Four-footed bionic mechanical dog

Abstract

The invention discloses a four-footed bionic mechanical dog, which belongs to the technical field of robots and comprises a body structure, two ends of the body structure are respectively provided with a first head and a second head, the first head and the second head are respectively provided with a head camera module, and the bottom of the body structure is provided with four leg structures. A mechanical arm and a camera shooting assembly are arranged at the top of the body structure, the camera shooting assembly is provided with a first rotating motor and a second rotating motor, the first rotating motor drives the camera shooting assembly to rotate in the horizontal plane, and the second rotating motor drives the camera shooting assembly to rotate in the vertical plane. The camera shooting assembly driven by the first rotating motor and the second rotating motor is matched with the cameras at the two ends in the walking direction, dead-corner-free monitoring is achieved, the mechanical arm is integrated, and the problems that a visual system of an existing mechanical dog is heavy, monitoring dead corners exist, and a grabbing task cannot be executed are solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot technology, and particularly relates to a quadruped bionic mechanical dog. BACKGROUND

[0002] The statements herein are provided only to complement the background of the present application and are not necessarily prior art.

[0003] With the in-depth application of quadruped bionic robot technology in the fields of industrial inspection, security monitoring and emergency rescue, the requirements for environmental perception, motion stability and functional integration are increasingly improved. In the prior art, a leg-foot type bionic mechanical dog with visual navigation and a control method thereof disclosed in Chinese patent application No. 201911143094.7 realize leg movement through a quadrilateral linkage mechanism, and are equipped with a visual navigation system capable of lifting and horizontally moving, which can perform walking, jumping and other actions in complex terrain, and has certain environmental perception and motion flexibility. However, the prior art still has the following problems: The visual navigation system thereof relies on mechanical displacement mechanism to adjust the position of the camera, has slow response speed, is bulky in structure, and cannot realize 360° horizontal continuous rotation and real-time dead angle-free monitoring, which limits the perception efficiency and range thereof in dynamic environment; Cannot perform a grabbing task, the mechanical dog does not integrate a mechanical arm structure, cannot perform an article grabbing, device operation and other operations while performing a moving task, has single function, and is difficult to adapt to an integrated scene requiring movement and operation, such as industrial inspection and material delivery. SUMMARY

[0004] The purpose of the present application is to provide a quadruped bionic mechanical dog, which realizes dead angle-free monitoring by cooperating the camera at both ends in the walking direction through the camera assembly driven by the first rotary motor and the second rotary motor, and integrates a mechanical arm, thereby solving the problems of the bulky visual system of the existing mechanical dog, the monitoring dead angle and the inability to perform a grabbing task.

[0005] In order to achieve the above-mentioned purpose, the present application is implemented through the following technical solutions: In a first aspect, the embodiments of the present application provide a quadruped bionic mechanical dog, comprising a body structure, two ends of the body structure are respectively provided with a first head and a second head, the first head and the second head are respectively provided with a head camera module, the bottom of the body structure is provided with four leg structures, the top of the body structure is provided with a mechanical arm and a camera assembly, the camera assembly is provided with a first rotary motor and a second rotary motor, the first rotary motor drives the camera assembly to rotate in a horizontal plane, and the second rotary motor drives the camera assembly to rotate in a vertical plane.

[0006] As a further technical solution, the bottom of the body structure is provided with an energy storage module.

[0007] As a further technical solution, the body structure is arranged in a rectangular structure.

[0008] As a further technical solution, a plurality of boxes are arranged in the middle of the body structure, and a detachable side plate is arranged on the side of the body structure corresponding to the box.

[0009] As a further technical solution, the body structure includes a first horizontal support plate, one end of the first horizontal support plate is parallel to a second horizontal support plate, a third horizontal support plate is arranged at a distance apart from the lower part of the first horizontal support plate, one end of the third horizontal support plate is parallel to a fourth horizontal support plate, and the first horizontal support plate is arranged parallel to the third horizontal support plate. The first horizontal support plate, the second horizontal support plate, the third horizontal support plate and the fourth horizontal support plate are provided with a first vertical support plate, a second vertical support plate, a third vertical support plate, a fourth vertical support plate and a fifth vertical support plate, which are arranged in parallel at a distance apart from each other, and the first vertical support plate is connected vertically to the first horizontal support plate.

[0010] As a further technical solution, the leg structure includes a first motor, the first motor is provided with a first motor housing, the first motor housing is provided with a motor connecting plate on the side close to the body structure, the first motor housing is provided with a first connecting seat on one end along the walking direction, and the first motor housing is provided with a second connecting seat on the other end along the walking direction.

[0011] As a further technical solution, the leg structure further includes a thigh and a calf, the thigh is provided with a strip-shaped connecting plate on one end close to the body structure, the connecting plate is provided with a rotating shaft in the middle, the rotating shaft is connected to the output end of the first motor, the connecting plate is provided with a connecting rod on one end, the other end of the connecting rod is hinged to the calf, one end of the thigh away from the body structure is rotatably connected to the calf through a leg bearing, and the other end of the calf away from the thigh is provided with an anti-skid foot.

[0012] As a further technical solution, one end of the anti-skid foot is detachably connected to the calf, the end of the anti-skid foot in contact with the ground is arranged in a hemispherical structure, and the anti-skid foot is provided with an anti-skid groove structure.

[0013] As a further technical scheme, the camera assembly comprises a camera base, the camera base is detachably mounted on the body structure, a circuit support plate is arranged on the camera base, a first rotary motor is arranged on the circuit support plate, an output end of the first rotary motor is connected with a rotary connecting plate, the rotary connecting plate is arranged in an L-shaped structure, a second rotary motor is arranged at the other end of the rotary connecting plate, an output end of the second rotary motor is connected with a camera mounting seat, and the camera mounting seat is arranged in a U-shaped structure, and a camera is arranged at the middle part of the U-shaped structure camera mounting seat.

[0014] As a further technical scheme, the mechanical arm comprises a mechanical arm base, a mechanical arm rotary motor is arranged on the mechanical arm base, an output end of the mechanical arm rotary motor is connected with a fixing frame, a first joint is mounted on the fixing frame, a second joint is hingedly connected to the first joint, a first mechanical rod is mounted at the other end of the second joint, a third joint is mounted at the other end of the first mechanical rod, a fourth joint is hingedly connected to the third joint, a second mechanical rod is mounted at the other end of the fourth joint, a first mounting piece is mounted at the other end of the second mechanical rod, a fifth joint is mounted on the first mounting piece, a second mounting piece is mounted on the fifth joint, and a mechanical claw is mounted on the second mounting piece.

[0015] The beneficial effects of the above embodiments of the present application are as follows: By arranging the camera assembly on the top of the body structure, and adopting the first rotary motor and the second rotary motor to respectively drive the camera assembly to rotate in the horizontal and vertical planes, the rapid response and omnidirectional dead angle free monitoring of the camera are realized, the defects of the original visual system structure being heavy and the adjustment range being limited are completely overcome, the multi-joint mechanical arm is integrated on the top of the body structure, so that the mechanical dog can perform accurate grabbing and operation tasks while moving and inspecting, and the application functions of the mechanical dog in the scenes of industrial inspection, material delivery and the like are significantly expanded. BRIEF DESCRIPTION OF DRAWINGS

[0016] The drawings accompanying the specification of the present application form a part thereof, serve to provide further understanding of the present application, and together with the specification explain the present application, and do not constitute an improper limitation on the present application.

[0017] Figure 1 is a schematic diagram of the overall structure of a four-group bionic mechanical dog provided in embodiment 1 of the present application; Figure 2 is a schematic diagram of the first head provided in embodiment 1 of the present application; Figure 3 is a schematic diagram of the body structure provided in embodiment 1 of the present application; Figure 4 is a schematic diagram of the leg structure provided in embodiment 1 of the present application; Figure 5 is a structural schematic diagram of a camera assembly provided by embodiment 1 of the present application; Figure 6 is a structural schematic diagram of a mechanical arm provided by embodiment 1 of the present application; Figure 7 is a structural schematic diagram of an anti-skid foot provided by embodiment 1 of the present application.

[0018] The schematic diagram is only for illustration of use; Among them: 1, first head; 101, head shell; 102, head camera module; 2, body structure; 201, first horizontal support plate; 202, second horizontal support plate; 203, third horizontal support plate; 204, fourth horizontal support plate; 205, first vertical support plate; 206, second vertical support plate; 207, third vertical support plate; 208, fourth vertical support plate; 209, fifth vertical support plate; 210, side plate; 3, leg structure; 301, first connecting seat; 302, first motor shell; 303, first motor; 304, second connecting seat; 305, motor connecting plate; 306, rotating shaft; 307, thigh; 308, connecting rod; 309, connecting plate; 310, leg bearing; 311, calf; 312, anti-skid foot; 4, energy storage module; 5, camera assembly; 501, camera base; 502, circuit support plate; 503, first rotating motor; 504, rotating connecting plate; 505, second rotating motor; 506, camera head mounting seat; 507, camera head; 6, mechanical arm; 601, mechanical arm base; 602, mechanical arm rotating motor; 603, fixing frame; 604, first joint; 605, second joint; 606, first mechanical rod; 607, third joint; 608, fourth joint; 609, second mechanical rod; 610, first mounting piece; 611, fifth joint; 612, second mounting piece; 613, mechanical claw; 7, second head. DETAILED DESCRIPTION

[0019] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0020] Embodiment 1 In a typical embodiment of the present application, as Figure 1As shown, a quadruped bionic mechanical dog is provided, including a body structure 2, two ends of the body structure 2 are respectively provided with a first head 1 and a second head 7, the first head 1 and the second head 7 are respectively provided with a head camera module 102, the bottom of the body structure 2 is provided with four leg structures 3, the top of the body structure 2 is provided with a mechanical arm 6 and a camera assembly 5, the camera assembly 5 is provided with a first rotary motor 503 and a second rotary motor 505, the first rotary motor 503 drives the camera assembly 5 to rotate in the horizontal plane, and the second rotary motor 505 drives the camera assembly 5 to rotate in the vertical plane.

[0021] The outside of the first head 1 is provided with a head shell 101, which protects the head camera module 102.

[0022] The double-head camera module 102 provides bidirectional environmental perception capability, enhancing the panoramic monitoring and obstacle detection efficiency of the mechanical dog in dynamic environment. The first rotary motor 503 and the second rotary motor 505 of the camera assembly 5 realize horizontal three hundred and sixty degrees continuous rotation and vertical angle adjustment, thereby realizing rapid response and no dead angle visual coverage, greatly improving the perception flexibility and real-time performance in industrial inspection and security tasks. At the same time, the integration of the mechanical arm 6 enables the mechanical dog to perform grabbing, carrying or operation tasks during movement, expanding its application range in emergency rescue and industrial inspection scenes, realizing the integration of movement and operation functions.

[0023] The bottom of the body structure 2 is provided with an energy storage module 4. The energy storage module 4 provides a stable built-in power supply for the mechanical dog, reduces the dependence on external power supply, and prolongs the continuous working time.

[0024] The body structure 2 is arranged in a rectangular structure. The rectangular structure provides a spacious and stable mounting platform, facilitating the reasonable layout and fixation of components such as the mechanical arm 6 and the camera assembly 5.

[0025] The middle part of the body structure 2 is provided with a plurality of boxes, and the side part of the body structure 2 corresponding to the boxes is provided with a detachable side plate 210. The boxes provide modular space for accommodating electronic control units, sensors or spare parts, and the detachable side plate 210 facilitates quick access and maintenance of internal components.

[0026] The body structure 2 includes a first horizontal support plate 201, one end of the first horizontal support plate 201 is parallelly installed with a second horizontal support plate 202, the lower part of the first horizontal support plate 201 is provided with a third horizontal support plate 203 at a certain distance, one end of the third horizontal support plate 203 is parallelly installed with a fourth horizontal support plate 204, and the first horizontal support plate 201 is parallelly arranged with the third horizontal support plate 203; The first horizontal support plate 201, the second horizontal support plate 202, the third horizontal support plate 203 and the fourth horizontal support plate 204 are provided with the first vertical support plate 205, the second vertical support plate 206, the third vertical support plate 207, the fourth vertical support plate 208 and the fifth vertical support plate 209, which are arranged in parallel at a certain distance from each other, and the first vertical support plate 205 is connected perpendicularly to the first horizontal support plate 201.

[0027] Through the combination of multiple horizontal and vertical support plates, a solid and lightweight frame structure is formed, which effectively disperses the load and impact force, improves the overall rigidity and anti-deformation ability.

[0028] The leg structure 3 includes a first motor 303, and the first motor 303 is provided with a first motor shell 302 outside, the first motor shell 302 is connected to the body structure 2 through a motor connecting plate 305 arranged on one side of the first motor shell 302 close to the body structure 2, one end of the first motor shell 302 along the walking direction is provided with a first connecting seat 301 connected to the body structure 2, and the other end of the first motor shell 302 along the walking direction is provided with a second connecting seat 304 connected to the body structure 2.

[0029] The first motor 303 serves as the driving core of the leg, and its shell and connection design provide reliable protection and fixation to prevent the motor from being damaged during movement. Multiple connection points ensure the firm combination between the leg and the body, reducing the risk of loosening and improving the stability and precision of walking.

[0030] The leg structure 3 further includes a thigh 307 and a calf 311, and the thigh 307 is provided with a strip-shaped connecting plate 309 at one end close to the body structure 2, the connecting plate 309 is provided with a rotating shaft 306 at the middle part, the rotating shaft 306 is connected to the output end of the first motor 303, one end of the connecting plate 309 is provided with a connecting rod 308, the other end of the connecting rod 308 is hinged to the calf 311, one end of the thigh 307 away from the body structure 2 is rotatably connected to the calf 311 through a leg bearing 310, and the other end of the calf 311 away from the thigh 307 is provided with an anti-skid foot 312.

[0031] The connecting plate 309 and the rotating shaft 306 efficiently transmit the power of the first motor 303 to the leg part, realizing the flexible swing of the thigh 307. It can be understood that the first motor 303 rotates along the set rotating track, drives the up-and-down movement of the end of the connecting piece connected with the thigh 307, and then drives the swing of the thigh 307. The plurality of leg parts 3 cooperate to realize walking. The connecting rod 308 and the hinged structure allow the calf 311 to adaptively change the terrain, provide a buffering effect, and reduce the impact of movement. The leg bearing 310 ensures the smooth rotation between the thigh 307 and the calf 311, enhances the passability and stability on uneven ground.

[0032] One end of the antiskid foot 312 is detachably connected with the calf 311, and a quick-release connecting groove is arranged on the antiskid foot 312. The end of the antiskid foot 312 in contact with the ground is provided with a semispherical structure, and the antiskid foot 312 is provided with an antiskid groove structure.

[0033] The semispherical structure facilitates the movement of the robot dog on the uneven ground, the antiskid groove effectively prevents slipping by generating frictional resistance, the detachable connection design allows the antiskid foot 312 to be quickly replaced after wear and tear, and allows the selection of special foot parts according to different terrains, thereby enhancing the environmental adaptability.

[0034] The camera assembly 5 comprises a camera base 501 which is detachably mounted on the body structure 2. The camera base 501 is provided with a circuit support plate 502, the circuit support plate 502 is provided with a first rotating motor 503, the output end of the first rotating motor 503 is connected with a rotating connecting plate 504, the rotating connecting plate 504 is provided with an L-shaped structure, the other end of the rotating connecting plate 504 is provided with a second rotating motor 505, the output end of the second rotating motor 505 is connected with a camera mounting seat 506, the camera mounting seat 506 is provided with a U-shaped structure, and a camera 507 is arranged in the middle of the U-shaped camera mounting seat 506.

[0035] The detachable base facilitates the installation and maintenance of the camera assembly 5. The first rotating motor 503 drives horizontal rotation, and the second rotating motor 505 drives vertical rotation, so that the camera 507 can be quickly positioned and cover a wide angle of view, ensuring high-definition image acquisition.

[0036] The mechanical arm 6 comprises a mechanical arm base 601, a mechanical arm rotating motor 602 is arranged on the mechanical arm base 601, an output end of the mechanical arm rotating motor 602 is connected with a fixing frame 603, a first joint 604 is arranged on the fixing frame 603, a second joint 605 is hingedly connected to the first joint 604, a first mechanical arm 606 is arranged at another end of the second joint 605, a third joint 607 is arranged at another end of the first mechanical arm 606, a fourth joint 608 is hingedly connected to the third joint 607, a second mechanical arm 609 is arranged at another end of the fourth joint 608, a first mounting piece 610 is arranged at another end of the second mechanical arm 609, a fifth joint 611 is arranged on the first mounting piece 610, a second mounting piece 612 is arranged on the fifth joint 611, and a mechanical claw 613 is arranged on the second mounting piece 612.

[0037] The multi-joint and multi-mechanical arm arrangement provides high degree of freedom of movement, so that the mechanical arm 6 can be flexibly stretched, bent and rotated to realize the grasping and operation of objects. It can be understood that in the embodiment, a control module can be arranged in the body structure 2, the control module is in communication connection with the camera assembly 5 and the head camera assembly, the grasped object is positioned through image information, and the mechanical arm 6 is controlled to grasp.

[0038] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A quadrupedal bionic mechanical dog, characterized in that, The device includes a body structure, with a first head and a second head at each end. The first head and the second head are each equipped with a head camera module. The bottom of the body structure has four leg structures. The top of the body structure has a robotic arm and a camera assembly. The camera assembly has a first rotary motor and a second rotary motor. The first rotary motor drives the camera assembly to rotate in the horizontal plane, and the second rotary motor drives the camera assembly to rotate in the vertical plane.

2. The quadrupedal bionic mechanical dog as described in claim 1, characterized in that, An energy storage module is located at the bottom of the body structure.

3. The quadrupedal bionic mechanical dog as described in claim 1, characterized in that, The body structure is set as a rectangular structure.

4. A quadrupedal bionic mechanical dog as described in claim 3, characterized in that, The body structure has multiple boxes in the middle, and the sides of the body structure corresponding to the boxes have detachable side panels.

5. A quadrupedal bionic mechanical dog as described in claim 4, characterized in that, The body structure includes a first horizontal support plate, a second horizontal support plate is installed parallel to one end of the first horizontal support plate, a third horizontal support plate is provided at a set distance below the first horizontal support plate, and a fourth horizontal support plate is installed parallel to one end of the third horizontal support plate. The first horizontal support plate and the third horizontal support plate are arranged parallel to each other. A first vertical support plate, a second vertical support plate, a third vertical support plate, a fourth vertical support plate, and a fifth vertical support plate are provided between the first horizontal support plate, the second horizontal support plate, the third horizontal support plate, and the fourth horizontal support plate. The first vertical support plate, the second vertical support plate, the third vertical support plate, the fourth vertical support plate, and the fifth vertical support plate are arranged parallel to each other at a predetermined distance. The first vertical support plate is perpendicularly connected to the first horizontal support plate.

6. A quadrupedal bionic mechanical dog as described in claim 1, characterized in that, The leg structure includes a first motor, and the first motor has a first motor housing. The first motor housing has a motor connecting plate on the side near the body structure that is connected to the body structure. The first motor housing has a first connecting seat at one end along the walking direction that is connected to the body structure. The first motor housing has a second connecting seat at the other end along the walking direction that is connected to the body structure.

7. A quadrupedal bionic mechanical dog as described in claim 6, characterized in that, The leg structure also includes a thigh and a calf. The end of the thigh closest to the torso structure is provided with a strip-shaped connecting plate. The middle of the connecting plate is provided with a rotating shaft, which is connected to the output end of the first motor. A connecting rod is installed at one end of the connecting plate, and the other end of the connecting rod is hinged to the calf. The end of the thigh away from the torso structure is rotatably connected to the calf through a leg bearing. The end of the calf away from the thigh is provided with an anti-slip foot.

8. A quadrupedal bionic mechanical dog as described in claim 7, characterized in that, One end of the anti-slip foot is detachably connected to the lower leg, and the end of the anti-slip foot that contacts the ground is set as a hemispherical structure, with an anti-slip groove structure on the anti-slip foot.

9. A quadrupedal bionic mechanical dog as described in claim 1, characterized in that, The camera assembly includes a camera base, which is detachably mounted on the body structure. The camera base is provided with a circuit support plate, and the circuit support plate is provided with a first rotary motor. The output end of the first rotary motor is connected to a rotary connecting plate, which is configured as an L-shaped structure. The other end of the rotary connecting plate is provided with a second rotary motor, and the output end of the second rotary motor is connected to a camera mounting base, which is configured as a U-shaped structure. A camera is set in the middle of the U-shaped camera mounting base.

10. A quadrupedal bionic mechanical dog as described in claim 1, characterized in that, The robotic arm includes a robotic arm base, on which a robotic arm rotary motor is mounted. The output end of the robotic arm rotary motor is connected to a fixed frame. A first joint is mounted on the fixed frame. A second joint is hinged to the first joint. A first mechanical rod is mounted on the other end of the second joint. A third joint is mounted on the other end of the first mechanical rod. A fourth joint is hinged to the third joint. A second mechanical rod is mounted on the other end of the fourth joint. A first mounting component is mounted on the other end of the second mechanical rod. A fifth joint is mounted on the first mounting component. A second mounting component is mounted on the fifth joint. A mechanical gripper is mounted on the second mounting component.

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