plate 1 are respectively provided with a connecting plate 11, and the end of the connecting plate 11 is sleeved on the first rotating shaft 62 or the second rotating shaft 72.

[0061] The first steering mechanism 6 and the second steering mechanism 7 are installed on both sides of the load-bearing plate 1, the first steering mechanism 6 is in rotary cooperation with the first support frame 23, the second steering mechanism 7 is in rotary cooperation with the second support frame 33, the rotating speed of the first double-head steering engine 61 and the second double-head steering engine 71 is adjusted, 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 the embodiment, the first connecting block 63 and the second connecting block 73 are of the same shape, the middle part of the first connecting block 63 is provided with a gap for accommodating the first double-head steering engine 61, after the first rotating shaft 62 is installed at the output end of the first double-head steering engine 61, the first rotating shaft 62 respectively passes through both 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 support frame 23, the load bearing weight of the output end of the first double-head steering engine 61 or the second double-head steering engine 71 is reduced through the first connecting block 63, the first adapter plate 235 and the connecting plate 11, and the connection strength between the first support frame 23 or the second support frame 33 and the load-bearing plate 1 is improved, so that the first walking mechanism 2 or the second walking mechanism 3 is more stable during steering.

[0062] The turning principle of the mechanical dog 100 is that when the first mechanical leg 21, the second mechanical leg 22, the third mechanical leg 31 and the fourth mechanical leg 32 are coordinated to walk, the first turning mechanism 6 rotates the first support frame 23 clockwise, and the second turning mechanism 7 rotates the second support frame 7 counterclockwise, so that the footprints of the first mechanical leg 21, the second mechanical leg 22, the third mechanical leg 31 and the fourth mechanical leg 32 change. With the increase of the swing frequency of the first turning mechanism 6 and the second turning mechanism 7, each mechanical leg moves in small steps, and the moving frequency increases. Since each mechanical leg is moving constantly, the footprints of each mechanical leg change constantly, thereby realizing the turning of the mechanical dog 100.

[0063] In addition, the mechanical dog 100 further comprises a battery module 4, a driving module, a voice module, a camera module 8 and a sensing module 5. The battery module 4, the driving module, the voice module, the camera module 8 and the sensing module 5 are all installed on the load-bearing plate 1. The battery module 4 is electrically connected with the driving module. The driving module is electrically connected with the first walking mechanism 2, the second walking mechanism 3, the first turning mechanism 6 and the second turning mechanism 7 respectively. The driving module is also electrically connected with the voice module, the camera module 8 and the sensing module 5 respectively. The sensing range of the sensing module 5 covers the periphery of the load-bearing plate 1. The installation of the battery module 4 on the load-bearing plate 1 enables the mechanical dog 100 to walk for a long distance. The installation of the sensing module 5 and the camera module 8 on the load-bearing plate 1 enables the mechanical dog 100 to detect obstacles when it encounters obstacles. The sensing module 5 detects the obstacles, or the camera module 8 transmits the captured images to the driving module. The driving module processes the electrical signals of the sensing module 5 and the camera module 8 to determine whether there are obstacles in front of the mechanical dog 100, and timely feeds back to the voice module. The voice module plays a prompt sound and reminds the surrounding people. The driving module is used to avoid the mechanical dog 100 from colliding with obstacles, and is also used to drive the first turning mechanism 6 and the second turning mechanism 7 to move in a turning manner, so that the mechanical dog 100 realizes turning and improves the adaptability of the mechanical dog 100. The mechanical dog 100 can be used as a guide dog to assist the blind people to walk.

[0064] The above embodiments are not exhaustive enumeration based on the present application. In addition to the above, there can be many other unlisted embodiments. Any substitution and improvement made without violating the concept of the present application is within the protection scope of the present application.

Claims

1. A mechanical dog, characterized in that: include: load-bearing plates, The first walking mechanism, a second walking mechanism, wherein the first walking mechanism and the second walking mechanism are respectively mounted on both sides of the load-bearing plate, the first walking mechanism comprising a first mechanical leg, a first support frame and a second mechanical leg, the first mechanical leg being mounted on a first end of the first support frame, and the second mechanical leg being mounted on a second end of the first support frame; The first mechanical leg includes a first driving member and a first leg portion, the first driving member is connected to the end of the first support frame, the top of the first leg portion is installed on the output end of the first driving member, and the first leg portion is bent; The second walking mechanism includes a third mechanical leg, a second support frame and a fourth mechanical leg, the second support frame is mounted on the side wall of the load-bearing plate, the third mechanical leg is mounted on the front end of the second support frame, and the fourth mechanical leg is mounted on the 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 the four corners of the load-bearing plate; The mechanical dog further includes a first steering mechanism and a second steering mechanism, wherein the first steering mechanism and the second steering mechanism are respectively mounted on both sides of the load-bearing plate, the first steering mechanism is rotationally matched with the first support frame, and the second steering mechanism is rotationally matched with the second support frame; The first steering mechanism includes a first double-headed servo, a first rotating shaft and a first connecting block, the side wall of the first supporting frame is provided with two first adapter plates, the first rotating shaft is installed at the output end of the first double-headed servo, and the two ends of the first rotating shaft are respectively connected to the two first adapter plates, the first connecting block is sleeved on the first rotating shaft, and the side wall of the first connecting block is installed on the side wall of the first supporting frame; the second steering mechanism includes a second double-headed servo, a second rotating shaft and a second connecting block, the side wall of the second supporting frame is provided with two second adapter plates, the second rotating shaft is installed at the output end of the second double-headed servo, and the two ends of the second rotating shaft are respectively connected to 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 installed on the side wall of the second supporting frame; The front and rear ends of the load-bearing plate are respectively provided with connecting plates, and the ends of the connecting plates are sleeved on the first rotating shaft or the second rotating shaft; A notch for accommodating the first double-headed servo is provided in the middle of the first connecting block. The first rotating shaft is installed at the output end of the first double-headed servo and passes through both ends of the first connecting block respectively.

2. The mechanical dog according to claim 1, wherein: The first mechanical leg further includes a second driving member and a second leg portion, wherein the output ends of the first driving member and the second driving member are arranged opposite to each other; the bottom of the first leg portion and the bottom of the second leg portion are rotatably engaged to form a leg structure; The first leg includes a first connecting rod and a second connecting rod, the second leg includes a third connecting rod and a fourth connecting rod, the third end of the first connecting rod is rotatably engaged with the fourth end of the third connecting rod, the fifth end of the first connecting rod is rotatably engaged with the sixth end of the second connecting rod, the seventh end of the third connecting rod is rotatably engaged with the eighth end of the fourth connecting rod, the ninth end of the second connecting rod is connected to the output end of the first driving member, and the tenth end of the fourth connecting rod is connected to the output end of the second driving member.

3. The mechanical dog according to claim 2, characterized in that: The first mechanical leg also includes a rotating part and a bearing. The end of the first connecting rod is provided with a first axial hole, and the end of the third connecting rod is provided with a second axial hole. The first axial hole and the second axial hole are respectively used for the two ends of the rotating part to pass through, and one end of the rotating part is connected to the end of the first connecting rod. The bearing is installed in the second axial hole and is sleeved on the outer wall of the other end of the rotating part.

4. The mechanical dog according to claim 2, characterized in that: The first walking mechanism is provided with a connecting sleeve, which is located between the first driving member and the second driving member, and the two ends of the connecting sleeve are respectively sleeved on the output end of the first driving member and the output end of the second driving member, and rotated with the output ends.

5. The mechanical dog according to claim 2, characterized in that: The first connecting rod and the third connecting rod are both provided with a plurality of waist-shaped through grooves, and the plurality of through grooves are arranged along the length direction of the first connecting rod or the third connecting rod; the second connecting rod includes a first rod body, a second rod body and two groups of connecting parts, and the two ends of the first rod body and the second rod body are respectively connected to the two groups of connecting parts; the length direction of the first rod body intersects with the length direction of the second rod body.

6. The mechanical dog according to any one of claims 2 to 5, characterized in that: 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 arranged opposite to each other, the support block is located between the two support plates, and the two ends of the support block are respectively installed on the inner sides of the two support plates.

7. The mechanical dog according to claim 6, characterized in that: The support plate includes a connector and two groups of frames, the two groups of frames are connected by the connector, and a mounting hole is provided at one end of the frame away from the connector; a first support rod and a second support rod are provided in the frame, the first support rod is arranged obliquely, and the second support rod is perpendicular to the length direction of the frame, and a first hollow portion is formed between the first support rod, the second support rod and the long side of the frame, and the first hollow portion is a right triangle; The connector is in a cube shape, and at least one side of the connector is provided with a second hollow portion; at least one side of the connector is provided with a solid portion.

8. The mechanical dog according to claim 1, wherein: The mechanical dog also includes a battery module, a drive module, a voice module, a camera module and a sensing module. The battery module, drive module, voice module, camera module and sensing module are all installed on the load-bearing plate. The battery module is electrically connected to the drive module. The drive module is electrically connected to the first walking mechanism, the second walking mechanism, the first steering mechanism and the second steering mechanism respectively. The drive module is also electrically connected to the voice module, the camera module and the sensing module respectively. The sensing range of the sensing module covers all four sides of the load-bearing plate.

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