Robot dog for loading cargo grabbing manipulator

Abstract

The invention relates to the technical field of robots, in particular to a robot dog for loading a cargo grabbing manipulator, which comprises a robot dog formed by combining a head component, a body shell connecting body component, a limb connecting component and a mechanical arm connecting gripper, and is characterized in that a mechanical arm fixing seat is arranged on the body component; a round rotating disc is arranged on the mechanical arm fixing base, a first movable arm rod is connected to the round rotating disc, a second movable arm rod is connected to the top end of the first movable arm rod, and a grabbing mechanical arm is connected to the top end of the second movable arm rod. The round rotating disc, the first movable arm rod, the second movable arm rod and the grabbing mechanical arm are all connected with an intelligent control system to form a controllable mechanical body which is used for grabbing and moving goods in logistics and transportation of special terrains.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a robot dog with a loaded cargo grabbing manipulator. Background Art

[0002] Since the application of industrial robots in industrial production in the 1970s, robots have had a profound impact on the development of industrial production, labor productivity, labor market, and environmental engineering. Over the past few decades, robotics has developed at an astonishing speed. The first generation of robots has been widely used in production; the second generation of robots with perception has also made great breakthroughs; the research on the third generation of humanoid intelligent robots has become one of the high-tech frontier projects in many countries. In nuclear industry sites, maintenance of deep-sea oil platforms, mine clearance on the battlefield, ammunition transportation, fire fighting, etc., robots have great advantages over humans. Robots are also increasingly widely used in other industrial and agricultural fields.

[0003] Robot dogs and robotic arms both belong to the category of robots. Robot dogs are the most typical representatives of today's entertainment robots and are also the most widely watched robots. In addition to entertainment functions, some developers have begun to expand practical functions such as anti-theft alarm, search, and tracking on the original basis, which are similar to real dogs but stronger than real dogs. The "Aibo" robot dog developed by Sony and the "Shank" robot dog developed by a British company are tall, can run freely, can jump over high barriers, can play football with people, jump and turn over, and run sideways like crabs. In short, robot dogs have many uses, mainly including entertainment, education, security, search and rescue and emergency, military, logistics and transportation.

[0004] A manipulator is an automatic device that can imitate certain movements and functions of human hands and is used to grab, move objects or operate tools according to a fixed procedure. It can replace heavy human labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other sectors.

[0005] Since ancient times, in logistics and transportation, traditional cargo handling is generally carried out manually to designated transportation devices. With the continuous development of science and technology, some large robot dogs or manipulators are used to replace traditional cargo handling and delivery of items. Although the transportation efficiency is improved, both robot dogs and manipulators have their limitations in handling and transportation. They can only be used within the planned limited movement line area. For example, they can play a role in scenes such as warehouses or factories and become efficient logistics assistants. However, when robot dogs or manipulators are used in handling and transportation, such as in mountain construction, floors, and harsh environments, they are not intelligent enough and difficult to adapt to. The grabbing distance of the manipulator is fixed, and it can only be used to clamp and grab fixed-point moving goods. Once the goods are in special environments, they cannot be moved, grabbed, and transported. Therefore, the above-mentioned technical defects have high limitations when used alone. Summary of the invention

[0006] In view of this, in order to solve the above-mentioned technical defects that the use of a robot dog and a manipulator alone has high limitations, the present invention provides the following technical solutions to solve the technical problems: a robot dog loaded with a cargo grabbing manipulator, comprising a head component, a body shell component connected to a limb component, and a robot dog combined with a manipulator arm gripper, characterized in that: the body component is provided with a manipulator arm fixing seat, the manipulator arm fixing seat is provided with a circular turntable, the circular turntable is connected with a first movable arm rod, the top of the first movable arm rod is connected to a second movable arm rod, the top of the second movable arm rod is connected to a grabbing manipulator, the above-mentioned circular turntable, the first movable arm rod, the second movable arm rod, and the grabbing manipulator are all connected to an intelligent control system 9 to form a controllable mechanical body, which is used for grabbing and moving goods in special terrain logistics and transportation.

[0007] The robotic arm fixing seat includes: a base body, which is hinged on the robotic arm bearing seat of the robot dog to provide support and stability and bear the load force of the robotic arm and transmit it to the limbs. The circular turntable is installed on the base body, including: a circular turntable shell, a rotating motor, a reducer, a transmission gear device, and a damping device inside the device. It provides power, the reducer reduces speed and increases the output torque, allowing the arm to rotate in a 360-degree horizontal direction. The damping device has a built-in special friction plate and a sealing ring. The friction and compression between the rotating shaft and the disc generate a torque that hinders the rotation to achieve pause and stable positioning at any angle. The above combination is connected to an intelligent control system. When the motor is started, the rotational power output by the motor is transmitted to the circular turntable through the reducer and the transmission gear device, which is connected to control the speed and direction of the motor, so that the robotic arm can rotate in a 360-degree horizontal direction.

[0008] The first movable arm comprises: a first movable arm fixing seat, connected to a rotating joint mechanism, the rotating joint mechanism also comprises a motor, a reducer and a transmission device installed in a circular shell, connected to the first connecting rod body, connected to the first electric push rod and the first movable shaft of the second movable arm through a first hinge, connected to the second movable arm fixing seat, the above combination is connected to an intelligent control system, when the motor is started, the rotational power output by the motor is transmitted to the first movable arm through the reducer and the transmission device, and the speed and direction of the motor are controlled, so that the first movable arm can realize a rotational movement of 180 degrees in a vertical direction.

[0009] The second movable arm comprises: a second movable arm fixing seat, connected to the second movable arm rod body, and connected to the manipulator gripper fixing seat and the first electric push rod, and also includes the device's motor, reducer and screw transmission device. The above combination is connected to an intelligent control system. When the push rod motor is started, the rotational power output by the motor passes through the reducer and the screw transmission device to control the motor's rotation speed, thereby realizing the second movable arm's 180-degree rotational movement in the vertical direction relative to the first movable arm.

[0010] The manipulator gripper comprises: a fixed end of the manipulator gripper, connected to a basic body of the gripper body, connected to a planetary roller screw of a gripper motor, connected to a clamping end effector device, the clamping end effector device also comprises a clamping force transmission rod, and an actuator movable shaft, a flexible material clamping end and an actuator sensor, the above combination is connected to an intelligent control system, when the gripper motor is started, the rotational power output by the motor passes through a reducer and a screw transmission device, and is clamped or restored by the clamping force transmission rod, so that the clamping end effector device 82 can move to clamp and put down items.

[0011] The robotic arm fixing base, circular turntable, first movable arm rod, second movable arm rod and robotic gripper of the above-mentioned robotic arm are all connected to the intelligent control system and receive feedback and instructions from the control system. The sensor can sense the position, angle, strength and other information of the arm, and feed back these data to the intelligent control system. The control system is responsible for analyzing these data and issuing corresponding instructions to adjust the movement of the robotic arm. For example, when the robotic arm needs to grasp an object, the sensor will detect the position and shape of the object, and the controller will calculate the optimal grasping angle and strength to ensure that the robotic arm can complete the task safely and accurately.

[0012] The head component includes a square head shell component, the surface of which is equipped with a display screen for displaying various instructions, information or human-computer interaction, a camera, a radar group, and a head sensor for capturing image information, environmental perception, obstacle detection, and measuring distance and direction to help the robot dog to locate and navigate, so that the robot dog can respond accordingly according to the environment or the user's instructions, realize the perception, navigation and interaction functions of complex environments, and thus play a role in various application scenarios; the body shell fuselage component includes: an integrally formed rectangular body shell fuselage made of high-strength and lightweight aluminum alloy material, and an internal accommodating cavity of the fuselage, an intelligent control system and other components such as batteries, motors, etc. are installed inside the internal accommodating cavity of the fuselage, a movable head connection part, and a hip joint movable part. The force connection part, the robot arm bearing seat, and the above components are all connected to the head component, the limb component, the robot arm fixing seat, and the intelligent control system to realize various actions, such as the load-bearing transmission of the grasping force of the robot arm, to achieve stable and efficient movement stability and safety assurance; the limb component includes a first elbow motion component, connected to the first leg support, connected to the second elbow motion component, connected to the second leg support, and connected to the heel. Each limb is composed of three rotating joints, namely the hip joint, the knee joint and the heel joint. The rotation axis is parallel to the forward direction of the robot dog. The limb components have the same structure. The limbs realize various actions through motors and connecting rods, such as the load-bearing transmission support of the grasping force of the robot arm, walking, jumping and flipping, and can better disperse stress.

[0013] The intelligent control system includes a central processing control module, a power and motion control system module, a sensor module, and an execution controller. The intelligent control system controls and directs the mechanical dog and the mechanical arm to operate according to predetermined requirements through devices and electronic circuits or computers, and detects their correctness. Through continuous planning, detection, feedback and adjustment of output, it ensures that the mechanical dog and the mechanical arm are in a stable motion state, ensures that the output of force and torque just meets the actual power requirements of the limbs and arms, drives the mechanical dog and the mechanical arm through a controller or an APP on a wirelessly connected smart terminal device to achieve automation, and can remotely operate or control the mechanical dog and the mechanical arm.

[0014] The central processing control module includes: a CPU chip, an application installation package apk, an information output module, a communication module, a positioning and navigation module, a power module, and an IPS display screen. It adopts Android or its derivative operating system or other intelligent and expandable operating systems, and realizes the functional actions of the robot dog by calling apks of different functions. The apks of different functions contain the underlying "basic action code instruction library" to drive each joint to complete various actions: it also contains a "combined action code instruction library", which is a combination of basic action codes; the apks of different functions realize various functions by calling the "basic action code instruction library" and the "combined action code instruction library".

[0015] The information output module includes a voice output unit and an image output unit. The voice output unit is installed on both sides of the head. The image output unit is installed on the surface of the head component 1. The image output unit is an IPS display screen.

[0016] The communication module includes a wifi unit and a mobile phone control unit. The mobile phone control unit is installed on the top of the head component and is equipped with a switch. The wifi unit includes a wifi antenna, and the wifi antenna is arranged on the surface of the head component.

[0017] The positioning and navigation module comprises a binocular vision unit and an ultrasonic detection unit. Both the binocular vision unit and the ultrasonic detection unit are installed on the front end surface of the head. The binocular vision unit is a backlight infrared binocular camera.

[0018] The power module is installed on the inner surface of the body. The power module includes a charging unit and a lithium battery. The charging unit consists of a power supply end and a power receiving end. The input side of the power supply end is connected to the mains, the output side of the power supply end is connected to the input side of the power receiving end, and the output side of the power receiving end is connected to the lithium battery. The power supply end includes a signal generator, a power amplifier, a booster and a power supply electrode connected in sequence. The power receiving end includes a power receiving electrode, a buck, a rectifier filter and a voltage regulator connected in sequence. The input of the signal generator is the mains, the power supply electrode and the power receiving electrode are coupled to each other in the form of a capacitor, and the output end of the voltage regulator is connected to the lithium battery.

[0019] The power and motion control system module includes: a rotating motor, a reducer, a transmission gear device, and a damping device in the circular turntable of the robotic arm, a motor, a reducer and a transmission device in the rotating joint mechanism of the first movable arm, a first electric push rod power device on the second movable arm, a motor, a reducer and a screw transmission device of the robotic gripper device, a hip joint power motor, four elbow joint power motors, and four heel joint power motors of the limb assembly. The output ends of the above power and motion control are respectively connected to the central processing control module.

[0020] The sensor module includes: a gyroscope, a visual sensor, an accelerometer, a distance sensor, and a detection module to sense the motion state of the robot dog, such as posture and angular velocity, and convert the video signal around the robot dog into a digital signal to realize the visual system, measure the acceleration and speed of the robot dog, and control its motion. To sense the distance and obstacles around the robot dog, the detection module also includes an infrared sensor, a temperature and humidity sensor, an air quality sensor, and a power sensor. The sensors are all installed on the surface of the head component 1. The control system of the robot dog's mechanical arm senses the external environment and the state of the robot dog's mechanical arm itself through sensors, is responsible for processing the signals of the sensors and actuators, and realizes the control of the robot dog through algorithms.

[0021] The execution controller includes: a microcomputer, a software program, a robot dog power and motion control, a mechanical arm power and motion control, which can realize control operations on the movement and motion of the robot dog, such as head rotation, limb movement, etc., including a control program and a management interface, and performs signal processing and control operations through sensors and actuators. The management interface allows the operator to control the robot dog and realize functions such as remote control and real-time monitoring.

[0022] The above-mentioned existing mature robot dog technology makes it more convenient to grab and carry goods in a highly restricted environment by setting a fixed seat on the robot dog structure and setting a rotating device, a lifting device and a telescopic device to coordinate with each other through an intelligent control unit. The technology and functions support each other and greatly improve the work efficiency.

[0023] Beneficial effect: The benefit of the present invention lies in that: by arranging a rotating device, a lifting device and a telescopic device on the robot dog fixing seat, the goods can be easily grasped and carried, thereby improving work efficiency; the above-mentioned working process is controlled by an intelligent control unit, and the various functional units cooperate closely, with high work efficiency, thus solving the above-mentioned technical defects that the robot dog and the manipulator have high limitations when used alone. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of a robot dog master loaded with a cargo grabbing manipulator of the present invention;

[0025] Figure 2 A schematic diagram of the structure of a mechanical arm fixing seat according to an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the structure of the first movable arm and the second movable arm of the robot arm according to an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of the structure of a mechanical arm gripper according to an embodiment of the present invention;

[0028] Figure 5 A schematic diagram of the structure of the head, body, shell, fuselage and limbs of a robot dog according to an embodiment of the present invention;

[0029] Figure 6 Schematic diagram of the intelligent control system of the robot dog loaded with cargo grabbing manipulator according to the embodiment of the present invention;

[0030] The figure is marked as: head assembly 1, square head shell assembly 10, block display screen 11, camera 12, radar group 13, head sensor 14, body shell fuselage assembly 2, body shell fuselage 20, fuselage internal accommodating cavity 21, hip joint power connection part 23, mechanical arm bearing seat 24, limb assembly 3, first elbow moving part 30, first leg support 31, second elbow moving part 32, second leg support 33, foot root 34, mechanical arm gripper 4, mechanical arm fixing seat 40, circular turntable 5, motor 50, reducer 51, 52, damping device 53, first movable arm 6, rotating joint 61, first connecting rod body 62, first hinge 63, first movable shaft 64, second movable arm 7, second movable arm fixing seat 70, second rod body 71, second electric push rod 72, manipulator gripper 8, manipulator gripper fixed end 80, gripper body basic body 81, gripper motor planetary roller screw 82, clamping end effector device 82, clamping force transmission rod 83, actuator movable shaft 84, flexible material clamping Terminal 85, actuator sensor 86, intelligent control system 9, central processing control module 90, CPU chip 901, application installation package apk902, information output module 903, communication module 904, positioning navigation module 905, power module 906, IPS display screen 907, power and motion control system module 91, damping device 910, motor, reducer and transmission device 911 of the first movable arm rotating joint mechanism, first electric push rod power device 912 on the second movable arm , the motor, reducer and screw transmission device 913 of the manipulator grasper device, the hip joint power motor 914, the four elbow joint power motors 915, the four heel joint power motors 916 of the limb assembly, the sensor module 92, the gyroscope 920, the visual sensor 921, the accelerometer 922, the distance sensor 923, the detection module 924, the execution controller 93, the microcomputer 930, the software program 931, the robot dog power and motion control 932, the robotic arm power and motion control 933. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0032] like Figure 1As shown: A robot dog loaded with a cargo grabbing manipulator comprises a head component 1, a body shell component 2 connected to a limb component 3, and a robot arm grabber 4 to form a robot dog, characterized in that: the body component 2 is provided with a robot arm fixing seat 40, the robot arm fixing seat 40 is provided with a circular turntable 5, the circular turntable 5 is connected with a first movable arm 6, the top of the first movable arm 6 is connected with a second movable arm 7, the top of the second movable arm 7 is connected with a grabbing manipulator 8, the above-mentioned circular turntable, first movable arm, second movable arm, and grabbing manipulator are all connected to an intelligent control system 9 to form a controllable mechanical body, which is used for grabbing and moving goods in special terrain logistics and transportation.

[0033] like Figure 2 As shown: the robot arm fixing seat 4 includes: a base body 40, which is hinged on the robot dog's robot arm bearing seat 24 to provide support and stability and bear the load force of the robot arm and transmit it to the limbs. The circular turntable 5 is installed on the base body 40, including: a circular turntable shell 50, a rotating motor 51, a reducer 52, a transmission gear device 53, and a damping device 54. It provides power, the reducer slows down and increases the output torque, allowing the arm to rotate in a 360-degree horizontal direction. The damping device 53 has a built-in special friction plate and a sealing ring. The friction and compression between the rotating shaft and the disc generate a torque that hinders the rotation to achieve a pause and stable positioning at any angle. The above combination is connected to the intelligent control system 9. When the motor is started, the rotational power output by the motor is transmitted to the circular turntable through the reducer and the transmission gear device, and the speed and direction of the motor are connected to control the rotation speed and direction of the motor, so that the robot arm can be rotated in a 360-degree horizontal direction.

[0034] like Figure 3 As shown: the first movable arm 6 includes: a first movable arm fixing seat 60, connected to a rotating joint mechanism 61, the rotating joint mechanism 61 also includes a motor, a reducer and a transmission device installed in a round shell, connected to a first connecting rod body 62, connected to a first electric push rod 71 and a first movable shaft 64 of the second movable arm 7 through a first hinge 63, connected to the second movable arm fixing seat 70, the above combination is connected to an intelligent control system 9, when the motor is started, the rotational power output by the motor is transmitted to the first movable arm 6 through the reducer and the transmission device, and the speed and direction of the motor are controlled, so that the first movable arm 6 can realize a rotational movement of 180 degrees in a vertical direction.

[0035] like Figure 3As shown: the second movable arm 7 includes: a second movable arm fixing seat 70, connected to the second movable arm rod body 71, and connected to the manipulator grabber fixing seat 80 and the first electric push rod 72, and also includes the device's motor, reducer and screw transmission device. The above combination is connected to the intelligent control system 9. When the push rod motor is started, the rotational power output by the motor passes through the reducer and the screw transmission device to control the motor's speed, so that the second movable arm 7 can achieve a 180-degree rotational movement in the vertical direction relative to the first movable arm 6.

[0036] like Figure 4 As shown: the manipulator gripper 8 includes: a manipulator gripper fixed end 80, connected to a gripper body basic body 81, connected to a gripper motor planetary roller screw 82, connected to a clamping end effector device 82, the clamping end effector device 82 also includes a clamping force transmission rod 83, and an actuator movable shaft 84, a flexible material clamping end 85 and an actuator sensor 86. The above combination is connected to an intelligent control system 9. When the gripper motor is started, the rotational power output by the motor passes through the reducer and the screw transmission device, and is clamped or restored by the clamping force transmission rod, so that the clamping end effector device 82 can move to clamp and put down items.

[0037] like Figure 4 , 6 As shown: the robotic arm fixing base 4, circular turntable 5, first movable arm rod 6, second movable arm rod 7, and robotic gripper 8 of the above-mentioned robotic arm are all connected to the intelligent control system 9, receiving feedback and instructions from the control system. The sensor can sense the position, angle, strength and other information of the arm, and feed back these data to the intelligent control system. The control system is responsible for analyzing these data and issuing corresponding instructions to adjust the movement of the robotic arm. For example, when the robotic arm needs to grab an object, the sensor will detect the position and shape of the object, and the controller will calculate the optimal grabbing angle and strength to ensure that the robotic arm can complete the task safely and accurately.

[0038] like Figure 5As shown: the head component 1 includes a square head shell component 10, a display screen 11 is configured on the surface of the head shell component 10 for displaying various instructions, information or human-computer interaction, a camera 12, a radar group 13, and a head sensor 14 for capturing image information, environmental perception, obstacle detection, and measuring distance and direction to help the robot dog to locate and navigate, so that the robot dog can respond accordingly according to the environment or the user's instructions, realize the perception, navigation and interaction functions of complex environments, and thus play a role in various application scenarios; the body shell fuselage component 2 includes: an integrally formed rectangular body shell fuselage 20 made of high-strength and lightweight aluminum alloy, and an internal accommodating cavity 21 of the fuselage, the internal accommodating cavity 21 of the fuselage fuselage is equipped with an intelligent control system 9 and other components such as batteries, motors, electro-hydraulic servos and hydraulic actuators, etc., and a movable head connection Part 22, hip joint power connection part 23, robot arm bearing seat 24, the above components are all connected to the head component 1, the limb component 3, the robot arm fixing seat 4, and the intelligent control system 9 to realize various actions, such as the load-bearing transmission of the grasping force of the robot arm, to achieve stable and efficient movement stability and safety assurance; the limb component 3, including a first elbow motion component 30, connected to the first leg support 31, connected to the second elbow motion component 32, connected to the second leg support 33, connected to the heel 34, each limb is composed of three rotating joints, namely the hip joint, knee joint and heel joint, the rotation axis of which is parallel to the forward direction of the robot dog, the limb component 3 has the same structure, and the limbs realize various actions through motors and connecting rods, such as the load-bearing transmission support of the grasping force of the robot arm, walking, jumping and flipping, and can better disperse stress.

[0039] like Figure 6 As shown: the intelligent control system 9 includes a central processing control module 90, a power and motion control system module 91, a sensor module 92, and an execution controller 93. The intelligent control system 9 controls and directs the mechanical dog and the mechanical arm to operate according to predetermined requirements through devices and electronic circuits or computers, and detects their correctness. Through continuous planning, detection, feedback and adjustment of output, it ensures that the mechanical dog and the mechanical arm are in a stable motion state, ensures that the output of force and torque just meets the actual power requirements of the limbs and arms, drives the mechanical dog and the mechanical arm through a controller or a wireless connection to the APP on the smart terminal device to achieve automation, and can remotely operate or control the mechanical dog and the mechanical arm.

[0040] like Figure 6As shown: the central processing control module 90 includes: a CPU chip 901, an application installation package apk902, an information output module 903, a communication module 904, a positioning and navigation module 905, a power module 906, and an IPS display screen 907. It adopts Android or its derivative operating system or other intelligent and expandable operating systems, and realizes the functional actions of the robot dog by calling apk901 with different functions. The apk with different functions contains the underlying "basic action code instruction library" to drive each joint to complete various actions: it also contains a "combined action code instruction library", which is a combination of basic action codes; the apk with different functions realizes various functions by calling the "basic action code instruction library" and the "combined action code instruction library".

[0041] The information output module 903 includes a voice output unit 9030 and an image output unit 9031. The voice output unit 9030 is installed on both sides of the head, and the image output unit 9031 is installed on the surface of the head component 1. The image output unit 9031 is an IPS display screen.

[0042] The communication module 904 includes a wifi unit 9040 and a mobile phone control unit 9041. The mobile phone control unit 9041 is installed on the top of the head component 1 and is equipped with a switch. The wifi unit 9040 includes a wifi antenna, and the wifi antenna is arranged on the surface of the head component 1.

[0043] The positioning and navigation module 905 includes a binocular vision unit 9050 and an ultrasonic detection unit 9051. The binocular vision unit 9050 and the ultrasonic detection unit 9051 are both installed on the front end surface of the head. The binocular vision unit 9050 is a backlight infrared binocular camera.

[0044] The power module 906 is installed on the inner surface of the body. The power module 906 includes a charging unit 9060 and a lithium battery 9061. The charging unit consists of a power supply end and a power receiving end. The input side of the power supply end is connected to the mains, the output side of the power supply end is connected to the input side of the power receiving end, and the output side of the power receiving end is connected to the lithium battery. The power supply end includes a signal generator, a power amplifier, a booster and a power supply electrode connected in sequence. The power receiving end includes a power receiving electrode, a buck, a rectifier filter and a voltage regulator connected in sequence. The input of the signal generator is the mains, the power supply electrode and the power receiving electrode are coupled to each other in the form of a capacitor, and the output end of the voltage regulator is connected to the lithium battery.

[0045] like Figure 6As shown: the power and motion control system module 91 includes: a rotating motor, a reducer, a transmission gear device, and a damping device 910 in the circular turntable of the robotic arm, a motor, a reducer and a transmission device 911 installed in the rotating joint mechanism of the first movable arm, a first electric push rod power device 912 on the second movable arm, a motor, a reducer and a screw transmission device 913 of the robotic gripper device, a hip joint power motor 914 of the limb assembly, four elbow joint power motors 915, and four foot heel joint power motors 916. The output ends of the above power and motion control are respectively connected to the central processing control module 90.

[0046] like Figure 6 As shown: the sensor module 92 includes: gyroscope 920, visual sensor 921, accelerometer 922, distance sensor 923, and detection module 924, which sense the motion state of the robot dog, such as posture and angular velocity, convert the video signal around the robot dog into a digital signal, realize the visual system, measure the acceleration and speed of the robot dog, and control its motion. To sense the distance and obstacles around the robot dog, the detection module 924 also includes an infrared sensor, a temperature and humidity sensor, an air quality sensor, and a power sensor. The sensors are all installed on the surface of the head component 1. The control system of the robot dog's mechanical arm senses the external environment and the state of the robot dog's mechanical arm itself through sensors, is responsible for processing the signals of sensors and actuators, and realizes the control of the robot dog through algorithms.

[0047] like Figure 6 As shown: the execution controller 93 includes: a microcomputer 930, a software program 931, a robot dog power and motion control 932, and a mechanical arm power and motion control 933. The above can realize control operations on the movement and motion of the robot dog, such as head rotation, limb movement, etc., including a control program and a management interface, and performs signal processing and control operations through sensors and actuators. The management interface allows the operator to control the robot dog and realize functions such as remote control and real-time monitoring.

[0048] The above-mentioned existing mature robot dog technology makes it more convenient to grab and carry goods in a highly restricted environment by setting a fixed seat on the robot dog structure and setting a rotating device, a lifting device and a telescopic device to coordinate with each other through an intelligent control unit. The technology and functions support each other and greatly improve the work efficiency.

Claims

1. A robot dog with a cargo grabbing manipulator, comprising a head assembly (1), a body assembly (2) connected to a body shell, a limb assembly (3), and a mechanical arm gripper (4) connected to form a robot dog, characterized in that: The body trunk component (2) is provided with a mechanical arm fixing seat (40), the mechanical arm fixing seat (40) is provided with a circular turntable (5), the circular turntable (5) is connected with a first movable arm (6), the top end of the first movable arm (6) is connected with a second movable arm (7), the top end of the second movable arm (7) is connected with a grasping manipulator (8), the circular turntable, the first movable arm, the second movable arm, and the grasping manipulator are all connected with an intelligent control system (9) to form a controllable mechanical body, which is used for grasping and moving goods in special terrain logistics and transportation.

2. The robot dog loaded with a cargo grabbing manipulator according to claim 1, characterized in that: The mechanical arm fixing seat (4) comprises: a base body (40) which is hinged on the mechanical arm bearing seat (24) of the robot dog to provide support and stability and bear the load force of the mechanical arm and transmit it to the limbs. The circular turntable (5) is installed on the base body (40) and comprises: a circular turntable shell (50), a rotating motor (51) installed therein, a reducer (52), a transmission gear device (53), and a damping device (54). The damping device (54) provides power, and the reducer reduces speed and increases output torque, allowing the arm to rotate in a 360-degree horizontal direction. The damping device (54) generates a torque that hinders rotation by friction and compression between the rotating shaft and the disk through the built-in special friction plate and sealing ring to achieve pause and stable positioning at any angle. The above combination is connected to an intelligent control system (9). When the motor is started, the rotational power output by the motor is transmitted to the circular turntable through the reducer and the transmission gear device. The rotation speed and direction of the motor are controlled, so that the mechanical arm can rotate in a 360-degree horizontal direction.

3. The robot dog loaded with a cargo grabbing manipulator according to claim 1, characterized in that: The first movable arm (6) comprises: a first movable arm fixing seat (60) connected to a rotating joint mechanism (61), and also comprises a motor, a reducer and a transmission device arranged in a round shell, connected to a first connecting rod body (62), a first electric push rod (71) connected to the second movable arm (7) via a first hinge (63) and a first movable shaft (64) connected to the second movable arm fixing seat (70), the above combination is connected to an intelligent control system (9), when the motor is started, the rotational power output by the motor is transmitted to the first movable arm through the reducer and the transmission device, the rotation speed and direction of the motor are controlled, and the first movable arm (6) can realize a rotational movement of the first movable arm (6) in a 180-degree vertical direction.

4. The robot dog loaded with a cargo grabbing manipulator according to claim 1, characterized in that: The second movable arm (7) comprises: a second movable arm fixing seat (70) connected to the second movable arm rod body (71), and connected to the manipulator gripper fixing seat (80) and the first electric push rod (72), and also comprises a device motor, a reducer and a screw transmission device, the above combination is connected to the intelligent control system (9), when the push rod motor is started, the rotational power output by the motor passes through the reducer and the screw transmission device to control the rotation speed of the motor, so that the second movable arm (7) can realize a 180-degree rotational movement in a direction perpendicular to the first movable arm (6).

5. The robot dog loaded with a cargo grabbing manipulator according to claim 1, characterized in that: The manipulator gripper (8) comprises: a manipulator gripper fixed end (80), connected to a gripper body basic body (81), connected to a gripper motor planetary roller screw (82), connected to a clamping end effector device (82), the clamping end effector device (82) further comprising a clamping force transmission rod (83), a movable rotating shaft (84), a flexible material clamping end (85) and a sensor (86), the above combination is connected to an intelligent control system (9), when the gripper motor is started, the rotational power output by the motor passes through a reducer and a screw transmission device, and is clamped or returned by the clamping force transmission rod, so that the clamping end effector device (82) can move to clamp and put down objects.

6. The robot dog loaded with a cargo grabbing manipulator according to claims 2-5, characterized in that: The mechanical arm fixing base (4), the circular turntable (5), the first movable arm (6), the second movable arm (7), and the mechanical arm grasper (8) of the above-mentioned mechanical arm are all connected to the intelligent control system (9) to receive feedback and instructions from the control system. The sensor can sense information such as the position, angle, and strength of the arm, and feed this data back to the intelligent control system. The control system is responsible for analyzing this data and issuing corresponding instructions to adjust the movement of the mechanical arm. When the mechanical arm needs to grasp an object, the sensor will detect the position and shape of the object, and the controller will calculate the optimal grasping angle and strength to ensure that the mechanical arm can complete the task safely and accurately.

7. The robot dog loaded with a cargo grabbing manipulator according to claim 1, characterized in that: The head assembly (1) comprises a square head shell assembly (10), the surface of which is provided with a display screen (11) for displaying various instructions, information or performing human-computer interaction, a camera (12), a radar group (13), and a head sensor (14) for capturing image information, environmental perception, obstacle detection, and measuring distance and direction to help the robot dog to locate and navigate, so that the robot dog can respond accordingly according to the environment or the user's instructions, realize the perception, navigation and interaction functions of complex environments, and thus play a role in various application scenarios; the body shell fuselage assembly (2) comprises: an integrally formed rectangular body shell fuselage (20) made of high-strength and lightweight aluminum alloy, and an internal accommodating cavity (21) of the fuselage, the internal device of the internal accommodating cavity (21) of the fuselage fuselage is an intelligent control system (9) and other components such as batteries, motors, etc., and a movable head connecting part (22), The hip joint power connection part (23), the robot arm bearing seat (24), and the above components are all connected to the head component (1), the limb component (3), the robot arm fixing seat (4), and the intelligent control system (9) to realize various actions, such as the load-bearing transmission of the grasping force of the robot arm, to achieve stable and efficient movement stability and safety; the limb component (3) includes a first elbow motion component (30), connected to the first leg support (31), connected to the second elbow motion component (32), connected to the second leg support (33), and connected to the heel (34), each limb consists of three rotating joints, namely the hip joint, the knee joint and the heel joint, the rotation axis of which is parallel to the forward direction of the robot dog, the limb component (3) has the same structure, and the limbs realize various actions through motors and connecting rods, such as the load-bearing transmission support of the grasping force of the robot arm, walking, and can better disperse stress.

8. The robot dog loaded with a cargo grabbing manipulator according to claim 1, characterized in that: The intelligent control system (9) comprises a central processing control module (90), a power and motion control system module (91), a sensor module (92), and an execution controller (93). The intelligent control system (9) controls and directs the mechanical dog and the mechanical arm to operate according to predetermined requirements through devices and electronic circuits or computers, and detects their correctness. Through continuous planning, detection, feedback and output adjustment, the mechanical dog and the mechanical arm are ensured to be in a stable motion state, and the output of force and torque is ensured to meet the actual power requirements of the limbs and the arm just right. The mechanical dog and the mechanical arm are driven by the controller or the APP on the wirelessly connected intelligent terminal device to achieve automation, and the mechanical dog and the mechanical arm can be remotely operated or controlled.

9. The robot dog loaded with a cargo grabbing manipulator according to claim 8, characterized in that: The central processing control module (90) further comprises: a CPU chip (901), an application installation package apk (902), an information output module (903), a communication module (904), a positioning and navigation module (905), a power module (906), and an IPS display screen (907). It adopts Android or its derivative operating system or other intelligent and extensible operating systems, and implements the functional actions of the robot dog by calling apks (901) with different functions. The apks with different functions contain a bottom-level "basic action code instruction library" to drive each joint to complete various actions; and also contain a "combined action code instruction library", which is a combination of basic action codes; the apks with different functions implement various functions by calling the "basic action code instruction library" and the "combined action code instruction library". The information output module (903) comprises a voice output unit (9030) and an image output unit (9031); the voice output unit (9030) is mounted on both sides of the head; the image output unit (9031) is mounted on the surface of the head component (1); and the image output unit (9031) is an IPS display screen; The communication module (904) comprises a wifi unit (9040) and a mobile phone control unit (9041); the mobile phone control unit (9041) is mounted on the top of the head component (1) and is provided with a switch; the wifi unit (9040) comprises a wifi antenna, and the wifi antenna is arranged on the surface of the head component (1); The positioning and navigation module (905) comprises a binocular vision unit (9050) and an ultrasonic detection unit (9051), wherein the binocular vision unit (9050) and the ultrasonic detection unit (9051) are both installed on the front end surface of the head, and the binocular vision unit (9050) is a backlight infrared binocular camera; The power module (906) is installed on the inner surface of the body, and the power module (906) includes a charging unit (9060) and a lithium battery (9061). The charging unit consists of a power supply end and a power receiving end. The input side of the power supply end is connected to the mains, the output side of the power supply end is connected to the input side of the power receiving end, and the output side of the power receiving end is connected to the lithium battery. The power supply end includes a signal generator, a power amplifier, a booster, and a power supply electrode connected in sequence. The power receiving end includes a power receiving electrode, a buck, a rectifier filter, and a voltage stabilizer connected in sequence. The input of the signal generator is the mains, the power supply electrode and the power receiving electrode are coupled to each other in a capacitor form, and the output end of the voltage stabilizer is connected to the lithium battery. The power and motion control system module (91) comprises: a rotating motor, a reducer, a transmission gear device, and a damping device (910) in the circular turntable of the robotic arm, a motor, a reducer and a transmission device (911) in the rotating joint mechanism of the first movable arm, a first electric push rod power device (912) on the second movable arm, a motor, a reducer and a screw transmission device (913) of the robotic gripper device, a hip joint power motor (914) of the limb assembly, four elbow joint power motors (915), and four foot heel joint power motors (916), and the output ends of the above power and motion control are respectively connected to the central processing control module (90); The sensor module (92) includes: a gyroscope (920), a visual sensor (921), an accelerometer (922), a distance sensor (923), and a detection module (924), which can sense the motion state of the robot dog and the robot arm, such as posture and angular velocity, convert the video signal around the robot dog into a digital signal, measure the acceleration and velocity of the robot dog and the robot arm, and control their motion; The detection module (924) includes an infrared sensor, a temperature and humidity sensor, an air quality sensor, and a power sensor. The above sensors are all installed on the surface of the head component (1). The control system of the robot dog and the robot arm senses the external environment and the status of the robot dog and the robot arm through the sensors, is responsible for processing the signals of the sensors and actuators, and realizes the control of the robot dog and the robot arm through algorithms; The execution controller (93) includes: a microcomputer (930), a software program (931), a power motor (932) of the robot arm, and a power motor (933) for controlling the hip joint, elbow joint and heel joint of the robot dog. It supports multi-threading and concurrent programming and is controlled and managed through software, including a control program and a management interface. Signal processing and control operations are performed through sensors and actuators. The management interface allows control of the robot dog and the robot arm to achieve functions such as remote control and real-time monitoring.

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