Buffer clamping equipment for robot dog carrying equipment in ecological environment monitoring industry

Abstract

The invention belongs to the technical field of clamping damping, and particularly relates to buffer clamping equipment for robot dog carrying equipment in the ecological environment monitoring industry, the buffer clamping equipment comprises a robot dog, a buffer unit is arranged in a space on one side of the robot dog, and a dynamic regulation and control unit is arranged at one end of the buffer unit; under different dynamic impacts, the relative motion form between the rubber plug and the surge bin is changed through difference interaction between the ball rod and the ejector pin coaxial with the snake grooves in the outer walls of the side joint pipes, the dynamic adjustment of the interaction force between the rubber plug and the inner wall of the surge bin is implemented in a frequency-division self-adaptive mode under the action of the different dynamic impacts, and the service life of the rubber plug is prolonged. The connection strength is enhanced along with the increase of the frequency, and the resonance amplitude is inhibited; and in a high-frequency band (impact resistance), the connection strength is reduced along with the increase of the frequency, and the impact is buffered preferentially.

Description

Technical Field

[0001] The present invention belongs to the technical field of clamping and shock absorption, and in particular relates to a buffering clamping device for a robot dog carrying device in the ecological environment monitoring industry. Background Art

[0002] Application scenarios of robotic dogs in the ecological monitoring industry: In nature reserves or forests with rugged terrain (such as steep slopes, bushes, and gravel), robotic dogs can flexibly traverse areas that are difficult for traditional vehicles or humans to reach. They are equipped with sensors (such as lidar and multispectral cameras) to collect data such as vegetation distribution, tree height, or soil moisture.

[0003] Low-amplitude vibration: caused by periodic vibrations during the robot dog's gait, subtle environmental disturbances (such as light wind or small particles on the ground), or the device's own operation (such as fan cooling and lens focusing).

[0004] High-amplitude vibration: This can be caused by impacts on complex terrain (such as landing from a jump, crossing an obstacle, or sudden stops or accelerations), sudden collisions (such as hitting trees or rocks), or extreme environmental disturbances (such as strong winds and earthquake aftershocks). Whether it's the chronic damage risk of low-amplitude vibration or the acute destructive threat of high-amplitude vibration, unbuffered external equipment can suffer from reduced accuracy, structural damage, or functional failure due to vibration, directly impacting the reliability of ecological monitoring data and mission success.

[0005] However, in the actual implementation process, if the connection strength is fixed, low-frequency vibrations may cause "resonance" between the external clamping device and the mechanical dog body, exacerbating the shaking of the device or even causing it to fall off. In this case, it is necessary to dynamically increase the connection strength as the frequency increases, and adaptively adjust the clamping strength between the two in real time to avoid low-frequency resonance.

[0006] At the same time, for high-frequency vibrations, that is, energy is transmitted in the form of rapid impact (such as the robot dog jumping and landing, crossing a gravel road, suddenly stopping or suddenly accelerating); if the connection strength is too high (rigid connection), the high-frequency "large-amplitude" impact will be directly transmitted between the equipment and the robot dog, causing damage to precision components (such as camera lens displacement, sensor failure); at this time, it is necessary to use a dynamic connection strength that decreases with increasing frequency, and flexible buffering to absorb high-frequency energy, so as to protect the robot dog body and external equipment in a targeted manner. Summary of the Invention

[0007] In order to solve the above problems, the present invention adopts the following technical solution, which is a buffer clamping device for a robot dog-carrying device in the ecological environment monitoring industry, comprising a robot dog, a buffer unit is provided in a space on one side of the robot dog, and a dynamic control unit is provided at one end of the buffer unit;

[0008] The dynamic control unit includes:

[0009] The U-shaped frame is set in the inner area of the space on one side of the robot dog;

[0010] The shaft seat is snap-fitted and installed in the middle of the outer wall of the horizontal section of the U-face frame;

[0011] The support rod is mounted on the middle position of the shaft seat away from the U-face frame;

[0012] There are two shaft sleeves, which are symmetrically mounted on the outer wall of the support rod;

[0013] The ball rod is clamped and installed in the middle position of the outer wall of one side of the sleeve;

[0014] An ejector pin is mounted on the middle position of the outer wall of the other sleeve;

[0015] The angle plate is set in the space on one side of the U-surface frame and has an L-shaped cross-section;

[0016] There are three vertical plates, which are evenly mounted in an array at the middle of the end face of the angle plate away from the mechanical dog.

[0017] The angle rod is rotatably mounted on the end of the vertical plate away from the angle plate.

[0018] Preferably, the angle rod is clamped and installed with an end ring at one end close to the U-face frame, and a mouth ring is clamped and installed on the outer wall of the angle rod away from the U-face frame. An axis joint tube is clamped and installed at the middle position of the outer wall of the end ring, and an edge joint tube is clamped and installed at the middle position of the outer wall of the mouth ring. Snake grooves are evenly opened on the outer walls of the edge joint tube and the axis joint tube. A ratchet assembly is clamped and installed on the outer wall of the end ring close to one end of the U-face frame and the outer wall of the mouth ring away from the U-face frame. An axis joint gear is rotatably installed on the outer wall of one end of the end ring, and a side joint gear is rotatably installed on the outer wall of one end of the mouth ring. The ratchet assembly is clamped and installed at the evenly corresponding positions of the edge joint gear and the axis joint gear.

[0019] Preferably, the space on one side of the shaft gear is provided with an axial gear meshing with it, and the space on one side of the side gear is provided with a side gear meshing with it, and the number of teeth of the side gear is at least twice the number of teeth of the shaft gear. In addition, the module of the side gear is smaller than the module of the shaft gear.

[0020] Preferably, a ring tube is provided in the space on one side of the U-face frame, and a spiral groove is provided on the inner wall of the ring tube, and a side silo is provided coaxially in the outer space of the ring tube, which is installed by clamping with a mechanical dog through a mounting plate, a gear ring is clamped and installed at one end of the inner wall of the side silo, and a column is clamped and installed at the axial end of the inner wall of the horizontal section of the side silo, a groove is provided on the outer wall of one side of the column, and a movable plate is installed on the inner wall of the groove in a sliding manner, and a vertical pole is clamped and installed on the outer wall of the movable plate away from the gear ring, which is clamped and installed in a sliding manner with the spiral groove on the inner wall of the ring tube, an angle ring is clamped and installed on the end of the ring tube close to the gear ring, and an ear seat is symmetrically clamped and installed on the outer wall of one side of the angle ring.

[0021] Preferably, a coupling is rotatably installed between the two ear seats, and a sheath plate that is clamped and installed with the gear ring is clamped and installed in the middle position of the outer wall of the coupling. A limiting column is slidably clamped and installed through a mounting seat that is slidably installed with the inner wall of the angle ring in the space near the axis of the angle ring, and the limiting column is slidably clamped and installed between the mounting seat, and a telescopic spring that is clamped and installed with the inner wall of the angle ring is sleeved on the outer wall of the telescopic spring near the axis of the gear ring, and a rubber surface column tangent to the sheath plate is clamped and installed on the end of the limiting column away from the axis of the angle ring, a parallel circular groove is provided on the end face of the movable plate away from the axis of the column, and a return straight groove is provided on the inner wall of the ring tube near the angle ring.

[0022] Preferably, the mechanical dog is provided with an external load bracket at one end away from the U-face frame, an infrared monitor is installed on one side of the head of the external load bracket, a base is clamped and installed on the end face of the external load bracket close to the mechanical dog, a clamping groove is provided on one side of the base, and a buffer bin is provided on the end face of the mechanical dog close to the external load bracket for placing the U-face frame, and a bridge frame is clamped and installed inside the clamping groove and is slidably clamped and fitted with the end face of the buffer bin away from the external load bracket, and the cross-sectional shape of the bridge frame is Z-shaped.

[0023] Preferably, the buffer unit includes:

[0024] There is one base frame, which is snap-fitted and installed in the middle of the bottom wall of the buffer bin;

[0025] There are two panels, which are symmetrically mounted on the end surface of the base frame close to the external support bracket;

[0026] The keyway is located in the middle of the angle plate near one end of the U-face frame;

[0027] There is one engaging seat, which is installed between the two panels by sliding snap-fitting, and the engaging seat is snap-fitted with the base; in addition, the U-face frame is snap-fitted with the engaging seat;

[0028] The strut shock absorber is symmetrically mounted on one end face of the engaging seat, and the strut shock absorber is mounted in a clip-fitting manner with the inner wall of the buffer chamber;

[0029] The mouth frame is mounted on one end of the bottom wall of the buffer bin; in addition, a ring tube is installed in the middle of the vertical section of the mouth frame near the engaging seat and is mounted in conjunction with the lead screw;

[0030] The lead screw is installed in a plug-in rotational fit on the vertical section of the mouth frame away from the engaging seat; in addition, the axial gear and the side gear are installed in a snap-fit fit with the outer wall of the lead screw;

[0031] The shaft disc is threadedly mounted on the outer wall of the end of the lead screw away from the engaging seat;

[0032] The rubber plug is installed in a sliding snap-fit manner at the axis of the shaft disc away from the mouth frame. In addition, the bridge plate is located between the rubber plug and the shaft disc near the end of the buffer bin, and the bridge frame is snap-fitted and installed with the outer wall of the rubber plug.

[0033] Preferably, a support plate is mounted on the middle position of the end face of one side of the mouth frame close to the external support bracket, and a guide rod is mounted on the end of the support plate away from the mouth frame for rotation and sliding engagement with the coaxial disk, and a reset spring is mounted on the outer wall of the plug and located between the plug and the bridge plate.

[0034] Preferably, the axial ring and the side ring have serpentine grooves on their outer walls with opposite rotation directions, and the pitch of the serpentine groove on the outer wall of the axial ring is twice the pitch of the serpentine groove on the outer wall of the side ring. The length of the side ring is at least twice the length of the axial ring. The ratchet assembly consists of a ratchet and a pawl. In addition, the two ratchet assemblies located at both ends of the angle rod have opposite unidirectional rotation directions.

[0035] The shock-absorbing dynamic clamping method for the external load structure of the robot dog adopts the above-mentioned buffer clamping device for the robot dog carrying equipment in the ecological environment monitoring industry to provide shock-absorbing buffer clamping. The specific steps are as follows:

[0036] S1: First, the U-face frame is used to synchronize with the mating seat, controlling the shaft seat to drive the support rod to move. At this time, by reasonably setting the position between the ball rod and the ejector pin at the outer end of the support rod, targeted interactions between the ball rod, the ejector pin, and the shaft joint tube and the side joint tube at different positions at the mating seat are achieved at different amplitudes and frequencies. That is, in the low-frequency state, the ball rod and the shaft joint tube interact with each other, while in the high-frequency state, the ejector pin and the side joint tube, as well as the ball rod and the shaft joint tube, interact simultaneously.

[0037] S2: Then, through the mutual meshing of the shaft gear and the coaxial gear, the shaft disc is driven by the dual action of the screw thread and the guide rod sliding guide, driving the rubber plug to move away from the fitting seat, thereby strengthening the dynamic connection strength between the rubber plug and the mechanical dog body under low frequency state, and adaptively adjusting the clamping strength to a certain extent, realizing dynamic buffer clamping;

[0038] S3: Finally, through the meshing action between the side pitch gear and the side position gear, the shaft disc synchronously drives the rubber plug to move toward the engaging seat, thereby reducing the dynamic connection strength between the rubber plug and the robot dog body and reducing the mechanical damage to the robot dog or external equipment caused by high-frequency vibration;

[0039] During this process, by controlling the direction of rotation between the coaxial pitch gears and the side pitch gears of different ratchet assemblies, the opposite direction of rotation of the screw at low frequency and high frequency is achieved. At the same time, the difference between the snake grooves and the module difference between the side pitch gears and the shaft pitch gears are controlled. In this application, in the high-frequency state, the overall movement state of the screw is to control the rubber plug to move toward the direction close to the mating seat, reducing the connection strength between the rubber plug and the mechanical dog body, so as to adapt to the dynamic impact in the high-frequency state and protect the equipment.

[0040] The present invention has the following beneficial effects:

[0041] 1. The present invention achieves this by differentially interacting between the serpentine grooves on the outer wall of the ball rod and the thimble coaxial joint tube and the side joint tube under different dynamic impacts. This ensures that under low-frequency dynamic impacts, only the serpentine grooves on the outer wall of the ball rod coaxial joint tube interact with each other. At this time, the shaft joint tube synchronously controls the end ring to drive the corresponding position ratchet assembly to rotate. The shaft joint gear then engages with the coaxial gears (turning to the positive direction). The shaft disc, under the dual action of the screw thread and the guide rod support and guidance, squeezes the bridge plate and compresses the reset spring, thereby enhancing the interaction between the rubber plug and the inner wall of the buffer chamber and reducing low-frequency vibration.

[0042] Under high-frequency dynamic impact, the ball rod interacts with the snake groove on the outer wall of the shaft joint tube, and the ejector interacts with the snake groove on the outer wall of the side joint tube. By controlling the pitch difference and length difference of the snake groove on the outer wall of the shaft joint tube and the side joint tube, as well as the module difference between the shaft joint gear, the shaft position gear and the side joint gear, the lead screw drives the shaft disc to move toward the engaging seat, reducing the degree of interaction between the reset spring and the inner wall of the buffer chamber. The dynamic clamping state between the external load equipment and the mechanical dog body is further dynamically adjusted to protect the equipment safety.

[0043] That is, implement frequency band adaptive adjustment:

[0044] Low frequency band (anti-resonance): the connection strength increases with the frequency, suppressing the resonance amplitude;

[0045] High frequency band (anti-shock): The connection strength decreases as the frequency increases, giving priority to shock buffering.

[0046] 2. The present invention changes the dynamic interaction between arc plates at different positions and limit columns at different positions, and changes the relative position of the limit column and the sheath plate in different frequency bands, thereby alternatingly changing the restriction of the limit column on the rotation direction of the sheath plate, thereby simultaneously realizing the energy storage and release of the unidirectional rotation of the screw rod in different frequency bands, ensuring the feasibility of the implementation of the aforementioned dynamic adjustment of the clamping force scheme under extreme conditions, improving the specific implementation scenarios of the present application, and enhancing practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0048] Figure 2 This invention is attached Figure 1 The three-dimensional structure is shown after the external support is omitted.

[0049] Figure 3 This is a three-dimensional display diagram of the external support and the local structure thereon of the present invention.

[0050] Figure 4 It is a three-dimensional display diagram of the internal structure of the buffer bin of the present invention.

[0051] Figure 5 This is a cross-sectional view showing the local structure inside the buffer bin of the present invention.

[0052] Figure 6 It is a three-dimensional display diagram of the partial structure of the buffer unit and the dynamic control unit of the present invention.

[0053] Figure 7 This invention is attached Figure 6 The three-dimensional display diagram of the structure behind the mating seat is omitted.

[0054] Figure 8 This invention is attached Figure 7 Top view of the structure.

[0055] Figure 9 This is a plan view showing the internal structure of the side silo of the present invention.

[0056] Figure 10 This is a plan view showing the local internal structure of the side silo of the present invention.

[0057] Figure 11 It is a three-dimensional display diagram of the partial internal structure of the buffer bin of the present invention.

[0058] Figure 12 This is a three-dimensional display diagram of the corner rod of the present invention and the local structure thereon.

[0059] Numbers in the figure: 1, mechanical dog; 2, buffer unit; 3, dynamic control unit;

[0060] 11. External support; 12. Infrared monitor; 13. Base; 14. Clamping slot; 15. Buffer bin; 16. Bridging frame;

[0061] 21. Base frame; 22. Panel; 23. Keyway; 24. Fitting seat; 25. Pillar shock absorber; 26. Mouth frame; 27. Lead screw; 28. Shaft disc; 29. Rubber plug;

[0062] 211, support plate; 212, guide rod; 213, return spring;

[0063] 31. U-shaped frame; 32. Axle seat; 33. Support rod; 34. Axle sleeve; 35. Ball rod; 36. Ejector pin; 37. Angle plate; 38. Vertical plate; 39. Angle rod;

[0064] 311. End ring; 312. Mouth ring; 313. Shaft joint tube; 314. Side joint tube; 315. Snake groove; 316. Ratchet assembly; 317. Shaft joint gear; 318. Side joint gear;

[0065] 321, axial gear; 322, side gear;

[0066] 331, ring pipe; 332, side silo; 333, gear ring; 334, column; 335, slot; 336, movable plate; 337, pole; 338, corner ring; 339, ear seat;

[0067] 341. Coupling; 342. Sheath plate; 343. Limit column; 344. Telescopic spring; 345. Rubber surface column; 346. Parallel circular groove; 347. Return straight groove. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0069] It should be noted that the terms “vertical”, “horizontal”, “left”, “right” and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0070] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0071] Reference Figure 1 、 Figure 2 and Figure 6 It can be seen that the buffer clamping device for the robot dog carrying equipment in the ecological environment monitoring industry includes a robot dog 1, a buffer unit 2 is provided in the space on one side of the robot dog 1, and a dynamic control unit 3 is provided at one end of the buffer unit 2;

[0072] Reference Figure 1 、 Figure 2 and Figure 3It can be seen that the end of the robot dog 1 away from the U-shaped frame 31 is provided with an external support 11, and an infrared monitor 12 is installed on the head side of the external support 11. The end face of the external support 11 close to the robot dog 1 is clamped and installed with a base 13, and a clamping groove 14 is provided on one side of the base 13. The end face of the robot dog 1 close to the external support 11 is provided with a buffer compartment 15 for placing the U-shaped frame 31. The inside of the clamping groove 14 is clamped and installed with a bridge frame 16 that is slidably clamped and fitted with the end face of the buffer compartment 15 away from the external support 11, and the cross-section of the bridge frame 16 is Z-shaped.

[0073] Reference Figure 2 、 Figure 7 、 Figure 8 and Figure 11 It can be seen that the buffer unit 2 includes: a base frame 21, which is snap-fitted and installed in the middle position of the bottom wall of the buffer bin 15; two panels 22, which are symmetrically snap-fitted and installed on the end face of the base frame 21 near the external support 11; a key slot 23, which is provided in the middle position of one end of the angle plate 37 near the U-face frame 31; a fitting seat 24, which is snap-fitted and installed between the two panels 22, and the fitting seat 24 is snap-fitted and installed with the base 13; in addition, the U-face frame 31 is snap-fitted and installed with the fitting seat 24; a pillar shock absorber 25, which is symmetrically snap-fitted and installed on one end face of the fitting seat 24, and the pillar shock absorber 25 is snap-fitted and installed with the inner wall of the buffer bin 15;

[0074] The mouth frame 26 is snap-fitted and mounted on one end of the bottom wall of the buffer bin 15; in addition, a ring tube 331 is plugged and mounted on the middle position of the vertical section of the mouth frame 26 on the side close to the fitting seat 24, and is snap-fitted and mounted with the lead screw 27; the lead screw 27 is plug-fitted and rotatably mounted on the vertical section of the mouth frame 26 on the side away from the fitting seat 24; in addition, the axial gear 321 and the side gear 322 are snap-fitted and mounted on the outer wall of the lead screw 27; the shaft disc 28 is threadedly mounted on the outer wall of the end of the lead screw 27 away from the fitting seat 24; the rubber plug 29 is slidably snap-fitted and mounted on the axis center of the end of the shaft disc 28 away from the mouth frame 26; in addition, the bridge plate is located between the rubber plug 29 and the shaft disc 28 at the end close to the buffer bin 15, and the bridge frame 16 is snap-fitted and mounted on the outer wall of the rubber plug 29;

[0075] Ginseng Figure 6 and Figure 7 It can be seen that a support plate 211 is clamped and installed in the middle position of the end face of the side of the opening frame 26 close to the external support bracket 11, and the support plate 211 is rotatably installed on the end away from the opening frame 26 and is slidably clamped and installed with a guide rod 212, and a return spring 213 is installed on the outer wall of the plug 29 between the plug 29 and the bridge plate.

[0076] Simple assembly process between the external bracket 11 and the robot dog 1:

[0077] During specific implementation, the operator can insert the bridge plate into the clamping groove 14 on one side of the external support 11 (in addition, the initial connection strength between the external support 11 and the robot dog 1 can be further enhanced by external bolts. During specific implementation, the external bolts can be placed between the base 13 and the fitting seat 24, and between the bridge plate and the external support 11). Thereafter, dynamic movable assembly is performed between the external support 11 and the robot dog 1 body through the movable clamping installation between the base 13 and the fitting seat 24. Finally, the infrared monitor 12 is installed on the external support 11 near the head of the robot dog 1 (the infrared monitor 12 senses the infrared energy radiated by the object itself and is not limited by visible light conditions. It can detect animal activities in complete darkness, haze or vegetation-obstructed environments, and has the advantages of strong anti-interference and concealment).

[0078] Buffer bin 15: Sufficient space is reserved in the buffer bin 15 to isolate and protect the components in the buffer unit 2 and the dynamic control unit 3 from the external environment (to a certain extent, the interaction between impurities in the external environment and the components of the units is reduced, thereby increasing the service life of the corresponding components to a certain extent);

[0079] The changing process of the interaction state between the rubber plug 29 and the inner wall of the buffer chamber 15 under different dynamic impacts:

[0080] Take the sudden or slow stop of the robot dog 1 as an example:

[0081] At this time, under the action of inertia, the external support 11 still has a certain acceleration relative to the robot dog 1 body, that is, at this time, the external support 11 has a tendency to move in the direction of travel relative to the robot dog 1:

[0082] First, the external support 11 exerts a reverse force on the fitting seat 24 under the action of inertia. At this time, the fitting seat 24, supported and guided by the panel 22 and the base 21, compresses the strut shock absorber 25 (through the flow or deformation of the damping medium (hydraulic oil, gas or elastic material), the vibration energy is converted into heat energy or potential energy, thereby preliminarily suppressing the external dynamic impact).

[0083] Next, the dynamic control unit 3 controls the shaft disc 28 under the action of the lead screw 27 (please refer to the subsequent description for details), controlling the return spring 213 to expand and then contract (specifically depending on the form of external dynamic impact, i.e. high frequency or low frequency);

[0084] Finally, the degree of interaction between the rubber plug 29 and the inner wall of the buffer chamber 15 is changed by the return spring 213 (the mouth frame 26 provides stable rigid support for the lead screw 27 and the ring tube 331 at the same time. After that, when the lead screw 27 is in a rotating state, the threaded engagement between the coaxial disk 28 causes the shaft disk 28 to drive the bridge plate to move under the further support and guidance of the guide rod 212. The elastic variable of the return spring 213 changes, the interaction relationship between the rubber plug 29 and the buffer chamber 15 changes, and the connection strength between the external support 11 and the robot dog 1 changes synchronously). The clamping state between the robot dog 1 and the external support 11 in different frequency bands is dynamically adjusted to achieve targeted dynamic clamping and buffering, fully ensuring the safety of external equipment on the robot dog 1 when it stops suddenly.

[0085] Key slots 23 : rationally arrange the spatial distribution to avoid collision and limitation between the corresponding components in the dynamic control unit 3 and the panel 22 .

[0086] Reference Figure 5 、 Figure 6 and Figure 7 It can be seen that the dynamic control unit 3 includes: a U-face frame 31, which is arranged in the inner area of the space on one side of the mechanical dog 1; a shaft seat 32, which is clamped and installed in the middle position of the outer wall of the horizontal section of the U-face frame 31; a support rod 33, which is clamped and installed in the middle position of the end of the shaft seat 32 away from the U-face frame 31; two shaft sleeves 34, which are symmetrically clamped and installed on the outer wall of the support rod 33; a ball rod 35, which is clamped and installed in the middle position of the outer wall of one side of the shaft sleeve 34; a thimble 36, which is clamped and installed in the middle position of the outer wall of the other side of the shaft sleeve 34; an angle plate 37, which is arranged in the space on one side of the U-face frame 31 and has an L-shaped cross-section; three vertical plates 38, which are evenly clamped and installed in an array in the middle position of the end face of the angle plate 37 away from the mechanical dog 1; an angle rod 39, which is rotatably mounted on the end of the vertical plate 38 away from the angle plate 37;

[0087] Reference Figure 7 、 Figure 8 and Figure 12 The cam 314 is provided with a toothed part 316 at the bottom of the cam 316, and the toothed part 316 is provided at the bottom of the cam 316. The toothed part 316 is provided at the bottom of the cam 316, and the toothed part 316 is provided at the bottom of the cam 316. The toothed part 316 is provided at the bottom of the cam 316, and the toothed part 316 is provided at the bottom of the cam 316.

[0088] Reference Figure 7 It can be seen that the space on one side of the shaft gear 317 is provided with an axial gear 321 that meshes with the shaft gear 317, and the space on one side of the side gear 318 is provided with a side gear 322 that meshes with the side gear 318. The number of teeth of the side gear 322 is at least twice that of the shaft gear 321. In addition, the module of the side gear 322 is smaller than the module of the shaft gear 321.

[0089] Reference Figure 7 、 Figure 9 and Figure 10 It can be seen that a ring tube 331 is provided in the space on one side of the U-face frame 31, and a spiral groove is provided on the inner wall of the ring tube 331, and a side silo 332 is coaxially provided in the outer space of the ring tube 331, which is clamped and fitted with the mechanical dog 1 through a mounting plate, and a gear ring 333 is clamped and fitted on one end of the inner wall of the side silo 332, and a column 334 is clamped and fitted on the axial end of the inner wall of the horizontal section of the side silo 332, and a groove 335 is provided on the outer wall of one side of the column 334, and a movable plate 336 is slidably clamped and fitted on the inner wall of the groove 335, and a vertical rod 337 is clamped and fitted in a slidable manner with the spiral groove on the inner wall of the ring tube 331 on the outer wall of the movable plate 336 away from the gear ring 333, and an angle ring 338 is clamped and fitted on the end of the ring tube 331 close to the gear ring 333, and an ear seat 339 is symmetrically clamped and fitted on the outer wall of one side of the angle ring 338;

[0090] Reference Figure 9 It can be seen that a coupling 341 is rotatably installed between the two ear seats 339, and a sheath plate 342 is clamped and installed in the middle position of the outer wall of the coupling 341 and is clamped and installed with the same gear ring 333. The space on the side of the sheath plate 342 near the axis of the angle ring 338 is slidably clamped and installed with a limiting post 343 through a mounting seat that is slidably mounted on the inner wall of the angle ring 338, and the limiting post 343 is slidably clamped and installed between the mounting seat, and the telescopic spring 344 is sleeved on the outer wall of the end near the axis of the gear ring 333 and is clamped and installed with the same inner wall of the angle ring 338. The limiting post 343 is clamped and installed on the end away from the axis of the angle ring 338 with a rubber surface post 345 tangent to the sheath plate 342. The end surface of the movable plate 336 away from the axis of the column 334 is provided with a parallel circular groove 346, and the inner wall of the ring tube 331 near the angle ring 338 is provided with a return straight groove 347.

[0091] The serpentine groove 315 on the outer wall of the axial ring rotates in opposite directions to that of the side ring. At the same time, the pitch of the serpentine groove 315 on the outer wall of the axial ring is twice the pitch of the serpentine groove 315 on the outer wall of the side ring. The length of the side ring is at least twice the length of the axial ring. The ratchet assembly 316 is composed of a ratchet and a pawl. In addition, the two ratchet assemblies 316 located at both ends of the angle rod 39 rotate in opposite directions in one direction.

[0092] Under external low-frequency dynamic impact, the interaction between the rubber plug 29 and the inner wall of the buffer chamber 15 is strengthened:

[0093] First, under the support and guidance of the panel 22, the engaging seat 24 synchronously controls the U-face frame 31 to drive the shaft seat 32 to reciprocate. At this time, the shaft sleeve 34 (close to the U-face frame 31 side, under low-frequency dynamic impact, the ball rod 35 close to the U-face frame 31 side first produces mutual movement with the coaxial joint tube 313. In specific implementation, the spacing distance between the two shaft sleeves 34 and the spacing distance between the shaft joint tube 313 and the side joint tube 314 can be calculated externally, so as to achieve that under low-frequency impact, only the ball rod 35 and the coaxial joint tube 313 interact with each other, and the separation of the ball rod 35 and the coaxial joint tube 313 and the interaction of the ejector pin 36 with the side joint tube 314 are used as the judgment standard for high-frequency impact) synchronously drives the ball rod 35 and the coaxial joint tube 313 to interact;

[0094] Next, under the squeezing action of the ball rod 35, the snake groove 315 on the outer wall of the shaft joint tube 313 gradually forces the shaft joint tube 313 to drive the end ring 311 to rotate a corresponding angle or number of revolutions (assuming that the shaft joint tube 313 is rotating in the forward direction and the ratchet assembly 316 and the coaxial joint gear 317 are engaged in a forward direction, that is, in a specific implementation, the ratchet assembly 316 can only rotate the end ring 311 in one direction, that is, the ratchet assembly 316 can only rotate the end ring 311 in the forward direction of the coaxial joint tube 313). At the same time, the shaft gear 321 and the coaxial joint gear 317 are meshed with each other.

[0095] Finally, the lead screw 27 is driven to rotate under the synchronous control of the axial gear 321. The rotating lead screw 27 causes the shaft disc 28, further supported and guided by the guide rod 212, to squeeze the bridge plate, causing the bridge plate to press the return spring 213 (the current meshing state of the shaft gear 317 and the axial gear 321 is used as a reference data for the lead screw 27 to control the shaft disc 28 to move away from the engaging seat 24), thereby strengthening the contact strength between the rubber plug 29 and the inner wall of the buffer chamber 15.

[0096] Under external high-frequency dynamic impact, the interaction between the rubber plug 29 and the inner wall of the buffer chamber 15 is strengthened:

[0097] It is hereby explained that since the outer wall grooves 315 of the shaft joint tube 313 and the side joint tube 314 rotate in opposite directions, when the ejector pin 36 interacts with the side joint tube 314 (the specific working principle can refer to the interaction process between the aforementioned ball rod 35 and the coaxial joint tube 313), the rotation direction between the mouth ring 312 and the aforementioned end ring 311 is opposite (and due to the one-way rotation engagement of the ratchet assembly 316, at this time, the ratchet assembly 316 at the end of the mouth ring 312 can control the reverse rotation of the side joint gear 318, and at the same time, the ratchet assembly 316 at the end ring 311 will not affect the rotation of the angle rod 39), and the final rotation direction of the screw 27 is also the same. The aforementioned "low-frequency" impact has the opposite direction of rotation, so the interaction between the rubber plug 29 and the buffer chamber 15 is gradually reduced. (For the problem of the club 35 still interacting with the shaft tube 313 under high-frequency conditions, and the problem of high frequency eventually converting to low frequency, by changing the pitch difference and overall length difference of the snake groove 315 on the outer wall of the shaft tube 313 and the side tube 314, and the module difference between the shaft gear 317 and the side gear 318, it is achieved that under high-frequency impact, the sum of the displacement of the rubber plug 29 moving toward the fitting seat 24 and the sum of the displacement of the rubber plug 29 moving away from the fitting seat 24 in the opposite direction is greater than zero).

[0098] Under low-frequency or high-frequency impact, the cumulative movement of the rubber plug 29 and the instantaneous release and return process when it approaches the limit value:

[0099] Take low-frequency impact as an example:

[0100] During the continuous single forward rotation of the lead screw 27:

[0101] In a specific implementation, the number of turns of the spiral groove on the inner wall of one side of the ring tube 331 can be limited, that is, the number of turns is one turn, and the pitch of the spiral groove is at least five times the pitch of the aforementioned screw 27;

[0102] It is hereby explained that, for the parallel circular groove 346, the depth of the vertical section on one side is smaller than that of the vertical section on the other side, and the grooves on both sides are connected by a smooth chamfer at the corner (and the smooth chamfer has a gradient linear change); in addition, in the initial state, the limiting post 343 is slidably engaged with the parallel circular groove 346 (groove) on the side with a relatively higher depth. At this time, the limiting post 343 is squeezed by the inner wall of the parallel circular groove 346 (movable plate 336), compressing the telescopic spring 344 and causing the rubber surface post 345 to apply a certain force to the sheath plate 342, so that the sheath plate 342 now limits the position of the gear ring 333 (the reverse elastic force of the telescopic spring 344 ensures the engagement effect between the sheath plate 342 and the gear ring 333 to a certain extent);

[0103] When the ring tube 331 rotates unidirectionally synchronously with the lead screw 27, the sheath plate 342 does not affect the rotation of the angle ring 338 (that is, when the ring tube 331 is subjected to an external rigid force, the sheath plate 342 overcomes to a certain extent the force applied by the telescopic spring 344 to the rubber surface column 345 to limit the rotation of the sheath plate 342, and when the sheath plate 342 rotates from one tooth groove of the gear ring 333 to the inside of another tooth groove, when the ring tube 331 does not rotate relatively, the sheath plate 342 is limited and squeezed by the rubber surface column 345, which can suppress the tendency of the sheath plate 342 to move to the inside of the previous tooth groove of the gear ring 333, while keeping the current position of the sheath plate 342 unchanged). The position of the angle ring 338 under unit rotation is cumulatively limited until the limit column 343 smoothly enters the "groove" on the other side through the parallel circular groove 346.

[0104] At the same time, the vertical rod 337 moves synchronously to the initial position through the return straight groove 347 (the process of the vertical rod 337 moving from the starting end of the spiral groove to the end and entering the return straight groove 347 is the limit setting of the number of unit rotations of the screw 27. In specific implementation, a compression spring can be added between the movable plate 336 and the bottom wall of the ring tube 331 to ensure that the vertical rod 337 returns to the initial position through the elastic force of the compression spring when entering the return straight groove 347. At the same time, a torsion spring can be set between the ring tube 331 and the bracket of the mouth frame 26 to provide a return to the ring tube 331 or the screw 27 through the elastic force of the torsion spring. When the limiting column 343 interacts with the "groove" on the other side of the parallel circular groove 346, since the depth of the "groove" on the other side is greater than the "groove" on the aforementioned side, the rubber surface column 345 relatively releases the extrusion restriction on the sheath plate 342 at this time. Under the restoring force of the torsion spring, the angle ring 338 controls the ring tube 331 or the lead screw 27 to move toward the initial position, avoiding the adjustable limitation of the local interaction between the rubber plug 29 and the inner wall of the buffer chamber 15 under the extreme single low-frequency impact, further ensuring the aforementioned clamping adjustment in different frequency bands between low and high frequencies, and optimizing the single adjustability of the existing clamping device;

[0105] The instantaneous return to position under high-frequency impact will not be described in detail.

[0106] The working principle of the buffer clamping device for the robot dog carrying equipment in the ecological environment monitoring industry provided by the present invention is as follows: Step 1: First, the U-face frame 31 is used to control the shaft seat 32 to drive the support rod 33 to move under the synchronous action of the fitting seat 24. At this time, by reasonably setting the position between the ball rod 35 at the outer end of the support rod 33 and the ejector pin 36, the fitting seat 24 is realized under different amplitudes and frequencies. The ball rod 35 and the ejector pin 36 interact with the shaft joint tube 313 and the side joint tube 314 at different positions. That is, in the low-frequency state, the ball rod 35 interacts with the coaxial joint tube 313. In the high-frequency state, the ejector pin 36 interacts with the side joint tube 314 and the ball rod 35 interacts with the coaxial joint tube 313 at the same time;

[0107] Step 2: Then, through the mutual meshing action between the shaft gear 317 and the coaxial gear 321, the shaft disc 28 is driven by the dual action of the screw 27 thread fit and the guide rod 212 sliding guide, driving the rubber plug 29 to move away from the fitting seat 24, thereby strengthening the dynamic connection strength between the rubber plug 29 and the body of the mechanical dog 1 under low frequency conditions, adaptively adjusting the clamping strength to a certain extent, and realizing dynamic buffer clamping;

[0108] Step 3: Finally, through the meshing action between the pitch gear 318 and the position gear 322, the shaft disc 28 synchronously drives the rubber plug 29 to move toward the engaging seat 24, thereby reducing the dynamic connection strength between the rubber plug 29 and the body of the robot dog 1, and reducing the mechanical damage to the robot dog 1 or the external equipment caused by high-frequency vibration;

[0109] During this process, by controlling the direction of rotation between the coaxial joint gear 317 and the side joint gear 318 of different ratchet assemblies 316, the opposite direction of rotation of the screw rod at low frequency and high frequency is achieved. At the same time, the difference between the snake grooves 315 and the module difference between the side joint gear 318 and the shaft joint gear 317 are controlled. In this application, in the high-frequency state, the overall movement state of the screw 27 is to control the plug 29 to move toward the direction close to the mating seat 24, thereby reducing the connection strength between the plug 29 and the body of the mechanical dog 1, so as to adapt to the dynamic impact in the high-frequency state and protect the equipment.

[0110] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0111] The above are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A buffer clamping device for a robot dog carrying device in the ecological environment monitoring industry, comprising a robot dog (1), characterized in that: A buffer unit (2) is provided in a space on one side of the mechanical dog (1), and a dynamic control unit (3) is provided at one end of the buffer unit (2); The dynamic control unit (3) comprises: A U-shaped frame (31) is provided in an inner area of a space on one side of the mechanical dog (1); The shaft seat (32) is mounted on the middle position of the outer wall of the horizontal section of the U-surface frame (31); The support rod (33) is clamped and mounted at a middle position of the shaft seat (32) away from one end of the U-surface frame (31); There are two shaft sleeves (34) symmetrically mounted on the outer wall of the support rod (33); A ball rod (35) is mounted on the middle position of the outer wall of one side of the shaft sleeve (34); An ejector pin (36) is mounted on the middle position of the outer wall of another side of the shaft sleeve (34); A corner plate (37) is provided in a space on one side of the U-surface frame (31) and has an L-shaped cross section; There are three vertical plates (38) in an array and are evenly mounted on the middle position of the end surface of the corner plate (37) away from the mechanical dog (1); The angle rod (39) is rotatably mounted on one end of the vertical plate (38) away from the angle plate (37).

2. The buffer clamping device for a robot dog carrying device in the ecological environment monitoring industry according to claim 1 is characterized in that: The end of the angle bar (39) close to the U-face frame (31) is clamped and installed with an end ring (311), the outer wall of the end of the angle bar (39) away from the U-face frame (31) is clamped and installed with a mouth ring (312), the middle position of the outer wall of the end ring (311) is clamped and installed with a shaft joint tube (313), the middle position of the outer wall of the mouth ring (312) is clamped and installed with a side joint tube (314), the outer walls of the side joint tube (314) and the shaft joint tube (313) are evenly opened with snake grooves (315), and the end ring (3 11) The outer wall of one end close to the U-face frame (31) and the outer wall of the mouth ring (312) away from the U-face frame (31) are both snap-fitted with a ratchet assembly (316); the outer wall of one end of the end ring (311) is rotationally fitted with a shaft joint gear (317); the outer wall of one end of the mouth ring (312) is rotationally fitted with a side joint gear (318); the ratchet assembly (316) is snap-fitted and installed at positions where the side joint gear (318) and the shaft joint gear (317) are evenly corresponding.

3. The buffer clamping device for a robot dog carrying device in the ecological environment monitoring industry according to claim 2 is characterized in that: A space on one side of the shaft gear (317) is provided with an axial gear (321) meshing and mounted therewith, and a space on one side of the side gear (318) is provided with a side gear (322) meshing and mounted therewith, and the number of teeth of the side gear (322) is at least twice the number of teeth of the shaft gear (321), and in addition, the module of the side gear (322) is smaller than the module of the shaft gear (321).

4. The buffer clamping device for a robot dog carrying device in the ecological environment monitoring industry according to claim 2 is characterized in that: A ring tube (331) is provided in the space on one side of the U-face frame (31), and a spiral groove is provided on the inner wall of the ring tube (331). A side silo (332) is provided in the outer space of the ring tube (331) coaxially and is mounted by clamping and cooperating with the mechanical dog (1) through the mounting plate. A gear ring (333) is clamped and mounted on one end of the inner wall of the side silo (332). A column (334) is clamped and mounted on the axial end of the inner wall of the horizontal section of the side silo (332). The outer wall of one side of the column (334) is opened. A slot (335) is provided, and a movable plate (336) is installed on the inner wall of the slot (335) in a sliding and snap-fit manner. The outer wall of the movable plate (336) is snap-fitted with a vertical rod (337) that is snap-fitted with the spiral groove on the inner wall of the ring tube (331) at one end away from the gear ring (333). An angle ring (338) is snap-fitted with the end of the ring tube (331) close to the gear ring (333). An outer wall of one side of the angle ring (338) is snap-fitted with an ear seat (339) in a symmetrical shape.

5. The buffer clamping device for a robot dog carrying device in the ecological environment monitoring industry according to claim 2 is characterized in that: A coupling (341) is rotatably mounted between the two ear seats (339), and a sheath plate (342) is mounted on the middle position of the outer wall of the coupling (341) and is mounted on the same gear ring (333). The sheath plate (342) is mounted on the space near the axis of the angle ring (338) through a mounting seat that is slidably mounted on the inner wall of the angle ring (338). The limiting column (343) is slidably mounted on the mounting seat, and the telescopic spring (344) is mounted on the mounting seat. A telescopic spring (344) is sleeved on the outer wall of one end near the axis of the gear ring (333) and is clamped and installed with the inner wall of the same angle ring (338); a rubber surface column (345) tangential to the sheath plate (342) is clamped and installed on the end of the limiting column (343) away from the axis of the angle ring (338); a parallel circular groove (346) is opened on the end face of the movable plate (336) away from the axis of the column (334); and a return straight groove (347) is opened on the inner wall of the ring tube (331) near the angle ring (338).

6. The buffer clamping device for a robot dog carrying device in the ecological environment monitoring industry according to claim 1 is characterized in that: The mechanical dog (1) is provided with an external support (11) at one end away from the U-shaped frame (31), an infrared monitor (12) is installed on one side of the head of the external support (11), a base (13) is mounted on the end face of the external support (11) close to the mechanical dog (1), a clamping groove (14) is provided on one side of the base (13), a buffer bin (15) is provided on the end face of the mechanical dog (1) close to the external support (11) for placing the U-shaped frame (31), a bridge frame (16) is mounted in the clamping groove (14) and is mounted in a sliding manner with the end face of the buffer bin (15) away from the external support (11), and the cross-sectional shape of the bridge frame (16) is Z-shaped.

7. The buffer clamping device for a robot dog carrying device in the ecological environment monitoring industry according to claim 6 is characterized in that: The buffer unit (2) comprises: The base frame (21) is one in number and is mounted on the middle position of the bottom wall of the buffer bin (15); There are two panels (22) symmetrically mounted on the end surface of the base frame (21) close to the external support (11). A keyway (23) is provided at a middle position of the angle plate (37) near one end of the U-surface frame (31); The number of the engaging seat (24) is one and the engaging seat (24) is installed between the two panels (22) by sliding engagement, and the engaging seat (24) is engaged with the base (13) by engagement; in addition, the U-surface frame (31) is engaged with the engaging seat (24); The pillar shock absorber (25) is symmetrically mounted on one end face of the engaging seat (24), and the pillar shock absorber (25) is mounted in a snap-fit manner with the inner wall of the buffer chamber (15); The mouth frame (26) is mounted on one end of the bottom wall of the buffer bin (15) by snap-fitting. In addition, a ring tube (331) is installed in a snap-fitting manner with the lead screw (27) at the middle position of the vertical section of the mouth frame (26) near the engaging seat (24). The lead screw (27) is mounted in a plug-in rotational manner on a vertical section of the mouth frame (26) away from the engaging seat (24); in addition, the axial gear (321) and the side gear (322) are mounted in a snap-fit manner on the outer wall of the lead screw (27); A shaft disc (28) is threadedly mounted on the outer wall of one end of the lead screw (27) away from the engaging seat (24); The rubber plug (29) is mounted in a sliding snap-fit manner at the axis of the shaft disc (28) away from the end of the mouth frame (26). In addition, the bridge plate is located between the rubber plug (29) and the shaft disc (28) at one end close to the buffer bin (15), and the bridge frame (16) is snap-fitted and mounted on the outer wall of the rubber plug (29).

8. The buffer clamping device for a robot dog carrying device in the ecological environment monitoring industry according to claim 7 is characterized in that: A support plate (211) is mounted on the middle position of the end face of one side of the mouth frame (26) close to the external support (11); a guide rod (212) is mounted on the support plate (211) which is rotatably mounted on the end of the mouth frame (26) away from the mouth frame (26); and a return spring (213) is mounted on the outer wall of the rubber plug (29) between the rubber plug (29) and the bridge plate.

9. The buffer clamping device for a robot dog carrying device in the ecological environment monitoring industry according to claim 6, characterized in that: The axial ring and the lateral ring have opposite rotation directions of the snake groove (315) opened on the outer wall. At the same time, the pitch of the snake groove (315) opened on the outer wall of the axial ring is twice the pitch of the snake groove (315) opened on the outer wall of the lateral ring. The length of the lateral ring is at least twice the length of the axial ring. The ratchet assembly (316) is composed of a ratchet and a pawl. In addition, the two ratchet assemblies (316) located at both ends of the angle rod (39) have opposite rotation directions in one direction.

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