Dustproof joint structure for robot dog

Abstract

This invention discloses a dustproof joint structure for a robotic dog, belonging to the field of robotic dog technology. It includes a thigh frame, a lower leg frame, a motor body, ball feet, and an electric running wheel assembly. The thigh frame houses the motor body within a motor cavity, and the lower leg frame is rotatably connected to the thigh frame via the motor. The lower leg frame contains a transmission mechanism composed of a worm gear, worm wheel, lead screw, and sliding plate, allowing switching between ball foot support and electric running wheel drive modes, adapting to flexible movement in complex road conditions and high-speed travel on smooth surfaces. A filter cartridge, air deflector, limit frame, and quick-release assembly are located behind the motor cavity, working in conjunction with closed fan blades and a sealing plate to achieve dynamic sealing of the motor's air inlet and outlet, ensuring heat dissipation while preventing dust. The filter cartridge and ball feet can be quickly disassembled and replaced by pressing buttons, facilitating maintenance. This invention balances mobility, dustproof and heat dissipation performance, and ease of maintenance, effectively improving the service life and operational stability of the robotic dog's joints.

Description

Technical Field

[0001] This invention relates to the field of robot dog technology, and more particularly to a dustproof joint structure for robot dogs. Background Technology

[0002] Existing robot dog joint structures have many technical defects. First, the dustproof design is insufficient, and dust can easily enter the motor and transmission components inside the joint, affecting the stability and service life of the equipment. Second, the movement mode is limited, making it difficult to simultaneously meet the needs of flexible obstacle crossing and turning in complex road conditions and high-speed straight-line movement on flat roads. Third, heat dissipation and dust prevention are difficult to balance. Traditional sealed structures can lead to poor heat dissipation of the motor, while ventilated structures can reduce the dustproof effect. Fourth, the maintenance of vulnerable parts is cumbersome, and the replacement of ground support components is complicated, increasing the maintenance cost and difficulty of the equipment.

[0003] Therefore, a dustproof joint structure for robot dogs is needed to solve the problems mentioned above. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a dustproof joint structure for robot dogs, solving the problems mentioned in the background section.

[0005] Technical Solution: To solve the above-mentioned technical problems, according to one aspect of the present invention, more specifically, a dustproof joint structure for a robot dog, including a thigh frame, a motor cavity extending through the thigh frame, a motor body fixed inside the motor cavity, a lower leg frame fixed to the front end of the output shaft of the motor body, the thigh frame being rotatably connected to the lower leg frame via the motor body, an inner groove extending through the lower leg frame, a bottom groove at the bottom of the lower leg frame, a mounting plate provided on the rear surface of the lower leg frame, a plurality of through slots extending through the mounting plate behind the motor cavity, a rod fixed below the front surface of the mounting plate, the front end of the rod extending through to the front surface of the lower leg frame, and a ball foot inserted into the bottom groove on the outer surface of the rod. A worm gear is rotatably connected to the upper part of the inner groove. A gear is fixed to the front of the outer surface of the worm gear. A worm wheel is meshed with the lower part of the outer surface of the worm gear. A lead screw is fixed to the middle of the worm wheel. The left and right ends of the lead screw are rotatably connected to the inner groove. Two sliding plates are threaded to the outer surface of the lead screw. A wheel frame is fixed to the bottom of the two sliding plates. An electric running wheel is installed inside the wheel frame.

[0006] A limiting frame is fixed at the rear of the motor cavity. A filter cartridge is positioned on the rear surface of the mounting plate behind the through slot. A screw is fixed to the rear surface of the limiting frame. A wind plate is threaded onto the outer surface of the screw. A wheel is fixed to the rear end of the screw inside the filter cartridge. Two semi-circular frames are slidably connected to the outer surface of the wheel. Two sliding grooves are formed through the rear surface of the filter cartridge. Claw rods are slidably connected inside the sliding grooves. The front ends of the claw rods are fixedly connected to the semi-circular frames. A claw disc is rotatably connected to the center of the rear surface of the filter cartridge. The claw disc is connected to the two... The claw rod is movably connected, and a worm gear two is fixed at the center of the rear surface of the claw disc. A worm gear two is meshed with the outer surface of the worm gear two. Four springs are fixed on the rear surface of the filter cylinder. The rear ends of the four springs are jointly fixed with a pressing member. The upper and lower surfaces of the pressing member are provided with through-type slides. The worm gear two is located inside two of the slides. The upper and lower ends of the slides are rotatably connected to brackets. Both brackets are fixedly connected to the filter cylinder. A transmission wheel is fixed on the outer surface of the worm gear two. The outer surface of the transmission wheel is in contact with the inner sidewall of the pressing member.

[0007] Preferably, the bottom of the thigh support has several toothed grooves, and the thigh support is connected to the gear through the toothed grooves.

[0008] Preferably, the outer surface of the air plate is in contact with the inner surface of the filter cartridge, and the air plate is slidably connected to the inside of the filter cartridge.

[0009] Preferably, a mounting base is fixed to the bottom of the motor body, and the motor body is fixedly connected to the thigh frame through the mounting base. A complete disc composed of multiple closed fan blades is provided at the rear end of the motor body. The complete disc is used to seal the air inlet groove of the motor body. Multiple sealing plates are rotatably connected to the outer surface of the motor body. The sealing plates are located outside the air outlet of the motor body.

[0010] Preferably, the ball foot material is any one or more combinations of nitrile rubber, thermoplastic polyurethane, polyurethane, and polyurethane elastomer.

[0011] The beneficial effects of the dustproof joint structure for a robot dog according to the present invention are as follows: Dual movement modes adapt to multiple scenarios: The design includes two modes: ball-foot support swing and electric running wheel drive, which are adapted to flexible movement in complex road conditions and efficient straight-line movement on flat roads, respectively, taking into account the robot dog's movement flexibility and movement efficiency.

[0012] Dust prevention and heat dissipation are taken into account simultaneously: The motor air inlet and outlet are dynamically sealed by closed fan blades and sealing plate. The filter cartridge physically shields the motor cavity and the fan plate moves to exchange the airflow inside and outside. The multi-layer structure blocks dust while ensuring heat dissipation of the motor, thus solving the contradiction between dust prevention and heat dissipation.

[0013] Quick replacement: The filter cartridge can be quickly disassembled by pressing the button, the mounting plate restriction can be removed, and the ball foot can be replaced after the mounting plate is removed. The maintenance of vulnerable parts is simple and reduces maintenance costs. Attached Figure Description

[0014] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the rear view structure of the present invention; Figure 3 This is a cross-sectional structural diagram of the present invention; Figure 4 This is a schematic diagram of the wheel frame and skateboard structure in this invention; Figure 5 This is a schematic diagram of the thigh support and gear in this invention; Figure 6 This is a schematic diagram of the lower leg frame in this invention; Figure 7 This is a schematic diagram of the structure of the motor body in this invention; Figure 8 This is a rear view structural diagram of the motor body in this invention; Figure 9 This is a top view cross-sectional structural diagram of the present invention; Figure 10 For the present invention Figure 9 A magnified structural diagram of point A in the middle; Figure 11 This is a schematic diagram of the mounting plate and filter cartridge in this invention; Figure 12 This is a side view of the limiting frame and the claw disk in this invention. Figure 13 This is a schematic diagram of the structure of the filter cartridge and the insert in this invention; Figure 14 This is a rear view schematic diagram of the filter cartridge in this invention.

[0016] In the diagram: 1. Motor body; 2. Enclosed plate; 3. Mounting base; 4. Closed fan blade; 5. Leg bracket; 6. Motor cavity; 7. Lower leg bracket; 8. Inner groove; 9. Bottom groove; 10. Filter cartridge; 11. Limiting frame; 12. Mounting plate; 13. Through groove; 14. Insert rod; 15. Ball foot; 16. Worm gear one; 17. Gear; 18. Worm wheel one; 19. Lead screw; 20. Slide plate; 21. Wheel frame; 22. Electric running wheel; 23. Gear groove; 24. Screw; 25. Fan plate; 26. Rotary wheel; 27. Semicircular frame; 28. Slide groove; 29. ​​Claw rod; 30. Claw disc; 31. Worm wheel two; 32. Worm gear two; 33. Button; 34. Spring; 35. Slide rail; 36. Bracket; 37. Transmission wheel. Detailed Implementation

[0017] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the present application can be combined with each other.

[0018] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] Reference Figures 1-8 A dustproof joint structure for a robot dog includes a thigh frame 5, a motor cavity 6 extending through the thigh frame 5, a motor body 1 fixed inside the motor cavity 6, a lower leg frame 7 fixed to the front end of the output shaft of the motor body 1, the thigh frame 5 being rotatably connected to the lower leg frame 7 via the motor body 1, an inner groove 8 extending through the lower leg frame 7, a bottom groove 9 at the bottom of the lower leg frame 7, a mounting plate 12 on the rear surface of the lower leg frame 7, a plurality of through grooves 13 extending through the mounting plate 12 behind the motor cavity 6, a rod 14 fixed below the front surface of the mounting plate 12, the front end of the rod 14 extending through to the front surface of the lower leg frame 7, and a ball foot 15 inserted into the bottom groove 9 on the outer surface of the rod 14. A worm gear 16 is rotatably connected to the upper part of the inner groove 8. A gear 17 is fixed to the front of the outer surface of the worm gear 16. A worm wheel 18 is meshed with the lower part of the outer surface of the worm gear 16. A lead screw 19 is fixed to the middle of the worm wheel 18. The left and right ends of the lead screw 19 are rotatably connected to the inner groove 8. Two slide plates 20 are threaded to the outer surface of the lead screw 19. A wheel frame 21 is fixed to the bottom of the two slide plates 20. An electric running wheel 22 is installed inside the wheel frame 21.

[0020] Preferably, a limiting frame 11 is fixed at the rear of the motor cavity 6. A filter cartridge 10 is disposed on the rear surface of the mounting plate 12 behind the through groove 13. A screw 24 is fixed on the rear surface of the limiting frame 11. A wind plate 25 is threadedly connected to the outer surface of the screw 24. A rotating wheel 26 is fixed inside the filter cartridge 10 at the rear end of the screw 24. Two semi-circular frames 27 are slidably connected to the outer surface of the rotating wheel 26. Two sliding grooves 28 are opened through the rear surface of the filter cartridge 10. A claw rod 29 is slidably connected inside the sliding grooves 28. The front end of the claw rod 29 is fixedly connected to the semi-circular frame 27. A claw disc 30 is rotatably connected to the center of the rear surface of the filter cartridge 10. The claw disc 30 is movably connected to the two claw rods 29. The claw disc 30 is rotatably connected to the center of the rear surface of the filter cartridge 10. A worm gear 31 is fixed at the center of the surface. A worm 32 is meshed with the outer surface of the worm gear 31. Four springs 34 are fixed on the rear surface of the filter cartridge 10. A pressing member 33 is fixed to the rear end of the four springs 34. A through-type slide rail 35 is opened on the upper and lower surfaces of the pressing member 33. The worm 32 is located inside the two slide rails 35. A bracket 36 is rotatably connected to the upper and lower ends of the slide rails 35. Both brackets 36 are fixedly connected to the filter cartridge 10. A transmission wheel 37 is fixed on the outer surface of the worm 32. The outer surface of the transmission wheel 37 is in contact with the inner side wall of the pressing member 33. The outer surface of the air plate 25 is in contact with the inner surface of the filter cartridge 10, and the air plate 25 is slidably connected to the inside of the filter cartridge 10.

[0021] Preferably, the thigh support 5 has several toothed grooves 23 at its bottom, and the thigh support 5 is connected to the gear 17 through the toothed grooves 23, so that the gear 17 rotates as the lower leg support 7 swings.

[0022] Preferably, the bottom of the motor body 1 is fixed with a mounting base 3, and the motor body 1 is fixedly connected to the thigh frame 5 through the mounting base 3. The rear end of the motor body 1 is provided with a complete disc composed of multiple closed fan blades 4. The complete disc is used to seal the air inlet groove of the motor body 1. Multiple sealing plates 2 are rotatably connected to the outer surface of the motor body 1. The sealing plates 2 are located outside the air outlet of the motor body 1.

[0023] Preferably, the ball foot 15 is made of nitrile rubber, thermoplastic polyurethane, polyurethane and polyurethane elastomer, or any one or more combinations thereof, which makes the ball foot 15 more wear-resistant and durable, while having good elasticity and grip performance, effectively cushioning the ground impact when the robot dog moves and improving the stability of movement under complex road conditions.

[0024] Working principle: 1. Ball-foot 15 Support Swing Movement Mode (Flexible Movement Mode) This mode is the basic movement mode of the robot dog, which is suitable for scenarios such as turning, obstacle crossing, and walking on uneven surfaces. The core is to realize the swing of the thigh frame 5 and the lower leg frame 7 by the alternating forward and reverse rotation of the motor body 1, and complete the movement with the elastic ball foot 15 as support.

[0025] Triggering conditions: The motor body 1 rotates alternately in the forward and reverse directions, driving the lower leg frame 7 to flex and extend relative to the thigh frame 5. The angle between the thigh frame 5 and the lower leg frame 7 is always greater than the set threshold, and the lower leg frame 7 remains tilted and not parallel to the ground.

[0026] Motion principle: The motor body 1 is fixed in the motor cavity 6 of the thigh frame 5 by the mounting base 3. Its output shaft is rigidly connected to the lower leg frame 7. When the motor body 1 rotates forward / reverse, it directly drives the lower leg frame 7 to swing around the output shaft, realizing the lifting, stepping and landing actions of the robot dog's legs. During this process, the ball foot 15 is always in contact with the ground. With the cushioning and gripping characteristics of elastic materials such as nitrile rubber and polyurethane, it becomes the only ground support component of the robot dog, completing flexible movement actions such as turning, obstacle crossing and slow walking. The ball foot 15 is sleeved on the outer surface of the plug rod 14. The plug rod 14 is fixed below the front surface of the mounting plate 12, and the front end of the plug rod 14 extends through to the front surface of the lower leg frame 7 to ensure the installation stability of the ball foot 15.

[0027] Synchronous dust protection: In this mode, the motor body 1 operates intermittently, and the rear closed fan blade 4 always seals the air inlet groove. The sealing plate 2 on the outside of the air outlet opens and closes dynamically with the start and stop of the motor body 1 (for heat dissipation during operation and for closing when the machine stops). The mounting plate 12 on the rear surface of the lower leg frame 7 is fixed by the clamping of the filter cartridge 10. The filter cartridge 10 forms a physical shield for the motor cavity 6 of the thigh frame 5. The filter cartridge 10 ensures that the cavity is breathable while blocking large dust particles. The multi-layer structure simultaneously prevents dust from entering the joint.

[0028] Meanwhile, during the lifting and stepping process of the robot dog's legs, the screw 24 and the air vane 25 are subjected to the action of the threads, causing the air vane 25 to move back and forth inside the filter cartridge 10, driving the exchange of internal and external airflow, and achieving the effect of active heat dissipation.

[0029] II. Electric running wheel 22 drive movement mode (high-efficiency linear movement mode) This mode is the high-speed movement mode of the robot dog, adapted for rapid straight-line movement on flat surfaces. It is the core design direction of this patent. Relying on the continuous unidirectional rotation of the motor body 1, mechanical linkage is triggered by the change of joint angle to realize the sliding of the electric running wheel 22 and ground support, replacing the ball foot 15 to complete the driving movement. The specific triggering, transmission and execution process is as follows: Triggering conditions: The motor body 1 rotates continuously in one direction, driving the lower leg frame 7 to continuously move closer to the thigh frame 5. The angle between the thigh frame 5 and the lower leg frame 7 gradually decreases to a set threshold, and finally the lower leg frame 7 is in a horizontal and parallel state to the ground, providing the basic position conditions for the electric running wheel 22 to slide out.

[0030] Multi-stage power linkage transmission: After the joint angle reaches the set threshold and the lower leg frame 7 is horizontal, the toothed groove 23 at the bottom of the thigh frame 5 and the gear 17 at the front end of the worm gear 16 in the inner groove 8 of the lower leg frame 7 maintain a stable meshing state. The power of the unidirectional rotation of the motor body 1 is transmitted to the gear 17 through the joint structure, triggering subsequent multi-stage mechanical transmission. ① Gear 17 is fixedly connected to worm gear 16. Gear 17 rotates synchronously with the joint linkage, driving worm gear 16 to rotate stably in the inner groove 8 of the lower leg frame 7. ② The worm gear 16 meshes precisely with the worm wheel 18 below, and the rotational power of the worm gear 16 is transmitted to the worm wheel 18, realizing a 90° reversal of power and speed regulation; ③ The worm gear 18 and the lead screw 19 are fixed coaxially. The rotation of the worm gear 18 drives the lead screw 19 to rotate synchronously in the inner groove 8 of the small leg frame 7. The left and right ends of the lead screw 19 are rotatedly connected to the inside of the inner groove 8 to ensure transmission stability. ④ The outer surface of the lead screw 19 is threadedly connected to the two slide plates 20, and the rotational motion of the lead screw 19 is converted into the downward linear movement of the two slide plates 20 along the inner groove 8.

[0031] Running wheel slides out and drives movement: The two skateboards 20 move down in sync, causing the wheel frame 21 at the bottom to move downward. The wheel frame 21 drives the electric running wheel 22 to slide out of the inner groove 8 of the leg frame 7 until the electric running wheel 22 is in close contact with the ground. At this time, the ball foot 15 is lifted off the ground as the wheel frame 21 moves down, completing the switching of the ground support components. Once the electric running wheel 22 is started, it directly drives the robot dog to move in a straight line at high speed on a flat road surface.

[0032] III. Replacement and Repair By pressing the button 33, it moves and causes the transmission wheel 37 and the second worm gear 32 to rotate through friction. Under the transmission of the second worm gear 31, the claw plate 30 rotates and drives the two claw bars 29 to move in opposite directions along the slide groove 28, thereby moving the two semicircular frames 27 away from each other and releasing the limiting and rotational connection relationship with the rotating wheel 26. At this time, the filter cartridge 10 can be removed, the mounting plate 12 is no longer restricted, and the ball foot 15 can be replaced. This allows for quick replacement of easily damaged parts such as the ball foot 15 and the filter cartridge 10. The exposed motor cavity 6 also facilitates personnel to inspect and maintain the motor body 1.

[0033] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A dustproof joint structure for a robot dog, comprising a thigh support (5), characterized in that: The thigh frame (5) has a motor cavity (6) through which a motor body (1) is fixed. The front end of the output shaft of the motor body (1) is fixed to a lower leg frame (7). The thigh frame (5) is rotatably connected to the lower leg frame (7) through the motor body (1). The lower leg frame (7) has an inner groove (8) through which a bottom groove (9) is opened at the bottom. The rear surface of the lower leg frame (7) is provided with a mounting plate (12). The mounting plate (12) is located behind the motor cavity (6) and has several through slots (13). The front surface of the mounting plate (12) is fixed below the front surface of the mounting plate (12). The front end of the insertion rod (14) extends to the front surface of the lower leg frame (7). The outer surface of the insertion rod (14) is located inside the bottom groove (9) and a ball foot (15) is inserted.

2. The dustproof joint structure for a robot dog according to claim 1, characterized in that: A worm gear (16) is rotatably connected to the upper part of the inner groove (8). A gear (17) is fixed to the front of the outer surface of the worm gear (16). A worm wheel (18) is meshed with the lower part of the outer surface of the worm gear (16). A lead screw (19) is fixed in the middle of the worm wheel (18). The left and right ends of the lead screw (19) are rotatably connected to the inner groove (8). Two sliding plates (20) are threadedly connected to the outer surface of the lead screw (19). A wheel frame (21) is fixed to the bottom of the two sliding plates (20). An electric running wheel (22) is installed inside the wheel frame (21).

3. The dustproof joint structure for a robot dog according to claim 1, characterized in that: A limiting frame (11) is fixed at the rear of the motor cavity (6). A filter cylinder (10) is provided on the rear surface of the mounting plate (12) behind the through groove (13). A screw (24) is fixed on the rear surface of the limiting frame (11). A wind plate (25) is threaded onto the outer surface of the screw (24). A rotating wheel (26) is fixed at the rear end of the screw (24) inside the filter cylinder (10). Two semi-circular frames (27) are slidably connected to the outer surface of the rotating wheel (26). Two sliding grooves (28) are opened through the rear surface of the filter cylinder (10). Claws are slidably connected inside the sliding grooves (28). The front end of the claw rod (29) is fixedly connected to the semi-circular frame (27). A claw disk (30) is rotatably connected to the center of the rear surface of the filter cylinder (10). The claw disk (30) is movably connected to the two claw rods (29). A worm gear (31) is fixed at the center of the rear surface of the claw disk (30). A worm gear (32) is meshed with the outer surface of the worm gear (31). Four springs (34) are fixed on the rear surface of the filter cylinder (10). A button (33) is fixed together at the rear end of the four springs (34). A transmission wheel (37) is fixed on the outer surface of the worm gear (32).

4. The dustproof joint structure for a robot dog according to claim 3, characterized in that: The upper and lower surfaces of the pusher (33) are provided with through-type slides (35), the second worm gear (32) is located inside the two slides (35), and the upper and lower ends of the slides (35) are rotatably connected with brackets (36), and the two brackets (36) are fixedly connected to the filter cylinder (10).

5. The dustproof joint structure for a robot dog according to claim 3, characterized in that: The outer surface of the transmission wheel (37) is in contact with the inner wall of the pusher (33).

6. The dustproof joint structure for a robot dog according to claim 2, characterized in that: The thigh frame (5) has several toothed grooves (23) at its bottom, and the thigh frame (5) is connected to the gear (17) through the toothed grooves (23).

7. The dustproof joint structure for a robot dog according to claim 3, characterized in that: The outer surface of the air plate (25) is in contact with the inner surface of the filter cylinder (10), and the air plate (25) is slidably connected to the inside of the filter cylinder (10).

8. The dustproof joint structure for a robot dog according to claim 1, characterized in that: The motor body (1) has a mounting base (3) fixed at the bottom. The motor body (1) is fixedly connected to the thigh frame (5) through the mounting base (3). The rear end of the motor body (1) is provided with a complete disc composed of multiple closed fan blades (4). The complete disc is used to seal the air inlet groove of the motor body (1). Multiple sealing plates (2) are rotatably connected to the outer surface of the motor body (1). The sealing plates (2) are located outside the air outlet of the motor body (1).

9. The dustproof joint structure for a robot dog according to claim 1, characterized in that: The ball foot (15) is made of any one or more combinations of nitrile rubber, thermoplastic polyurethane, polyurethane and polyurethane elastomer.

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