Robot dog capable of switching walking modes

Abstract

The invention relates to a robot dog with a walking mode switching function in the technical field of robots, the robot dog comprises a machine body, mechanical legs and a control system, each mechanical leg comprises a driving device, a thigh and a shank, and the hip of each thigh is connected with an output shaft of the driving device through a connecting mechanism; the thigh knee joint end and the shank knee joint end are rotationally connected with rotating shafts, and the shaft bodies of the rotating shafts are rotationally sleeved with advancing wheels which are connected with an output shaft of the driving device through a transmission device. According to the invention, a wheel running advancing mode and a foot type advancing mode can be realized only by using one set of driving device, so that the structure is simplified, and miniaturization and lightness of the mechanical leg are facilitated.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a robot dog capable of switching walking modes. Background Art

[0002] Common robots are divided into two types: wheeled robots and legged robots; wheeled robots are robots that use wheels for movement; legged robots are robots that use bipedal, quadrupedal or hexapodal movements.

[0003] In order to meet the needs of robots that have both wheel motion and foot motion, wheel-foot composite robots have emerged, which have two operating modes, wheel-foot composite quadruped robot and foot-foot composite quadruped robot, for example, a wheel-foot composite quadruped robot disclosed in the Chinese patent with publication number CN210133202U; for example, a wheel-foot composite biped robot disclosed in the Chinese patent with publication number CN113443042B, however, this robot has two sets of drive devices for the two operating modes, the first set of drive devices is used to drive the mechanical legs to move in foot motion, and the second set of drive devices is used to drive the traveling wheels to move in wheel motion, and the arrangement of the two sets of drive devices makes the mechanical leg structure complex. And this robot also has another defect: in the process of using the foot-type operating mode, when the corresponding drive device fails due to various reasons, the robot's mechanical legs lack braking constraints and lose their support ability, and the body falls under the action of gravity, extending to collide with the ground, and there is a risk of breaking.

[0004] However, existing brakes, such as electromagnetic brakes, are mostly installed on the input or output shaft of the reducer. The installation achieves braking by controlling the electromagnetic brake. However, electromagnetic brakes mostly achieve braking by locking the brake disc with the brake pad, which has low transmission efficiency and low braking sensitivity, and cannot completely avoid the risk of collision between the machine body and the ground.

[0005] To this end, we designed a robot dog with the ability to switch walking modes. Summary of the invention

[0006] In order to overcome the deficiencies in the background technology, the present invention discloses a robot dog with switchable walking modes.

[0007] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme: A robot dog with switchable walking modes comprises a body, a mechanical leg and a control system, wherein the mechanical leg comprises a driving device, a thigh and a calf, wherein the thigh hip is connected to an output shaft of the driving device through a connecting mechanism; a rotating shaft is rotatably connected to a thigh knee joint end and a calf knee joint end, and a traveling wheel is rotatably sleeved on the rotating shaft body, and the traveling wheel is connected to the output shaft of the driving device through a transmission device; The shaft body sliding sleeve is provided with a step sliding sleeve and a traction sleeve fixed thereon, the large end of the step sliding sleeve is provided with a latch that can be inserted into the end face of the traveling wheel, the small end of the step sliding sleeve corresponds to the traction sleeve, and the step sliding sleeve is also slidably connected to the lower leg; The connection mechanism comprises a fixed sleeve, a sliding pin slidably connected to the thigh hip, a compression spring is provided at the tail end of the sliding pin to facilitate the head end of the sliding pin to cooperate with the output shaft of the driving device, and a radial insertion hole and a locking convex ridge are provided on the body of the sliding pin; the fixed sleeve is fixedly connected to the machine body, and a first locking groove part matching with the locking convex ridge is provided on the inner annular surface; The thigh is provided with a latch structure movable along its length direction; In the mode in which the upper end of the latch structure is inserted into the radial insertion hole of the sliding pin and the lower end is separated from the step surface of the stepped sleeve, the engaging ridge is fixedly connected to the first slot portion, the sliding pin is not connected to the output shaft of the driving device, and the stepped sleeve is not connected to the traveling wheel; When the upper end of the latch structure is pulled out of the radial insertion hole of the sliding pin and the lower end contacts the step surface of the stepped sleeve, the engaging ridge is not connected to the first slot, the sliding pin is fixedly connected to the output shaft of the driving device, and the stepped sleeve is fixedly connected to the traveling wheel.

[0008] Preferably, the latch structure comprises a linear motor connected for sliding along the length direction of the thigh, the moving part of the linear motor is provided with a double-ended plug rod, the lower end of the double-ended plug rod is a U-shaped plug, the two ends of the U-shaped plug open end and the upper end of the double-ended plug rod are both wedge-shaped.

[0009] Preferably, a ball bearing is provided on one side of the step surface of the U-shaped plug corresponding to the step sleeve.

[0010] Preferably, the connecting mechanism also includes a first shaft and a second shaft, one end of the first shaft is fixedly connected to the thigh hip, and the other end surface is provided with two sliding holes spaced apart along the insertion direction of the pin structure; the head end of the sliding pin is conical, and the tail end is inserted into the corresponding sliding hole; one end of the second shaft is fixedly connected to the output shaft of the driving device, and the other end surface is evenly provided with a plurality of insertion holes for the head end of the sliding pin to be inserted.

[0011] Preferably, the head end of the sliding pin is conical; the inner annular surface of the fixing sleeve is also provided with a second slot portion cooperating with the engaging ridge, so that the sliding pin, under the action of the compression spring, makes the head end of the sliding pin cooperate with the corresponding insertion hole and the engaging ridge cooperate with the second slot portion; the distance between the second slot portion and the first slot portion is greater than the length of the engaging ridge; The engaging ridge is located on a side of the sliding pin away from the center of the first axis.

[0012] Preferably, an extension piece is provided on one side of the step sliding sleeve corresponding to the calf, and the calf is provided with a guide rod which slides through the extension piece.

[0013] Preferably, the fixing sleeve is provided with clearance gaps at positions corresponding to both sides of the transmission device.

[0014] Preferably, the thigh or calf is provided with an adsorption member for adsorbing the calf or thigh, and the adsorption member adsorbs the calf or thigh in a mode in which the upper end of the latch structure is inserted into the radial insertion hole of the sliding pin and the lower end is separated from the step surface of the stepped sleeve.

[0015] Preferably, a foot is provided at the ankle joint end of the calf.

[0016] Preferably, in a mode in which the upper end of the latch structure is inserted into the radial insertion hole of the slide pin and the lower end is disengaged from the step surface of the stepped sleeve, the thigh is in a vertical posture.

[0017] Due to the adoption of the above-mentioned technical solution, the present invention has the following beneficial effects: 1. In the mode where the upper end of the latch structure is inserted into the radial insertion hole of the sliding pin and the lower end is separated from the step surface of the step sleeve, the sliding pin moves to its tail end under the action of the latch structure and squeezes the compression spring. At this time, the sliding pin is separated from the output shaft of the driving device, and the thigh does not rotate; at the same time, the output shaft of the driving device drives the traveling wheel to rotate through the transmission device. Since the step sleeve loses the restriction of the latch structure, it moves away from and separates from the traveling wheel under the action of the traction sleeve, so that the rotation of the traveling wheel cannot drive the step sleeve to rotate, and then the calf does not rotate, realizing the traveling mode of wheel operation; When the upper end of the latch structure is pulled out of the radial insertion hole of the sliding pin and the lower end contacts the step surface of the ladder sleeve, the sliding pin loses the restriction of the latch structure and moves in the direction of the output shaft of the driving device under the action of the compression spring and cooperates with the output shaft of the driving device. At this time, the thigh can rotate along with the rotation of the output shaft of the driving device; at the same time, the output shaft of the driving device drives the traveling wheel to rotate through the transmission device. Since the latch structure squeezes the step surface of the ladder sleeve, the large end of the squeezed ladder sleeve is close to the traveling wheel, so that the latch is inserted into the traveling wheel, so that the ladder sleeve can rotate along with the rotation of the traveling wheel, and then drive the calf to rotate, realizing the foot-type traveling mode; on the whole, the robot dog only uses one set of driving devices to realize the wheel-operated traveling mode and the foot-type traveling mode, which simplifies the structure and is conducive to the miniaturization and lightness of the mechanical legs; 2. The head end of the sliding pin is tapered and the second slot portion is set. In the mode in which the radial insertion hole of the sliding pin is pulled out of the upper end of the latch structure and the lower end contacts the step surface of the stepped sleeve, due to the rotation of the second shaft, the insertion hole cooperates with the inclined surface of the head end of the sliding pin, and the sliding pin tends to move in the direction away from the second shaft. The sliding pin drives the engaging ridge to disengage from the second slot portion and move to a position between the second slot portion and the first slot portion. At this time, the force of the insertion hole on the head end of the sliding pin and the elastic force of the compression spring on the sliding pin are balanced, and the axial position of the sliding pin is relatively stable, so that the driving device can pass through the second shaft It drives the first shaft to rotate, and then drives the thigh to rotate, thereby realizing the foot-type walking mode; at the same time, when the driving device fails and can no longer provide power, the insertion hole no longer applies force to the head end of the sliding pin. At this time, under the action of the compression spring, the head end of the sliding pin is inserted into the corresponding insertion hole, and the engaging ridge enters the second groove area. The second groove limits the circular motion of the sliding pin, so that the first shaft no longer rotates. At this time, the thigh will not rotate, which prevents the body from colliding with the ground. Compared with the brake, no additional control is required, the transmission efficiency is high, and the braking sensitivity is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention in the foot-type traveling mode; Figure 2 It is a schematic diagram of the structure of the present invention in the wheel running travel mode; Figure 3 It is a schematic diagram of the structure of the mechanical leg in the present invention; Figure 4 It is a structural schematic diagram of the mechanical leg of the present invention from another perspective; Figure 5 It is a schematic diagram of the exploded structure of the mechanical leg in the present invention; Figure 6 A schematic diagram of the exploded structure of the mechanical leg of the present invention from another perspective; Figure 7 It is a schematic diagram of another structure of the fixing sleeve in the present invention; Figure 8 It is a cross-sectional view of the connecting mechanism of the present invention in the wheel running travel mode; Fig. 9 is a cross-sectional view of the connection mechanism of the present invention in the foot-type travel mode; Fig.10 A cross-sectional view of the connection mechanism of the present invention when the driving device is not in operation in the foot-type travel mode; Fig.11 It is a cross-sectional view of the cooperation between the lower leg, the rotating shaft and the traveling wheel in the wheel running traveling mode of the present invention; Fig.12 It is a cross-sectional view of the cooperation between the lower leg, the rotating shaft and the traveling wheel in the foot-type traveling mode of the present invention.

[0019] In the figure: 1. body; 2. mechanical leg; 21. driving device; 22. thigh; 23. calf; 231. guide rod; 24. connecting mechanism; 241. fixing sleeve; 2411. first slot; 2412. second slot; 242. sliding pin; 243. compression spring; 244. engaging ridge; 246. first axis; 2461. sliding hole; 247. second axis; 25. rotating shaft; 26. traveling wheel; 27. transmission device; 28. step sliding sleeve; 281. latch; 282. extension sheet; 29. ​​traction sleeve; 210. foot; 3. latch structure; 31. linear motor; 32. double-headed plug rod; 33. ball bearing; 4. adsorption part. DETAILED DESCRIPTION

[0020] The present invention can be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "back", "left", "right", etc. indicating directions or positional relationships, they only correspond to the drawings of the present application and are for the convenience of describing the present invention; it should be understood that if there are terms such as "end", "side", "end portion", "lateral", "lateral", "transverse", "longitudinal", etc. indicating directions or positional relationships, they only correspond to the length and width of the corresponding components, that is, the "end portion" indicates the head and tail areas in the length direction of the corresponding component, and the "side portion" indicates the head and tail areas in the width direction of the corresponding component; this is for the convenience of describing the present invention and is not to indicate or imply that the device or element referred to must have a specific direction.

[0021] Embodiment 1, in combination with the attached Figure 1-2 A robot dog with switchable walking modes includes a body 1, mechanical legs 2 and a control system. As needed, the mechanical legs 2 are provided with four front, back, left and right legs; as needed, the control system is provided in the body 1, which is not specifically limited here.

[0022] Combined with Figure 3-68-10, the mechanical leg 2 includes a driving device 21, a thigh 22 and a calf 23. As needed, the driving device 21 is a servo motor; the hip of the thigh 22 is connected to the output shaft of the driving device 21 through a connecting mechanism 24; the knee joint end of the thigh 22 and the knee joint end of the calf 23 are both rotatably connected with a rotating shaft 25, that is, the rotating shaft 25 is rotatably connected to the knee joint end of the thigh 22, and is also rotatably connected to the knee joint end of the calf 23. Schematically, the rotating shaft 25 is connected to the knee joint end of the thigh 22 and the knee joint end of the calf 23 through a bearing. A traveling wheel 26 is rotatably sleeved on the shaft body of the rotating shaft 25, and the traveling wheel 26 is connected to the output shaft of the driving device 21 through a transmission device 27; schematically, the rotating shaft 25 is rotatably connected to the traveling wheel 26 through a bearing; schematically, a tire is provided on the outer side of the rim of the traveling wheel 26 to improve the vibration reduction performance, and the hub of the traveling wheel 26 protrudes outward for connection with the transmission device 27; schematically, the transmission device 27 is a belt group or a chain group, and the belt group is taken as an example for explanation; the pulley at one end of the belt is fixedly sleeved on the output shaft of the driving device 21, and the pulley at the other end is fixedly sleeved on the hub of the traveling wheel 26.

[0023] As required, when the pulley corresponding to the output shaft of the driving device 21 is located inside the fixing sleeve 241 , the fixing sleeve 241 is provided with clearance gaps at positions on both sides of the corresponding transmission device 27 , so that the belt passes through the corresponding clearance gaps.

[0024] Combined with Figure 3-6 and 11-12, the shaft body sliding sleeve of the rotating shaft 25 is provided with a stepped sleeve 28 and a traction sleeve 29 fixed thereon. It should be noted that: the outer annular surface of the stepped sleeve 28 has a stepped surface; the large end of the stepped sleeve 28 is provided with a pin 281 which can be inserted into the end face of the traveling wheel 26. Schematically, the pin 281 can be in the shape of a cylindrical rod, a conical rod, etc., as long as the stepped sleeve 28 can rotate with the traveling wheel 26 after the pin 281 is inserted into the end face of the traveling wheel 26, and no specific limitation is made here. The small end of the step sleeve 28 corresponds to the traction sleeve 29. It should be noted that the traction sleeve 29 can pull the step sleeve 28, that is, when the step sleeve 28 is not restricted by the latch structure 3, the step sleeve 28 can move to the side away from the traveling wheel 26 under the action of the traction sleeve 29, so that the step sleeve 28 is separated from the traveling wheel 26; according to needs, the traction sleeve 29 can be a magnet that can absorb the step sleeve 28, or it can have a tension spring structure, and the step sleeve 28 is pulled by the action of the tension spring. The step sleeve 28 is also slidably connected to the lower leg 23. Schematically, the step sleeve 28 is provided with an extension piece 282 on one side corresponding to the calf 23, and the calf 23 is provided with a guide rod 231 that slides through the extension piece 282; as required, the guide rod 231 can also be implemented by fixing one end to the extension piece 282 and sliding the other end through the calf 23. It should be noted that whether the guide rod 231 penetrates the calf 23 is set according to the thickness of the calf 23 and the moving distance of the step sleeve 28. No specific limitation is made here.

[0025] Combined with Figure 3-6 and 8-10, the connecting mechanism 24 includes a fixed sleeve 241, a sliding pin 242 slidably connected to the hip of the thigh 22, a compression spring 243 is provided at the tail end of the sliding pin 242 to facilitate the cooperation of the head end of the sliding pin 242 with the output shaft of the driving device 21, and the pin body of the sliding pin 242 is provided with a radial socket and a snap-fit ​​ridge 244; the fixed sleeve 241 is fixedly connected to the body 1, and the inner annular surface is provided with a first slot portion 2411 which cooperates with the snap-fit ​​ridge 244; it should be noted that: the slot portion is annular, and a plurality of slots which can cooperate with the snap-fit ​​ridge 244 are evenly provided along the circumference.

[0026] Combined with Figure 4-6 The thigh 22 is provided with a latch structure 3 that is movable along its length direction; schematically, the latch structure 3 includes a linear motor 31 that is slidably connected along the length direction of the thigh 22, and the moving part of the linear motor 31 is provided with a double-headed plug rod 32, and the lower end of the double-headed plug rod 32 is a U-shaped plug, and both ends of the open end of the U-shaped plug and the upper end of the double-headed plug rod 32 are wedge-shaped: It should be noted that: the inner width of the U-shaped plug is greater than the outer diameter of the small diameter section of the step sleeve 28, and is smaller than the outer diameter of the large diameter section of the step sleeve 28, that is, the step sleeve 28 can move toward the side of the traveling wheel 26 under the action of the U-shaped plug, so that the latch 281 is inserted into the traveling wheel 26; It should be noted that: the traveling wheel 26 has an insertion hole for the latch 281.

[0027] Furthermore, in order to reduce the friction between the U-shaped plug and the step surface of the step sleeve 28, a ball 33 is provided on one side of the U-shaped plug corresponding to the step surface of the step sleeve 28; that is, during the rotation of the step sleeve 28, the step surface of the step sleeve 28 and the U-shaped plug achieve rolling friction through the ball 33.

[0028] Combined with Figure 8 , 11In the mode in which the upper end of the latch structure 3 is inserted into the radial insertion hole of the sliding pin 241 and the lower end is separated from the step surface of the step sleeve 28, the engaging ridge 244 is fixedly connected to the first slot portion 2411, the sliding pin 242 is not connected to the output shaft of the driving device 21, and the step sleeve 28 is not connected to the traveling wheel 26. That is, in this mode, the driving device 21 cannot drive the thigh 22 to rotate, and the driving device 21 drives the traveling wheel 26 to rotate through the transmission device 27, and the traveling wheel 26 does not drive the step sleeve 28 to rotate, and then the calf 23 does not rotate, thereby realizing the wheel operation travel mode; specifically, the driving device 21 When the output shaft rotates, due to the action of the latch structure 3, the sliding pin 241 moves to its tail end and squeezes the compression spring 243. At this time, the sliding pin 241 is separated from the output shaft of the driving device 21, and the thigh 22 does not rotate; at the same time, the output shaft of the driving device 21 drives the traveling wheel 26 to rotate through the transmission device 27. Since the step sleeve 28 loses the restriction of the latch structure 3, it moves away from and separates from the traveling wheel 26 under the action of the traction sleeve 29, so that the rotation of the traveling wheel 26 cannot drive the step sleeve 28 to rotate, and then the calf 23 does not rotate, thereby realizing the wheel-running traveling mode.

[0029] Combined with Fig. 9 , 12 In the mode in which the radial insertion hole of the sliding pin 241 is pulled out of the upper end of the latch structure 3 and the lower end contacts the step surface of the ladder sleeve 28, the engaging ridge 244 is not connected to the first slot portion 2411, the sliding pin 242 is fixedly connected to the output shaft of the driving device 21, and the ladder sleeve 28 is fixedly connected to the traveling wheel 26. That is, in this mode, the driving device 21 can drive the thigh 22 to rotate, and the driving device 21 drives the traveling wheel 26 to rotate through the transmission device 27, and the traveling wheel 26 can drive the step sleeve 28 to rotate, and then the calf 23 rotates, thereby realizing the foot-type traveling mode; specifically, when the output shaft of the driving device 21 rotates, due to the loss of the sliding pin 242, the leg 23 can be driven to rotate. Remove the restriction of the latch structure 3, and under the action of the compression spring 243, the output shaft of the driving device 21 moves in the direction and cooperates with the output shaft of the driving device 21. At this time, the thigh 22 can rotate along with the output shaft of the driving device 21; at the same time, the output shaft of the driving device 21 drives the traveling wheel 26 to rotate through the transmission device 27. Since the latch structure 3 squeezes the step surface of the step sleeve 28, the large end of the squeezed step sleeve 28 is close to the traveling wheel 26, so that the latch 281 is inserted into the traveling wheel 26, so that the step sleeve 28 can rotate along with the rotation of the traveling wheel 26, thereby driving the calf 23 to rotate, realizing the foot-type traveling method.

[0030] On the whole, the robot dog only uses a set of driving devices 21 to achieve wheel-running and foot-running modes, which simplifies the structure and is conducive to the miniaturization and lightness of the mechanical leg 2.

[0031] As required, in the mode where the upper end of the latch structure 3 is inserted into the radial insertion hole of the sliding pin 241 and the lower end is separated from the step surface of the stepped sleeve 28, that is, in the traveling mode of the wheel operation, the thigh 22 is in a vertical posture.

[0032] As needed, combine with Figure 3-6 and 11-12, the connecting mechanism 24 also includes a first shaft 246 and a second shaft 247, one end of the first shaft 246 is fixedly connected to the hip of the thigh 22, and the other end surface is provided with two sliding holes 2461 at intervals along the insertion direction of the latch structure 3; the tail end of the sliding pin 242 is inserted into the corresponding sliding hole 2461; one end of the second shaft 247 is fixedly connected to the output shaft of the driving device 21, and the other end surface is evenly provided with a plurality of insertion holes for the head end of the sliding pin 242 to match and insert.

[0033] As required, in order to reduce the length of the sliding pin 242 extending out of the sliding hole 2461 , the radial insertion hole of the sliding pin 242 is located inside the sliding hole 2461 , and a clearance hole is opened at the position of the first shaft 246 corresponding to the latch structure 3 .

[0034] Furthermore, in order to ensure that the position of the calf 23 is fixed when the wheel is in the traveling mode, the thigh 22 or the calf 23 is provided with an adsorption component 4 for adsorbing the calf 23 or the thigh 22. In the mode in which the upper end of the pin structure 3 is inserted into the radial insertion hole of the sliding pin 241 and the lower end is separated from the step surface of the step sleeve 28, the adsorption component 4 adsorbs the calf 23 or the thigh 22.

[0035] As required, the ankle joint end of the calf 23 is provided with a foot 210 Embodiment 2, combined with the attached Figure 7-10 , a robot dog with switchable walking mode, based on the first embodiment, the head end of the sliding pin 242 is conical; the inner ring surface of the fixing sleeve 241 is also provided with a second clamping groove portion 2412 that cooperates with the clamping convex ridge 244, so that the sliding pin 242, under the action of the compression spring 243, makes the head end of the sliding pin 242 cooperate with the corresponding insertion hole, and the clamping convex ridge 244 cooperates with the second clamping groove portion 2412; the distance between the second clamping groove portion 2412 and the first clamping groove portion 2411 is greater than the length of the clamping convex ridge 244; Among them, the engaging ridge 244 is located on the side of the sliding pin 242 away from the center of the first axis 241; specifically, the sliding pin 242 and the sliding hole 2461 will not rotate relative to each other, that is, the engaging ridge 244 will not deviate from the predetermined orientation; schematically, the tail end of the sliding pin 242 has a flat square structure, or the tail end of the sliding pin 242 and the sliding hole 2461 are matched through a sliding structure, such as a sliding keyway, a sliding rail pair, etc.

[0036] In the mode in which the radial insertion hole of the sliding pin 241 is pulled out of the upper end of the latch structure 3 and the lower end contacts the step surface of the stepped sleeve 28, that is, in the foot-type travel mode, due to the rotation of the second shaft 247, the insertion hole cooperates with the inclined surface of the head end of the sliding pin 242, tending to move the sliding pin 241 in the direction away from the second shaft 247, and the sliding pin 241 drives the engaging ridge 244 to disengage from the second slot portion 2412 and move to a position between the second slot portion 2412 and the first slot portion 2411. At this time, the force of the insertion hole on the head end of the sliding pin 242 and the elastic force of the compression spring 243 on the sliding pin 242 are balanced, and the axial position of the sliding pin 242 is relatively stable. In this mode, the driving device 21 can pass through the second The shaft 247 drives the first shaft 246 to rotate, and then drives the thigh 22 to rotate, realizing the foot-type walking mode; when the driving device 21 fails and can no longer provide power, the insertion hole no longer applies force to the head end of the sliding pin 242. At this time, under the action of the compression spring 243, the head end of the sliding pin 242 is inserted into the corresponding insertion hole, and the engaging ridge 244 enters the second slot 2412 area. The second slot 2412 limits the circular motion of the sliding pin 242, so that the first shaft 246 no longer rotates. At this time, the thigh 22 will not rotate, which prevents the body 1 from colliding with the ground. Compared with the brake, no additional control is required, the transmission efficiency is high, and the braking sensitivity is high.

[0037] The parts of the present invention that are not described in detail are prior art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and it is intended that all changes that fall within the meaning and scope of equivalent elements are included in the present invention.

Claims

1. A robot dog capable of switching walking modes, comprising a body (1), a mechanical leg (2) and a control system, wherein the mechanical leg (2) comprises a driving device (21), a thigh (22) and a calf (23), and is characterized in that: The hip of the thigh (22) is connected to the output shaft of the driving device (21) via a connecting mechanism (24); the knee joint end of the thigh (22) and the knee joint end of the calf (23) are both rotatably connected to a rotating shaft (25); the shaft body of the rotating shaft (25) is rotatably sleeved with a traveling wheel (26); the traveling wheel (26) is connected to the output shaft of the driving device (21) via a transmission device (27); The shaft body sliding sleeve of the rotating shaft (25) is provided with a step sliding sleeve (28) and a traction sleeve (29) fixed thereto, the large end of the step sliding sleeve (28) is provided with a latch (281) capable of correspondingly inserting into the end surface of the traveling wheel (26), the small end of the step sliding sleeve (28) corresponds to the traction sleeve (29), and the step sliding sleeve (28) is also slidably connected to the lower leg (23); The connecting mechanism (24) comprises a fixing sleeve (241), a sliding pin (242) slidably connected to the hip of the thigh (22), a compression spring (243) being provided at the tail end of the sliding pin (242) so as to facilitate the head end of the sliding pin (242) to cooperate with the output shaft of the driving device (21), and a radial insertion hole and a locking ridge (244) being provided on the pin body of the sliding pin (242); the fixing sleeve (241) is fixedly connected to the machine body (1), and a first locking groove (2411) is provided on the inner annular surface thereof to cooperate with the locking ridge (244); The thigh (22) is provided with a latch structure (3) movable along its length direction; In a mode in which the upper end of the latch structure (3) is inserted into the radial insertion hole of the sliding pin (241) and the lower end is separated from the step surface of the stepped sleeve (28), the engaging ridge (244) is fixedly connected to the first slot portion (2411), the sliding pin (242) is disconnected from the output shaft of the driving device (21), and the stepped sleeve (28) is disconnected from the traveling wheel (26); In a mode in which the upper end of the latch structure (3) is pulled out of the radial insertion hole of the sliding pin (241) and the lower end abuts against the step surface of the stepped sliding sleeve (28), the engaging ridge (244) is disconnected from the first clamping groove (2411), the sliding pin (242) is fixedly connected to the output shaft of the driving device (21), and the stepped sliding sleeve (28) is fixedly connected to the traveling wheel (26).

2. The robot dog with switchable walking modes according to claim 1, characterized in that: The latch structure (3) comprises a linear motor (31) slidably connected along the length direction of the thigh (22), the moving part of the linear motor (31) is provided with a double-headed plug rod (32), the lower end of the double-headed plug rod (32) is a U-shaped plug, and both ends of the open end of the U-shaped plug and the upper end of the double-headed plug rod (32) are wedge-shaped.

3. The robot dog with switchable walking modes according to claim 2, characterized in that: A ball bearing (33) is provided on one side of the step surface of the U-shaped plug corresponding to the step sliding sleeve (28).

4. The robot dog with switchable walking modes according to claim 1, characterized in that: The connecting mechanism (24) further comprises a first shaft (246) and a second shaft (247); one end of the first shaft (246) is fixedly connected to the hip of the thigh (22), and the other end surface is provided with two sliding holes (2461) at intervals along the insertion direction of the latch structure (3); the head end of the sliding pin (242) is conical, and the tail end is inserted into the corresponding sliding hole (2461); one end of the second shaft (247) is fixedly connected to the output shaft of the driving device (21), and the other end surface is evenly provided with a plurality of insertion holes for the head end of the sliding pin (242) to be matched and inserted.

5. The robot dog with switchable walking modes according to claim 4, characterized in that: The head end of the sliding pin (242) is conical; the inner annular surface of the fixing sleeve (241) is also provided with a second slot portion (2412) that cooperates with the engaging ridge (244), so that the sliding pin (242) can cooperate with the corresponding insertion hole and the engaging ridge (244) can cooperate with the second slot portion (2412) under the action of the compression spring (243); the distance between the second slot portion (2412) and the first slot portion (2411) is greater than the length of the engaging ridge (244); The engaging ridge (244) is located on a side of the sliding pin (242) away from the center of the first axis (241).

6. The robot dog with switchable walking modes according to claim 1, characterized in that: An extension piece (282) is provided on one side of the step sliding sleeve (28) corresponding to the calf (23), and the calf (23) is provided with a guide rod (231) that slides through the extension piece (282).

7. The robot dog with switchable walking modes according to claim 6, characterized in that: The fixing sleeve (241) is provided with clearance notches at positions corresponding to both sides of the transmission device (27).

8. The robot dog with switchable walking modes according to claim 1, characterized in that: The thigh (22) or the calf (23) is provided with an adsorption member (4) for adsorbing the calf (23) or the thigh (22); in a mode in which the upper end of the latch structure (3) is inserted into the radial insertion hole of the sliding pin (241) and the lower end is separated from the step surface of the stepped sliding sleeve (28), the adsorption member (4) adsorbs the calf (23) or the thigh (22).

9. The robot dog with switchable walking modes according to claim 1, characterized in that: A foot (210) is provided at the ankle joint end of the calf (23).

10. The robot dog with switchable walking modes according to claim 1, characterized in that: In a mode in which the upper end of the latch structure (3) is inserted into the radial insertion hole of the slide pin (241) and the lower end is detached from the step surface of the stepped sleeve (28), the thigh (22) is in a vertical posture.

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