A robot dog with switching walking mode

Abstract

The application relates to a robot dog with a switching walking mode, which comprises a body, mechanical legs and a control system, the mechanical legs comprise driving devices, thighs and shanks, the thigh hip is connected with the driving device output shaft through a connecting mechanism; the thigh knee joint end and the shank knee joint end are both rotationally connected with a rotating shaft, the rotating shaft shaft body rotationally sleeves with a traveling wheel, and the traveling wheel is connected with the driving device output shaft through a transmission device; the application can realize the traveling mode of wheel operation and the mode of foot type traveling by using only one set of driving device, the structure is simplified, and the miniaturization and lightening of the mechanical legs are facilitated.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robotic dog capable of switching walking modes. Background Technology

[0002] Common robots are divided into two types: wheeled robots and legged robots. Wheeled robots are robots that use wheels to move; legged robots are robots that use two, four, or six legs to move.

[0003] To enable robots to perform both wheeled and legged locomotion, hybrid wheel-legged robots have emerged, exhibiting both wheeled and legged operating modes. Examples include a quadruped hybrid wheel-legged robot disclosed in Chinese Patent Publication No. CN210133202U and a bipedal hybrid wheel-legged robot disclosed in Chinese Patent Publication No. CN113443042B. However, these robots employ two sets of drive mechanisms for each operating mode: the first drive mechanism powers the mechanical legs for legged locomotion, while the second drives the wheels for wheeled locomotion. This dual-drive setup complicates the mechanical leg structure. Furthermore, these robots suffer from another drawback: during legged locomotion, if the corresponding drive mechanism malfunctions for any reason, the mechanical legs lack braking restraint and lose support, causing the robot to fall under gravity and potentially collide with the ground, posing a risk of damage.

[0004] However, existing brakes, such as electromagnetic brakes, are mostly installed on the input or output shaft of the reducer. The installation is achieved by controlling the electromagnetic brake. However, electromagnetic brakes mostly achieve braking by the brake pads locking the brake disc, 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 address this, we designed a robot dog capable of switching walking modes. Summary of the Invention

[0006] To overcome the shortcomings of the prior art, the present invention discloses a robot dog with a switching walking mode.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0008] A robotic dog with a switchable walking mode includes a body, mechanical legs, and a control system. The mechanical legs include a drive device, a thigh, and a lower leg. The hip of the thigh is connected to the output shaft of the drive device via a connecting mechanism. The knee joints of the thigh and the knee joints of the lower leg are rotatably connected to a rotating shaft. The shaft body is rotatably fitted with a traveling wheel, and the traveling wheel is connected to the output shaft of the drive device via a transmission device.

[0009] The rotating shaft body sliding sleeve is provided with a stepped sliding sleeve and a fixed traction sleeve. The large end of the stepped sliding sleeve is provided with a pin that can be inserted into the end face of the traveling wheel. The small end of the stepped sliding sleeve corresponds to the traction sleeve. The stepped sliding sleeve is also slidably connected to the lower leg.

[0010] The connecting mechanism includes a fixed sleeve and a sliding pin slidably connected to the hip of the thigh. The tail end of the sliding pin is provided with a compression spring so that the head end of the sliding pin can cooperate with the output shaft of the drive device. The body of the sliding pin is provided with a radial insertion hole and a locking protrusion. The fixed sleeve is fixed to the machine body and the inner ring surface is provided with a first slot that cooperates with the locking protrusion.

[0011] The thigh is provided with a pin structure that moves along its length.

[0012] In the mode where the upper end of the pin structure is inserted into the radial insertion hole of the sliding pin and the lower end is disengaged from the stepped surface of the stepped sliding sleeve, the engaging protrusion is fixedly connected to the first slot, the sliding pin is not connected to the output shaft of the drive device, and the stepped sliding sleeve is not connected to the traveling wheel.

[0013] In the mode where the upper end of the pin structure is pulled out of the radial insertion hole of the sliding pin and the lower end abuts against the stepped surface of the stepped sliding sleeve, the engaging protrusion is not connected to the first slot, the sliding pin is fixedly connected to the output shaft of the drive device, and the stepped sliding sleeve is fixedly connected to the traveling wheel.

[0014] Preferably, the pin structure includes a linear motor slidably connected along the length of the thigh, the moving part of the linear motor is provided with a double-headed insert rod, the lower end of the double-headed insert rod is a U-shaped insert, and both ends of the opening end of the U-shaped insert and the upper end of the double-headed insert rod are wedge-shaped.

[0015] Preferably, the U-shaped insert has a ball bearing on one side of the stepped surface of the corresponding stepped sliding sleeve.

[0016] Preferably, the connecting mechanism further includes a first shaft and a second shaft. One end of the first shaft is fixed to the hip of the thigh, and the other end face is provided with two sliding holes spaced apart along the insertion direction of the pin structure. The head end of the sliding pin is tapered, and the tail end is inserted into the corresponding sliding hole. One end of the second shaft is fixed to the output shaft of the drive device, and the other end face is provided with a plurality of insertion holes evenly arranged around the head end of the sliding pin for matching insertion.

[0017] Preferably, the head end of the sliding pin is tapered; the inner ring surface of the fixing sleeve is also provided with a second groove portion that cooperates with the engaging protrusion, so that the head end of the sliding pin cooperates with the corresponding insertion hole and the engaging protrusion cooperates with the second groove portion under the action of the compression spring; the distance between the second groove portion and the first groove portion is greater than the length of the engaging protrusion.

[0018] The engaging ridge is located on the side of the sliding pin that is away from the center of the first shaft.

[0019] Preferably, the stepped sliding sleeve has an extension piece on one side corresponding to the lower leg, and the lower leg has a guide rod that slides through the extension piece.

[0020] Preferably, the fixing sleeve has clearance notches on both sides corresponding to the transmission device.

[0021] Preferably, the thigh or calf is provided with an adsorption element for adsorbing the calf or thigh. In the mode where the upper end of the pin structure is inserted into the radial insertion hole of the sliding pin and the lower end is disengaged from the stepped surface of the stepped sliding sleeve, the adsorption element adsorbs the calf or thigh.

[0022] Preferably, the lower leg ankle joint end is provided with a foot.

[0023] Preferably, in the mode where the upper end of the pin structure is inserted into the radial insertion hole of the sliding pin and the lower end is disengaged from the stepped surface of the stepped sliding sleeve, the thigh is in a vertical posture.

[0024] By employing the technical solution described above, the present invention has the following beneficial effects:

[0025] 1. In the mode where the upper end of the pin structure is inserted into the radial insertion hole of the sliding pin and the lower end is disengaged from the stepped surface of the stepped sliding sleeve, the sliding pin moves towards its tail end and compresses the spring under the action of the pin structure. At this time, the sliding pin separates from the output shaft of the drive device, and the thigh does not rotate. At the same time, the output shaft of the drive device drives the traveling wheel to rotate through the transmission device. Since the stepped sliding sleeve is no longer restricted by the pin structure, it moves away from the traveling wheel under the action of the traction sleeve, so that the rotation of the traveling wheel cannot drive the rotation of the stepped sliding sleeve, and thus the lower leg does not rotate, realizing the wheel-driven travel mode.

[0026] In the mode where the upper end of the pin structure is pulled out of the radial insertion hole of the sliding pin and the lower end abuts against the stepped surface of the stepped sleeve, the sliding pin loses the restriction of the pin structure and moves in the direction of the drive device output shaft under the action of the compression spring, and cooperates with the drive device output shaft. At this time, the thigh can rotate with the drive device output shaft. At the same time, the drive device output shaft drives the traveling wheel to rotate through the transmission device. Because the pin structure presses against the stepped surface of the stepped sleeve, the large end of the stepped sleeve is pressed against the traveling wheel, so that the pin is inserted into the traveling wheel, and the stepped sleeve can rotate with the rotation of the traveling wheel, thereby driving the lower leg to rotate, realizing the leg-like movement mode. Overall, this robot dog can realize both wheel-driven and leg-like movement modes using only one drive device, simplifying the structure and facilitating the miniaturization and lightness of the mechanical leg.

[0027] 2. The sliding pin head is tapered and has a second slot. In the mode where the upper end of the pin is pulled out of the radial insertion hole and the lower end abuts against the stepped surface of the stepped sleeve, due to the rotation of the second shaft, the insertion hole engages with the inclined surface of the sliding pin head, causing the sliding pin to move away from the second shaft. The sliding pin drives the engaging protrusion to disengage from the second slot and move to a position between the second slot and the first slot. At this time, the force of the insertion hole on the sliding pin head 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, allowing the drive device to pass through the second shaft. The first shaft rotates, which in turn rotates the thigh, enabling foot-based movement. Simultaneously, when the drive unit malfunctions and can no longer provide power, the insertion hole no longer applies force to the sliding pin head. Under the action of the compression spring, the sliding pin head inserts into the corresponding insertion hole, engaging the protrusion into the second slot area. The second slot restricts the sliding pin's circumferential movement, preventing the first shaft from rotating. In this case, the thigh will not rotate, preventing the machine from colliding with the ground. Compared to a brake, no additional control is required, resulting in high transmission efficiency and high braking sensitivity. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the present invention in the legged walking mode;

[0029] Figure 2 This is a schematic diagram of the structure of the present invention in the wheel running mode;

[0030] Figure 3 This is a schematic diagram of the mechanical leg in this invention;

[0031] Figure 4 This is a schematic diagram of the mechanical leg from another perspective in this invention;

[0032] Figure 5 This is an exploded structural diagram of the mechanical leg in this invention;

[0033] Figure 6 This is a schematic diagram of the exploded structure of the mechanical leg from another perspective in this invention;

[0034] Figure 7 This is a schematic diagram of another structure of the fixing sleeve in this invention;

[0035] Figure 8 This is a cross-sectional view of the connecting mechanism of the present invention in the wheel running mode;

[0036] Figure 9 This is a cross-sectional view of the connecting mechanism of the present invention in the legged walking mode;

[0037] Figure 10 This is a cross-sectional view of the connecting mechanism of the present invention when the drive device is not in the legged walking mode;

[0038] Figure 11 This is a cross-sectional view of the cooperation between the lower leg, the pivot, and the traveling wheel in the wheel-running mode of the present invention;

[0039] Figure 12 This is a cross-sectional view of the lower leg, pivot, and travel wheel in the legged walking mode of the present invention.

[0040] In the diagram: 1. Body; 2. Mechanical leg; 21. Drive device; 22. Thigh; 23. Lower leg; 231. Guide rod; 24. Connecting mechanism; 241. Fixing sleeve; 2411. First slot; 2412. Second slot; 242. Sliding pin; 243. Compression spring; 244. Engaging protrusion; 246. First shaft; 2461. Sliding hole; 247. Second shaft; 25. Rotating shaft; 26. Traveling wheel; 27. Transmission device; 28. Stepped sliding sleeve; 281. Pin; 282. Extension piece; 29. ​​Traction sleeve; 210. Foot; 3. Pin structure; 31. Linear motor; 32. Double-headed insertion rod; 33. Ball bearing; 4. Adsorption component. Detailed Implementation

[0041] The present invention will 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 terms such as "upper", "lower", "front", "rear", "left", "right" indicate orientation or positional relationship, they are only corresponding to the drawings of this application for the purpose of describing the present invention. It should be understood that if terms such as "end", "side", "end portion", "side part", "lateral", "longitudinal", etc. indicate orientation or positional relationship, they are only corresponding to the length and width of the corresponding component. That is, "end" indicates the head and tail area in the length direction of the corresponding component, and "side part" indicates the head and tail area in the width direction of the corresponding component. The present invention is disclosed for the purpose of describing the present invention and does not indicate or imply that the device or element referred to must have a specific orientation.

[0042] Example 1, in conjunction with Appendix Figure 1-2 A robotic dog with a switchable walking mode includes a body 1, mechanical legs 2, and a control system. As needed, the mechanical legs 2 are arranged in four positions: front, back, left, and right. As needed, the control system is located inside the body 1, which is not specifically limited here.

[0043] Combined with appendix Figure 3-6In accordance with 8-10, the mechanical leg 2 includes a drive device 21, a thigh 22, and a lower leg 23. As needed, the drive device 21 is a servo motor. The hip of the thigh 22 is connected to the output shaft of the drive device 21 through a connecting mechanism 24. The knee joint ends of the thigh 22 and the knee joint ends of the lower leg 23 are both rotatably connected to a rotating shaft 25. That is, the rotating shaft 25 is rotatably connected to both the knee joint ends of the thigh 22 and the knee joint ends of the lower leg 23. Schematically, the rotating shaft 25 is connected to the knee joint ends of the thigh 22 and the knee joint ends of the lower leg 23 through bearings. A traveling wheel 26 is rotatably mounted on the shaft of the rotating shaft 25. The traveling wheel 26 is connected to the output shaft of the drive device 21 via a transmission device 27. Schematic, the rotating shaft 25 is rotatably connected to the traveling wheel 26 via a bearing. Schematic, the traveling wheel 26 has a tire on the outer side of its rim, which improves vibration damping performance. The hub of the traveling wheel 26 protrudes outward for connection with the transmission device 27. Schematic, the transmission device 27 is a belt assembly or a chain assembly; a belt assembly is used as an example. One end of the belt pulley is fixedly mounted on the output shaft of the drive device 21, and the other end pulley is fixedly mounted on the hub of the traveling wheel 26.

[0044] As needed, when the pulley of the output shaft of the corresponding drive device 21 is located inside the fixed sleeve 241, the fixed sleeve 241 is provided with clearance notches on both sides of the transmission device 27, so that the belt passes through the corresponding clearance notches.

[0045] Combined with appendix Figure 3-6 In sections 11-12, the sliding sleeve of the shaft 25 is provided with a stepped sliding sleeve 28 and a fixed traction sleeve 29. It should be noted that the outer ring surface of the stepped sliding sleeve 28 has a stepped surface; the large end of the stepped sliding sleeve 28 is provided with a pin 281 that can be inserted into the end face of the traveling wheel 26. Indicatively, the pin 281 can be cylindrical, conical, or other shapes, as long as the stepped sliding sleeve 28 can rotate with the traveling wheel 26 after the pin 281 is inserted into the end face of the traveling wheel 26. No specific limitation is made here. The small end of the stepped sliding sleeve 28 corresponds to the traction sleeve 29. It should be noted that the traction sleeve 29 can pull the stepped sliding sleeve 28; that is, when the stepped sliding sleeve 28 is not restricted by the pin structure 3, it can move away from the traveling wheel 26 under the action of the traction sleeve 29, thus separating the stepped sliding sleeve 28 from the traveling wheel 26. Depending on the needs, the traction sleeve 29 can be a magnet capable of attracting the stepped sliding sleeve 28, or it can have a tension spring structure, pulling the stepped sliding sleeve 28 through the action of the tension spring. The stepped sliding sleeve 28 is also slidably connected to the lower leg 23. Schematic illustration: The stepped slide 28 has an extension piece 282 on one side corresponding to the lower leg 23, and the lower leg 23 has a guide rod 231 that slides through the extension piece 282. Depending on the needs, the guide rod 231 can also be fixed at one end to the extension piece 282 and slidably pass through the lower leg 23 at the other end. It should be noted that whether the guide rod 231 passes through the lower leg 23 depends on the thickness of the lower leg 23 and the moving distance of the stepped slide 28. No specific limitation is made here.

[0046] Combined with appendix Figure 3-6 In connection 8-10, the connecting mechanism 24 includes a fixed sleeve 241 and a sliding pin 242 slidably connected to the hip of the thigh 22. The tail end of the sliding pin 242 is provided with a compression spring 243 so that the head end of the sliding pin 242 can cooperate with the output shaft of the drive device 21. The body of the sliding pin 242 is provided with a radial insertion hole and a locking protrusion 244. The fixed sleeve 241 is fixed to the body 1 and the inner ring surface is provided with a first slot 2411 that cooperates with the locking protrusion 244. It should be noted that the slot is annular and has multiple slots that can cooperate with the locking protrusion 244 evenly arranged along the circumference.

[0047] Combined with appendix Figure 4-6 The thigh 22 is provided with a pin structure 3 that moves along its length. Schematically, the pin structure 3 includes a linear motor 31 that is slidably connected along the length of the thigh 22. The moving part of the linear motor 31 is provided with a double-headed insert 32. The lower end of the double-headed insert 32 is a U-shaped insert. Both ends of the U-shaped insert and the upper end of the double-headed insert 32 are wedge-shaped. It should be noted that the inner width of the U-shaped insert is greater than the outer diameter of the small diameter section of the stepped sliding sleeve 28 and less than the outer diameter of the large diameter section of the stepped sliding sleeve 28. That is, the stepped sliding sleeve 28 can move towards the traveling wheel 26 under the action of the U-shaped insert, so that the pin 281 is inserted into the traveling wheel 26. It should be noted that the traveling wheel 26 has an insertion hole for the pin 281.

[0048] Furthermore, in order to reduce the friction between the U-shaped insert and the stepped surface of the stepped sleeve 28, a ball bearing 33 is provided on one side of the U-shaped insert corresponding to the stepped surface of the stepped sleeve 28; that is, during the rotation of the stepped sleeve 28, the stepped surface of the stepped sleeve 28 and the U-shaped insert achieve rolling friction through the ball bearing 33.

[0049] Combined with appendix Figure 8 , 11In the mode where 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 disengaged from the stepped surface of the stepped sleeve 28, the engaging protrusion 244 is fixedly connected to the first slot 2411, the sliding pin 242 is not connected to the output shaft of the drive device 21, and the stepped sleeve 28 is not connected to the traveling wheel 26. That is, in this mode, the drive device 21 cannot drive the thigh 22 to rotate. The drive device 21 drives the traveling wheel 26 to rotate through the transmission device 27. The traveling wheel 26 does not drive the stepped sleeve 28 to rotate, and therefore the lower leg 23 does not rotate, realizing the wheel-driven travel mode. Specifically, the drive device 21 When the output shaft rotates, due to the action of the pin structure 3, the sliding pin 241 moves to its tail end and squeezes the compression spring 243. At this time, the sliding pin 241 separates from the output shaft of the drive device 21, and the thigh 22 does not rotate. At the same time, the output shaft of the drive device 21 drives the traveling wheel 26 to rotate through the transmission device 27. As the stepped sliding sleeve 28 loses the restriction of the pin structure 3, it moves away 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 stepped sliding sleeve 28 to rotate, and thus the lower leg 23 does not rotate, realizing the wheel-driven travel mode.

[0050] Combined with appendix Figure 9 , 12 In the mode where the upper end of the pin structure 3 is pulled out of the radial insertion hole of the sliding pin 241 and the lower end abuts against the stepped surface of the stepped sleeve 28, the engaging protrusion 244 is not connected to the first slot 2411, the sliding pin 242 is fixedly connected to the output shaft of the drive device 21, and the stepped sleeve 28 is fixedly connected to the traveling wheel 26. That is, in this mode, the drive device 21 can drive the thigh 22 to rotate, the drive device 21 drives the traveling wheel 26 to rotate through the transmission device 27, the traveling wheel 26 can drive the stepped sleeve 28 to rotate, and then the lower leg 23 to rotate, realizing the foot-based walking method; specifically, when the output shaft of the drive device 21 rotates, due to the loss of the sliding pin 242, the thigh 22 is not connected to the first slot 2411, the sliding pin 242 is fixedly connected to the output shaft of the drive device 21, and the lower end abuts against the stepped surface of the stepped sleeve 28, thus realizing the foot-based walking method. The pin structure 3 is removed from the control, and the output shaft of the drive device 21 moves under the action of the compression spring 243 and cooperates with the output shaft of the drive device 21. At this time, the thigh 22 can rotate with the output shaft of the drive device 21. At the same time, the output shaft of the drive device 21 drives the traveling wheel 26 to rotate through the transmission device 27. Because the pin structure 3 presses the step surface of the stepped sleeve 28, the large end of the stepped sleeve 28 is pressed tightly against the traveling wheel 26, so that the pin 281 is inserted into the traveling wheel 26, and the stepped sleeve 28 can rotate with the rotation of the traveling wheel 26, thereby driving the lower leg 23 to rotate, realizing the foot-based walking method.

[0051] Overall, the robot dog can achieve both wheel-driven and leg-driven locomotion using only one drive unit 21, which simplifies the structure and facilitates the miniaturization and lightness of the mechanical legs 2.

[0052] As needed, in the mode where 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 disengaged from the stepped surface of the stepped sliding sleeve 28, i.e., in the driving mode of wheel operation, the thigh 22 is in a vertical posture.

[0053] As needed, in conjunction with the appendix Figure 3-6 In addition to 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 fixed to the hip of the thigh 22, and the other end face is provided with two sliding holes 2461 at intervals along the insertion direction of the pin 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 fixed to the output shaft of the drive device 21, and the other end face is provided with a plurality of insertion holes for the head end of the sliding pin 242 to be inserted.

[0054] As needed, in order to reduce the length of the sliding pin 242 extending out of the sliding hole 2461, the position of the radial insertion hole of the sliding pin 242 is located inside the sliding hole 2461, and at this time, the first shaft 246 is provided with a clearance hole at the position corresponding to the insertion pin structure 3.

[0055] Furthermore, to ensure the position of the lower leg 23 is fixed during the running mode of the wheel, the thigh 22 or the lower leg 23 is provided with an adsorption member 4 for adsorbing the lower leg 23 or the thigh 22. In the mode where 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 disengaged from the step surface of the stepped sliding sleeve 28, the adsorption member 4 adsorbs the lower leg 23 or the thigh 22.

[0056] As needed, the ankle joint end of the lower leg 23 is provided with a foot 210.

[0057] Example 2, in conjunction with Appendix Figure 7-10 A robotic dog with a switching walking mode, based on Embodiment 1, has a tapered head end for the sliding pin 242; the inner ring surface of the fixing sleeve 241 is also provided with a second slot 2412 that cooperates with the engaging protrusion 244, so that the head end of the sliding pin 242 cooperates with the corresponding insertion hole and the engaging protrusion 244 cooperates with the second slot 2412 under the action of the compression spring 243; the distance between the second slot 2412 and the first slot 2411 is greater than the length of the engaging protrusion 244;

[0058] The engaging protrusion 244 is located on the side of the sliding pin 242 away from the center of the first shaft 241. Specifically, the sliding pin 242 and the sliding hole 2461 will not rotate relative to each other, that is, the engaging protrusion 244 will not deviate from the predetermined position. Schematic, the tail end of the sliding pin 242 has a flat rectangular structure, or the tail end of the sliding pin 242 and the sliding hole 2461 are engaged by a sliding structure, such as a sliding keyway or a slide rail pair.

[0059] In the mode where the upper end of the pin structure 3 is pulled out of the radial insertion hole of the sliding pin 241 and the lower end abuts against the stepped surface of the stepped sliding sleeve 28, i.e., in the foot-like travel mode, due to the rotation of the second shaft 247, the insertion hole engages with the inclined surface of the head end of the sliding pin 242, causing the sliding pin 241 to move away from the second shaft 247. The sliding pin 241 drives the engaging protrusion 244 to disengage from the second slot 2412 and move to a position between the second slot 2412 and the first slot 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 drive device 21 can move through the second shaft 242. Shaft 247 drives the first shaft 246 to rotate, which in turn drives the thigh 22 to rotate, realizing the leg-like movement. When the drive device 21 malfunctions and can no longer provide power, the insertion hole no longer applies force to the head of the sliding pin 242. At this time, under the action of the compression spring 243, the head of the sliding pin 242 inserts into the corresponding insertion hole and engages with the protrusion 244 into the area of ​​the second slot 2412. The second slot 2412 restricts the circumferential movement 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.

[0060] The parts of this invention not described in detail are prior art. It will be apparent to those skilled in the art that this invention is not limited to the details of the above exemplary embodiments, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and are intended to encompass all changes falling within the meaning and scope of equivalents within this invention.

Claims

1. A robotic dog with a switchable walking mode, comprising a body (1), mechanical legs (2) and a control system, wherein the mechanical legs (2) include a drive device (21), a thigh (22) and a lower leg (23), characterized in that: The thigh (22) hip is connected to the output shaft of the drive device (21) through a connecting mechanism (24); the knee joint end of the thigh (22) and the knee joint end of the lower leg (23) are rotatably connected to a rotating shaft (25), and the shaft body of the rotating shaft (25) is rotatably fitted with a traveling wheel (26), and the traveling wheel (26) is connected to the output shaft of the drive device (21) through a transmission device (27); The shaft (25) has a stepped sliding sleeve (28) and a fixed traction sleeve (29). The large end of the stepped sliding sleeve (28) is provided with a pin (281) that can be inserted into the end face of the traveling wheel (26). The small end of the stepped sliding sleeve (28) corresponds to the traction sleeve (29). The stepped sliding sleeve (28) is also slidably connected to the lower leg (23). The connecting mechanism (24) includes a fixed sleeve (241) and a sliding pin (242) slidably connected to the hip of the thigh (22). The tail end of the sliding pin (242) is provided with a compression spring (243) so that the head end of the sliding pin (242) can cooperate with the output shaft of the drive device (21). The body of the sliding pin (242) is provided with a radial insertion hole and a locking protrusion (244). The fixed sleeve (241) is fixed to the machine body (1) and the inner ring surface is provided with a first slot (2411) that cooperates with the locking protrusion (244). The thigh (22) is provided with a pin structure (3) that moves along its length. In the mode where the upper end of the pin structure (3) is inserted into the radial insertion hole of the sliding pin (242) and the lower end is disengaged from the stepped surface of the stepped sleeve (28), the engaging protrusion (244) is fixedly connected to the first slot (2411), the sliding pin (242) is not connected to the output shaft of the drive device (21), and the stepped sleeve (28) is not connected to the traveling wheel (26); In the mode where the upper end of the pin structure (3) is pulled out of the radial insertion hole of the sliding pin (242) and the lower end abuts against the stepped surface of the stepped sleeve (28), the engaging protrusion (244) is not connected to the first slot (2411), the sliding pin (242) is fixedly connected to the output shaft of the drive device (21), and the stepped sleeve (28) is fixedly connected to the traveling wheel (26).

2. The robotic dog with a switchable walking mode according to claim 1, characterized in that: The pin structure (3) includes a linear motor (31) that is slidably connected along the length of the thigh (22). The moving part of the linear motor (31) is provided with a double-headed plug (32). The lower end of the double-headed plug (32) is a U-shaped plug. Both ends of the opening of the U-shaped plug and the upper end of the double-headed plug (32) are wedge-shaped.

3. The robotic dog with a switching walking mode according to claim 2, characterized in that: The U-shaped insert has a ball bearing (33) on one side of the stepped surface of the corresponding stepped sliding sleeve (28).

4. The robotic dog with a switchable walking mode according to claim 1, characterized in that: The connecting mechanism (24) further includes a first shaft (246) and a second shaft (247). One end of the first shaft (246) is fixed to the hip of the thigh (22), and the other end face is provided with two sliding holes (2461) spaced apart along the insertion direction of the pin structure (3). The head end of the sliding pin (242) is tapered, and the tail end is inserted into the corresponding sliding hole (2461). One end of the second shaft (247) is fixed to the output shaft of the drive device (21), and the other end face is provided with a plurality of insertion holes for the head end of the sliding pin (242) to be matched and inserted.

5. The robotic dog with a switchable walking mode according to claim 4, characterized in that: The head end of the sliding pin (242) is tapered; the inner ring surface of the fixing sleeve (241) is also provided with a second slot (2412) that cooperates with the engaging protrusion (244), so that the head end of the sliding pin (242) cooperates with the corresponding insertion hole and the engaging protrusion (244) cooperates with the second slot (2412) under the action of the compression spring (243); the distance between the second slot (2412) and the first slot (2411) is greater than the length of the engaging protrusion (244); Among them, the engaging ridge (244) is located on the side of the sliding pin (242) away from the center of the first shaft (246).

6. The robotic dog with a switchable walking mode according to claim 1, characterized in that: The stepped sliding sleeve (28) has an extension piece (282) on one side corresponding to the lower leg (23), and the lower leg (23) has a guide rod (231) that slides through the extension piece (282).

7. The robot dog with a switchable walking mode according to claim 6, characterized in that: The fixed sleeve (241) has clearance notches on both sides corresponding to the transmission device (27).

8. The robotic dog with a switching walking mode according to claim 1, characterized in that: The thigh (22) or calf (23) is provided with an adsorption member (4) for adsorbing the calf (23) or thigh (22). In the mode where the upper end of the pin structure (3) is inserted into the radial insertion hole of the sliding pin (242) and the lower end is disengaged from the step surface of the stepped sliding sleeve (28), the adsorption member (4) adsorbs the calf (23) or thigh (22).

9. The robot dog with a switching walking mode according to claim 1, characterized in that: The lower leg (23) has a foot (210) at the ankle joint end.

10. The robotic dog with a switchable walking mode according to claim 1, characterized in that: In the mode where the upper end of the pin structure (3) is inserted into the radial insertion hole of the sliding pin (242) and the lower end is disengaged from the step surface of the stepped sliding sleeve (28), the thigh (22) is in a vertical posture.

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