Six-foot multifunctional mechanical dog with arms

Abstract

The invention belongs to the technical field of mechanical dogs, and discloses a six-foot multifunctional mechanical dog with arms, middle leg joints are located on two sides of the middle of a mechanical dog body, a front leg joint comprises a front thigh, a front shank and an electric clamping jaw, the lower end of the front thigh is rotatably connected with the upper end of the front shank, and a clamping jaw driving motor is mounted on one side of the lower end of the front shank; a motor shaft of the clamping jaw driving motor is connected with the electric clamping jaw; front thigh driving motors used for driving the front thighs to rotate are installed on the two sides of the front end of the mechanical dog body, front shank driving motors are installed on motor shafts of the front thigh driving motors, machine shells of the front shank driving motors are fixedly connected with the upper ends of the front thighs, and motor shafts of the front shank driving motors are in transmission connection with the upper ends of the front shanks. Multifunctional operation of the mechanical dog can be achieved, and additional work can be completed.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical dogs, and particularly relates to a six-legged multi-functional mechanical dog with arms. Background Art

[0002] A mechanical dog is a robot that imitates the shape, movements, and some functions of a real dog. It has extensive applications and unique advantages in multiple fields. The body of a mechanical dog usually consists of multiple joints. These joints include the body of the mechanical dog and the four leg joints of the mechanical dog. Each leg joint is equipped with a high-precision motor, and the motor provides power to drive the joint movement. Then, through the alternating actions and cooperation of the four leg joints, the walking and running of the mechanical dog are achieved.

[0003] Of course, there are also mechanical dogs with six leg joints. In the prior art, mechanical dogs with six leg joints are basically divided into in-line walking and spider walking. All six leg joints are used for walking and cannot complete additional tasks. Their functions are simple and can no longer meet people's needs. Summary of the Invention

[0004] The purpose of the present invention is to provide a six-legged multi-functional mechanical dog with arms to solve the above problems existing in the prior art.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A six-legged multi-functional mechanical dog with arms includes a mechanical dog body, and a front leg joint, a middle leg joint, and a hind leg joint are sequentially installed on both sides of the mechanical dog body from front to back. The middle leg joints are located on both sides of the middle of the mechanical dog body. The front leg joint includes a front thigh, a front calf, and an electric gripper. The lower end of the front thigh is rotatably connected to the upper end of the front calf. On one side of the lower end of the front calf, a gripper drive motor is installed, and the motor shaft of the gripper drive motor is connected to the electric gripper. On both sides of the front end of the mechanical dog body, front thigh drive motors for driving the rotation of the front thighs are installed. A front calf drive motor is installed on the motor shaft of the front thigh drive motor. The housing of the front calf drive motor is fixedly connected to the upper end of the front thigh, and the motor shaft of the front calf drive motor is drivingly connected to the upper end of the front calf.

[0007] As a preferred technical solution in the present invention, the motor shaft of the front calf drive motor is connected with a first synchronous pulley, and a second synchronous pulley is installed on one side of the upper end of the front calf. The first synchronous pulley and the second synchronous pulley are connected by a synchronous belt.

[0008] As a preferred technical solution in the present invention, on one side of the lower end of the front thigh, a front calf rotating shaft is fixedly connected. The upper end of the front calf and the second synchronous pulley are both rotatably connected to the front calf rotating shaft.

[0009] As a preferred technical solution in the present invention, motor connection plates are fixed on both sides of the front end of the mechanical dog's body, and the motor connection plates are bolted to the housing of the front thigh drive motor.

[0010] As a preferred technical solution in the present invention, a plurality of motor connection plates are fixed on both sides of the front end of the mechanical dog's body, and the plurality of motor connection plates are bolted to the housing on both sides of the front thigh drive motor respectively.

[0011] As a preferred technical solution in the present invention, a support foot inclined downward is provided at the lower end of the front lower leg, the jaw drive motor is installed on one side of the upper end of the support foot, the motor shaft of the jaw drive motor is connected to one end of the electric jaw, and the length of the electric jaw is greater than the length of the support foot.

[0012] As a preferred technical solution in the present invention, the electric jaw includes a main housing, two jaws arranged in parallel at one end of the main housing, and a clamping motor for driving the two jaws to act. One ends of the two jaws are rotatably connected to one end of the main housing, and the other end of the main housing is connected to the motor shaft of the jaw drive motor.

[0013] As a preferred technical solution in the present invention, one end of a jaw is fixedly connected to the clamping motor, a driving gear is installed on the motor shaft of the clamping motor, and a passive gear distributed in a ring shape is provided at one end of the other jaw, and the passive gear meshes with the driving gear.

[0014] Beneficial effects: By installing the front thigh drive motor on the mechanical dog's body, the present invention realizes the installation of two front leg joints at the front end of the mechanical dog's body. Then, in combination with two middle leg joints and two hind leg joints, the mechanical dog can achieve six-legged walking and running, and the overall stability is better.

[0015] When the present invention drives the front leg joints to walk, the front thigh drive motor is used to control the rotation of the front thigh, and the front lower leg drive motor is used to control the rotation of the front lower leg. Then, through the cooperation of the front thigh drive motor and the front lower leg drive motor, the flexible adjustment between the front thigh and the front lower leg can be realized, and then the front leg joints can achieve walking operations.

[0016] The present invention installs the jaw drive motor on one side of the lower end of the front lower leg, and the motor shaft of the jaw drive motor is connected to the electric jaw. When the front leg joints are walking, the jaw drive motor can control the electric jaw to rotate upward, so as not to affect the walking of the front leg joints. When it is necessary to use the electric jaw to pick up items, the jaw drive motor can control the electric jaw to rotate forward, so that the mechanical dog walks using two middle leg joints and two hind leg joints, while the front leg joints can pick up items under the control of the electric jaw, realizing the multi-functional operation of the mechanical dog and completing additional work. Description of the Drawings

[0017] Figure 1 This is the front view of the present invention;

[0018] Figure 2 This is the top view of the present invention;

[0019] Figure 3 This is a three-dimensional schematic diagram of the front leg joint in the present invention.

[0020] In the figure: 1 - mechanical dog body; 2 - front leg joint; 201 - front thigh; 202 - front calf; 2021 - support foot; 203 - electric gripper; 2031 - main housing; 2032 - gripper; 2033 - clamping motor; 2034 - driving gear; 204 - gripper driving motor; 205 - front thigh driving motor; 206 - front calf driving motor; 207 - first synchronous pulley; 208 - second synchronous pulley; 209 - synchronous belt; 3 - middle leg joint; 4 - hind leg joint. Detailed implementation manners

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below with reference to the accompanying drawings and the description of the embodiments or the prior art. Obviously, the following description of the structures of the drawings is only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. It should be noted here that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation to the present invention.

[0022] Embodiment:

[0023] Such as Figure 1 , Figure 2 and Figure 3As shown, this embodiment provides a 6-legged multifunctional mechanical dog with arms, including a mechanical dog body 1 and front leg joints 2, middle leg joints 3 and hind leg joints 4 installed on both sides of the mechanical dog body 1 from front to back in sequence, the two front leg joints 2 are symmetrically arranged relative to the mechanical dog body 1, the two middle leg joints 3 are symmetrically arranged relative to the mechanical dog body 1, and the two hind leg joints 4 are also symmetrically arranged relative to the mechanical dog body 1 to ensure the overall stability and aesthetic standards of the appearance, the middle leg joints 3 are located on both sides of the middle part of the mechanical dog body 1, to ensure that the overall stability can still be ensured when the whole is supported only by the two middle leg joints 3 and the two hind leg joints 4, and in practice, the two middle leg joints 3 can be set in the middle front position of the mechanical dog body 1, so that the overall stability can be better maintained. The front leg joint 2 includes a front thigh 201, a front calf 202 and an electric clamp 203. The lower end of the front thigh 201 is rotatably connected with the upper end of the front calf 202 to ensure that the front calf 202 can rotate relative to the front thigh 201, so that the front leg joint 2 can achieve the purpose of bending walking. At the same time, in order to achieve the walking of the front leg joint 2, both sides of the front end of the mechanical dog body 1 are equipped with front thigh driving motors 205 for driving the front thigh 201 to rotate. The front thigh driving motor 205 can control the rotation of the front thigh 201, thereby ensuring that the front thigh 201 The front thigh drive motor 205 is provided with a front calf drive motor 206 on its motor shaft. The housing of the front calf drive motor 206 is fixedly connected to the upper end of the front thigh 201 to ensure the stability of the front calf drive motor 206. The motor shaft of the front calf drive motor 206 is transmission-connected to the upper end of the front calf 202. The rotation of the front calf 202 can be controlled by the drive of the front calf drive motor 206 to ensure the flexibility of the front calf 202. At the same time, the front thigh 201 and the front calf 202 are driven by different motors respectively. Through the cooperation of the two motors, it can be ensured that the front leg joint 2 can achieve the purpose of bending walking. On this basis, the front calf A gripper drive motor 204 is installed on one side of the lower end of the leg 202, and the motor shaft of the gripper drive motor 204 is connected to the electric gripper 203. When the foreleg joint 2 is used for walking, the gripper drive motor 204 can drive the electric gripper 203 to rotate to a retracted state, thereby not affecting the coordination of the foreleg joint 2 with the middle leg joint 3 and the hind leg joint 4 to achieve the six-leg walking action. When the foreleg joint 2 needs to clamp an object, it can only use the middle leg joint 3 and the hind leg joint 4 to walk in coordination with each other to perform four-leg walking, while the gripper drive motor 204 drives the electric gripper 203 to rotate forward, and then the electric gripper 203 is used to grab objects, thereby realizing the multifunctional application of the six-legged multifunctional mechanical dog.

[0024] By installing the front thigh drive motor 205 on the body 1 of the robotic dog, the installation of the two front leg joints 2 at the front end of the body 1 of the robotic dog is realized. Then, in combination with the two middle leg joints 3 and the two hind leg joints 4, the robotic dog can achieve six-legged walking and running, and the overall stability is better.

[0025] When the present invention drives the front leg joint 2 to walk, the front thigh drive motor 205 is used to control the rotation of the front thigh 201, and the front calf drive motor 206 is used to control the rotation of the front calf 202. Furthermore, through the cooperation of the front thigh drive motor 205 and the front calf drive motor 206, the flexible adjustment between the front thigh 201 and the front calf 202 can be realized, and then the front leg joint 2 can achieve the walking operation.

[0026] A gripper drive motor 204 is installed on one side of the lower end of the front calf 202. The motor shaft of the gripper drive motor 204 is connected to the electric gripper 203. When the front leg joint 2 walks, the gripper drive motor 204 can control the electric gripper 203 to rotate upward, thus not affecting the walking of the front leg joint 2. When it is necessary to use the electric gripper 203 to pick up an item, the gripper drive motor 204 can control the electric gripper 203 to rotate forward, so that the robotic dog walks using the two middle leg joints 3 and the two hind leg joints 4, and the front leg joint 2 can pick up the item under the control of the electric gripper 203, realizing the multi-functional operation of the robotic dog and completing additional work.

[0027] As a preferred implementation in this embodiment, it should be further noted that the motor shaft of the front calf drive motor 206 is connected with a first synchronous pulley 207. The first synchronous pulley 207 and the front calf 202 are on the same side of the front thigh 201, while the front calf drive motor 206 is on the other side of the front thigh 201, making the overall structure symmetrically arranged, the weight distribution more reasonable, and ensuring the stability of the structure. A second synchronous pulley 208 is installed on one side of the upper end of the front calf 202, so that the first synchronous pulley 207 and the second synchronous pulley 208 are on the same side. The first synchronous pulley 207 and the second synchronous pulley 208 are connected by a synchronous belt 209. Furthermore, it is convenient to control the rotation of the first synchronous pulley 207 by the front calf drive motor 206. The first synchronous pulley 207 controls the rotation of the second synchronous pulley 208 through the synchronous belt 209, and the second synchronous pulley 208 then drives the connected front calf 202 to rotate, realizing the flexible adjustment of the front calf 202.

[0028] As a preferred implementation in this embodiment, it should be further noted that a front calf rotating shaft is fixedly connected to one side of the lower end of the front thigh 201. The upper end of the front calf 202 and the second synchronous pulley 208 are both rotatably connected to the front calf rotating shaft, so that the front calf 202 and the second synchronous pulley 208 can rotate stably relative to the lower end of the front thigh 201.

[0029] As a preferred implementation in this embodiment, it should be further noted that motor connection plates are fixed on both sides of the front end of the robotic dog body 1. The motor connection plates are bolted to the housing of the front thigh drive motor 205, thereby ensuring the stability of the front thigh drive motor 205 at the front end of the robotic dog body 1. It should be noted that preferably, bending motors can also be installed on both sides of the front end of the robotic dog body 1. The motor shafts of the bending motors are connected to the motor connection plates. Thus, the motor connection plates can be controlled to rotate by the bending motors, so that the two front leg joints 2 move closer to or away from each other, making the actions of the robotic dog more flexible and vivid.

[0030] As a preferred implementation in this embodiment, it should be further noted that a plurality of motor connection plates are fixed on both sides of the front end of the robotic dog body 1. The plurality of motor connection plates are bolted to the housing on both sides of the front thigh drive motor 205 respectively.

[0031] As a preferred implementation in this embodiment, it should be further noted that a support foot 2021 inclined downward is provided at the lower end of the front lower leg 202. The jaw drive motor 204 is installed on one side of the upper end of the support foot 2021. The motor shaft of the jaw drive motor 204 is connected to one end of the electric jaw 203, and the length of the electric jaw 203 is greater than the length of the support foot 2021.

[0032] As a preferred implementation in this embodiment, it should be further noted that the electric jaw 203 includes a main housing 2031, two jaws 2032 arranged in parallel at one end of the main housing 2031, and a clamping motor 2033 for driving the two jaws 2032 to act. One end of each of the two jaws 2032 is rotatably connected to one end of the main housing 2031, and the other end of the main housing 2031 is connected to the motor shaft of the jaw drive motor 204.

[0033] As a preferred implementation in this embodiment, it should be further noted that one end of a jaw 2032 is fixedly connected to the clamping motor 2033. A driving gear 2034 is installed on the motor shaft of the clamping motor 2033. The other end of the other jaw 2032 is provided with passive teeth distributed in a ring shape, and the passive teeth are engaged with the driving gear 2034.

[0034] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A six-legged multi-functional robotic dog with arms, comprising a robotic dog body (1), and front leg joints (2), middle leg joints (3), and hind leg joints (4) which are sequentially installed from front to back on both sides of the robotic dog body (1). The middle leg joints (3) are located on both sides of the middle part of the robotic dog body (1), and are characterized in that, The front leg joint (2) includes a front thigh (201), a front calf (202), and an electric gripper (203). The lower end of the front thigh (201) is rotatably connected to the upper end of the front calf (202). On one side of the lower end of the front calf (202), a gripper drive motor (204) is installed, and the motor shaft of the gripper drive motor (204) is connected to the electric gripper (203). On both sides of the front end of the mechanical dog body (1), front thigh drive motors (205) for driving the rotation of the front thigh (201) are installed. A front calf drive motor (206) is installed on the motor shaft of the front thigh drive motor (205). The housing of the front calf drive motor (206) is fixedly connected to the upper end of the front thigh (201), and the motor shaft of the front calf drive motor (206) is drivingly connected to the upper end of the front calf (202).

2. The six-legged multi-functional robotic dog with arms according to claim 1, wherein The motor shaft of the front calf drive motor (206) is connected to a first synchronous pulley (207). On one side of the upper end of the front calf (202), a second synchronous pulley (208) is installed. The first synchronous pulley (207) and the second synchronous pulley (208) are connected by a synchronous belt (209).

3. The six-legged multi-functional mechanical dog with an arm according to claim 2, characterized in that, On one side of the lower end of the front thigh (201), a front calf rotating shaft is fixedly connected. The upper end of the front calf (202) and the second synchronous pulley (208) are both rotatably connected to the front calf rotating shaft.

4. A six-legged multi-functional mechanical dog with arms according to claim 1, characterized in that On both sides of the front end of the mechanical dog body (1), motor connecting plates are fixed. The motor connecting plates are bolted to the housing of the front thigh drive motor (205).

5. A six-legged multi-functional mechanical dog with arms according to claim 4, characterized in that, On both sides of the front end of the mechanical dog body (1), a plurality of motor connecting plates are fixed. The plurality of motor connecting plates are bolted to the housing on both sides of the front thigh drive motor (205).

6. A six-legged multi-functional mechanical dog with arms according to claim 1, characterized in that, At the lower end of the front calf (202), a support foot (2021) inclined downward is provided. The gripper drive motor (204) is installed on one side of the upper end of the support foot (2021). The motor shaft of the gripper drive motor (204) is connected to one end of the electric gripper (203), and the length of the electric gripper (203) is greater than the length of the support foot (2021).

7. A six-legged multi-functional mechanical dog with arms according to claim 1, characterized in that, The electric gripper (203) includes a main housing (2031), two grippers (2032) arranged in parallel at one end of the main housing (2031), and a clamping motor (2033) for driving the movement of the two grippers (2032). One end of each of the two grippers (2032) is rotatably connected to one end of the main housing (2031), and the other end of the main housing (2031) is connected to the motor shaft of the gripper drive motor (204).

8. A six-legged multi-functional mechanical dog with arms according to claim 7, characterized in that, One end of a gripper (2032) is fixedly connected to the clamping motor (2033). A driving gear (2034) is installed on the motor shaft of the clamping motor (2033). At one end of the other gripper (2032), passive teeth distributed in a ring shape are provided, and the passive teeth are engaged with the driving gear (2034).

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