A robot dog

Abstract

The present application belongs to the technical field of intelligent robots, and discloses a robot dog. A mechanical leg is installed on a machine body. A saddle is installed on the machine body and is used for user riding, so that the user can stably sit on the saddle and ride the robot dog, and the robot dog can carry people and move quickly in complex terrain.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, and more particularly to a robotic dog. Background Technology

[0002] A robot dog is a biomimetic quadruped robot with biomimetic joints as its torso and rotary motors as its power source. It can perform actions such as walking, obstacle crossing, and lying prone. It can move quickly in complex terrains such as mountains, jungles, cities, and snowfields. It can also be combined with artificial intelligence big data models to achieve intelligent interaction. It can be applied to many scenarios such as intelligent inspection, emergency fire rescue, security policing, public services, and logistics.

[0003] However, although robot dogs have a wide range of applications, they can only carry goods or industrial equipment, but cannot carry people, which makes it impossible for users to control robot dogs to move quickly in complex terrain.

[0004] Therefore, there is an urgent need for a robotic dog to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic dog that can carry people and move quickly in complex terrain.

[0006] To achieve this objective, the present invention adopts the following technical solution: A robot dog is provided, the robot dog comprising: Organism; Mechanical legs, which are mounted on the machine body; A saddle, which is mounted on the body and used by the user to ride on it.

[0007] In some embodiments, the robot dog further includes a rudder mounted on the body.

[0008] In some embodiments, the robot dog further includes pedals mounted on the body.

[0009] In some embodiments, the robot dog further includes a storage box installed in the body of the machine.

[0010] In some embodiments, the robot dog further includes a drive module, which is mounted on the body, and the saddle is spaced apart from the drive module.

[0011] In some embodiments, a first bracket is provided on the upper side wall of the body, and the saddle is fixedly connected to the first bracket on the side opposite to the body.

[0012] In some embodiments, the robot dog further includes a first driving member, one of the body and the mechanical leg is connected to the driving member body of the first driving member, and the other is connected to the output shaft of the first driving member. The first driving member is configured to drive the mechanical leg to rotate around the body, and the rotation axis of the mechanical leg is set at an angle to the width direction of the body.

[0013] In some embodiments, the robot dog further includes a second drive unit, the mechanical leg includes a first limb and a second limb, one of the first limb and the second limb is connected to the drive unit body of the second drive unit, and the other is connected to the output shaft of the second drive unit, the second drive unit being configured to drive the second limb to rotate around the first limb.

[0014] In some embodiments, the robot dog further includes a third drive unit, the mechanical leg further includes a third limb, one of the second limb and the third limb is connected to the drive unit body of the third drive unit, and the other is connected to the output shaft of the third drive unit, the third drive unit being configured to drive the third limb to rotate about the second limb.

[0015] In some embodiments, at least one of the first drive member, the second drive member, and the third drive member includes a rotary motor, a lead screw, and planetary rollers, wherein the lead screw is threadedly connected to the planetary rollers, and the motor shaft of the rotary motor is coaxially connected to the lead screw.

[0016] The beneficial effects of this invention are: The robot dog provided by this invention enables the robot dog to move in complex terrain by installing mechanical legs on the body; by installing a saddle on the body for the user to ride, the user can sit stably on the saddle and ride the robot dog, enabling the robot dog to carry people and move quickly in complex terrain. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the robot dog provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the mechanical leg structure of the robot dog provided in an embodiment of the present invention.

[0018] In the picture: 1. Body; 11. First support frame; 2. Mechanical leg; 21. First limb; 22. Second limb; 23. Third limb; 3. Saddle; 4. Rudder; 5. Foot pedals; 6. Storage box; 7. Driver module; 81. First driving component; 82. Second driving component; 83. Third driving component. Detailed Implementation

[0019] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0020] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] While robot dogs have a wide range of applications, they can only carry goods or industrial equipment, but cannot carry people. This makes it impossible for users to control robot dogs to move quickly in complex terrain. This invention provides a robot dog that, by setting a saddle and special leg joints, enables the robot dog to carry people.

[0023] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0024] Figure 1 A schematic diagram of the structure of the robot dog provided in an embodiment of the present invention is shown. Figure 2 A schematic diagram of the mechanical leg 2 of the robot dog provided in an embodiment of the present invention is shown. Figures 1 to 2 As shown, this embodiment provides a robotic dog for carrying people. The robotic dog includes a body 1, mechanical legs 2, and a saddle 3. The mechanical legs 2 are mounted on the body 1. The saddle 3 is mounted on the body 1 and is used by the user to ride on it.

[0025] The robot dog provided in this embodiment can move in complex terrain by installing mechanical legs 2 on the body 1; and by installing saddle 3 on the body 1, the user can sit on the saddle 3 and ride the robot dog, so that the robot dog can carry people and move quickly in complex terrain.

[0026] Preferably, the saddle 3 is movably connected to the body 1 in the vertical direction, so that the height of the saddle 3 can be adjusted according to the user's height, so that users of different heights can ride the robot dog, thereby improving human-machine efficiency and enhancing the user's robot dog riding experience.

[0027] Continue as Figures 1 to 2 As shown, the robot dog also includes a rudder 4 installed on the body 1, so that when the user sits on the saddle 3, he can operate the rudder 4 to adjust the robot dog's direction of movement.

[0028] It should be noted that the mechanical leg 2 is equipped with a drive unit for driving the robot dog to move. The rudder 4 is communicatively connected to the drive unit of the mechanical leg 2, so that the user can operate the rudder 4 to control the drive unit and thus drive the robot dog to move. The rudder 4 is only used as a control element to control the movement and direction of the robot dog. Its specific structure is not limited and will not be described in detail here.

[0029] Continue as Figures 1 to 2 As shown, the robot dog also includes pedals 5 installed on the body 1, so that when the user rides the robot dog, he / she can place his / her feet on the pedals 5, thereby improving the user's riding experience and improving the stability of the user when riding the robot dog.

[0030] Preferably, the two pedals 5 are respectively installed on both sides of the body 1 along its width direction, so that the user's two feet are placed on the two pedals 5 respectively, thereby improving the user's riding experience.

[0031] In some embodiments, a foot pedal 5 is installed on one side of the body 1 along its width direction, so that the user can place both feet on a foot pedal 5 at the same time, allowing the user to sit sideways on the saddle 3, so that the user wearing a long skirt or a short skirt can sit sideways on the saddle 3 of the robot dog and ride the robot dog without exposing themselves.

[0032] It should be noted that the connection between the pedal 5 and the body 1 is not limited here. The pedal 5 can be movably connected to the body 1, thereby adjusting the position of the pedal 5 on the body 1 so that the pedal 5 can adapt to the user's body shape, improve ergonomics and enhance the user's riding experience, or it can be fixedly connected to the body 1.

[0033] In some embodiments, the foot pedal 5 has a sliding groove that slides vertically, and the body 1 is provided with a slider that is inserted into the sliding groove. The slider and the sliding groove are engaged, so that the foot pedal 5 can move vertically to change the distance between the foot pedal 5 and the saddle 3, so that users with different leg lengths can sit on the saddle 3 in a comfortable sitting posture, thereby improving human-machine efficiency and enhancing the user's robot dog riding experience.

[0034] Preferably, a first locking bolt is also provided at the slide groove, and a first threaded hole is provided on the foot pedal 5 that can be threadedly connected to the first locking bolt. The first locking bolt passes through the slide groove and is threadedly engaged with the first threaded hole, so that after adjusting the height of the foot pedal 5, the foot pedal 5 can be locked and maintained at a specific height to support the feet of the user riding the robot dog.

[0035] Continue as Figures 1 to 2 As shown, the robot dog also includes a storage box 6 installed on the body 1, so that the robot dog can carry the user's personal belongings while carrying a person, thereby improving the user's riding experience of the robot dog.

[0036] It should be noted that the connection method of the storage box 6 to the body 1 is not limited here. It can be detached, so that the storage box 6 can be installed and removed according to the user's needs, or it can be non-detached, simplifying the structure of the body 1.

[0037] Preferably, when the storage box 6 is detachably connected to the body 1, one of the storage box 6 and the body 1 has a second threaded hole, and the other has a first through hole corresponding to the second threaded hole. The second locking bolt passes through the first through hole and is threadedly connected to the second threaded hole, thereby realizing the detachable connection between the storage box 6 and the body 1. When the storage box 6 is not needed, the user can unscrew the second locking bolt to remove the storage box 6. When the storage box 6 is needed, the user can unscrew the second locking bolt in the opposite direction to install the storage box 6 onto the body 1.

[0038] In some embodiments, when the storage box 6 is not detachably connected to the body 1, the storage box 6 can be glued, welded or integrally formed to the body 1, thereby simplifying the structure of the body 1.

[0039] Robotic dogs typically use moving components such as motors, cylinders, and hydraulic cylinders as driving forces. When using these driving components, a corresponding drive module 7 is often required as a control element to provide operating voltage and control signals to the driving components. This allows the user to directly control the drive module 7 via a controller, thereby indirectly controlling the driving components. However, the drive module 7 contains electronic components such as relays, capacitors, and resistors, which generate a significant amount of heat. When the user rides the robotic dog, the heat dissipated by the drive module 7 can easily be conducted to the saddle 3, potentially burning the user and reducing their riding experience. To solve the above technical problems, such as... Figures 1 to 2As shown, the robot dog also includes a drive module 7, which is installed on the body 1. The saddle 3 is spaced apart from the drive module 7, so that the saddle 3 and the drive module 7 are separated by a certain distance, which prevents the heat generated by the operation of the drive module 7 from being conducted to the saddle 3 and burning the user, thus improving the user's riding experience.

[0040] Specifically, a first bracket 11 is provided on the upper side wall of the body 1, and the saddle 3 is fixedly connected to the first bracket 11 on the side away from the body 1. The first bracket 11 supports the saddle 3, so that there is a certain distance between the saddle 3 and the drive module 7 to provide heat dissipation space, thereby preventing the heat generated by the drive module 7 from being conducted to the saddle 3 and burning the user, and improving the user's riding experience.

[0041] It should be noted that the connection method between the fixed connection of the saddle 3 and the first bracket 11 is not limited here. It can be a detachable connection, so that the saddle 3 can be disassembled and assembled according to the user's needs, and the user can switch from riding the robot dog to using the robot dog to transport goods.

[0042] Preferably, when the saddle 3 is detachably connected to the first bracket 11, one of the saddle 3 and the first bracket 11 has a third threaded hole, and the other has a second through hole corresponding to the third threaded hole. The third locking bolt passes through the second through hole and is threadedly connected to the third threaded hole, thereby realizing the detachable connection between the storage box 6 and the body 1. When the user needs to use the robot dog to transport goods, the user can unscrew the third locking bolt to remove the saddle 3. When the user needs to ride the robot dog, the user can unscrew the third locking bolt in the opposite direction to install the saddle 3 onto the body 1.

[0043] Robot dogs typically have two front legs and two hind legs. One drive module 7 drives the two front legs, and another drive module 7 drives the two hind legs. This improves the robot dog's stability, but the heat generated by the two drive modules 7 is significantly increased, causing the saddle 3 to overheat easily. To solve the above technical problems, the following... Figures 1 to 2 As shown, two drive modules 7 are respectively installed on the body 1, and the saddle 3 is located between the two drive modules 7, thereby separating the saddle 3 from the drive modules 7, minimizing the heat generated by the drive modules 7 from being conducted to the saddle 3, and improving the user's riding experience.

[0044] Continue as Figures 1 to 2As shown, the robot dog also includes a first drive unit 81, a drive unit body connected to one of the body 1 and the mechanical legs 2, and an output shaft connected to the other of the first drive unit 81. The first drive unit 81 is configured to drive the mechanical legs 2 to rotate around the body 1. The rotation axis of the mechanical legs 2 is set at an angle to the width direction of the body 1, thereby changing the distance between the two front mechanical legs 2 or the distance between the two rear mechanical legs 2. This allows the robot dog to reduce the distance between the two front mechanical legs 2 and the distance between the two rear mechanical legs 2, making it suitable for narrower terrain environments. It can also increase the distance between the two front mechanical legs 2 and the distance between the two rear mechanical legs 2, lowering the center of gravity of the robot dog and improving its movement stability.

[0045] Specifically, one end of the drive body of the first drive member 81 is pivotally connected to the body 1, and one end of the output shaft of the first drive member 81 is pivotally connected to the mechanical leg 2. The first drive member 81 is configured such that the output shaft can move along its own axis to make the mechanical leg 2 rotate relative to the body 1. The output shaft axis of the first drive member 81 is set at an angle to the width direction of the body 1, so that when the mechanical leg 2 rotates around the body 1, the distance between the first two mechanical legs 2 or the distance between the last two mechanical legs 2 will change. This allows the robot dog to be used in narrower terrain environments and also lowers the center of gravity of the robot dog to improve its stability.

[0046] It should be noted that the first drive unit 81 uses a linear drive unit to make the mechanical leg 2 rotate relative to the body 1, which can avoid using a rotary drive unit to drive the mechanical leg 2 to rotate relative to the body 1. This fully utilizes the characteristic that the rated torque of the linear drive unit is greater than that of the rotary drive unit, so that the robot dog can bear a greater load and can carry heavy users.

[0047] It should be noted that when the output shaft of the first drive unit 81 is set at an angle to the width direction of the body 1, the first limb 21 is used as the patella in the mechanical leg 2 of the robot dog.

[0048] Continue as Figures 1 to 2 As shown, the robot dog also includes a second drive unit 82. The mechanical leg 2 includes a first limb 21 and a second limb 22. One of the first limb 21 and the second limb 22 is connected to the drive unit body of the second drive unit 82, and the other is connected to the output shaft of the second drive unit 82. The second drive unit 82 is configured to drive the second limb 22 to rotate around the first limb 21, thereby causing the second limb 22 of the mechanical leg 2 to rotate relative to the first limb 21, thereby increasing the degree of freedom of the mechanical leg 2 and improving the movement flexibility of the robot dog, making the robot dog suitable for more complex environments.

[0049] It should be noted that when the first limb 21 serves as the patella of the robot dog, the second limb 22 is used as the entire leg of the robot dog's mechanical leg 2.

[0050] Specifically, one end of the drive body of the second drive member 82 is pivotally connected to the first limb 21, and one end of the output shaft of the first drive member 81 is pivotally connected to the second limb 22. The second drive member 82 is configured such that the output shaft can move along its own axis, thereby causing the second limb 22 to rotate relative to the first limb 21, thereby increasing the degree of freedom of the mechanical leg 2 and improving the mobility of the robot dog, making the robot dog suitable for more complex environments.

[0051] It should be noted that the second drive unit 82 uses a linear drive unit to move and cause the second limb 22 to rotate relative to the first limb 21. This avoids using a rotary drive unit to drive the second limb 22 to rotate relative to the first limb 21, and fully utilizes the characteristic that the rated torque of the linear drive unit is greater than that of the rotary drive unit. This allows the robot dog to bear a greater load and to carry heavy users.

[0052] Continue as Figures 1 to 2 As shown, the robot dog also includes a third drive unit 83, and the mechanical leg 2 also includes a third limb 23. One of the second limb 22 and the third limb 23 is connected to the drive unit body of the third drive unit 83, and the other is connected to the output shaft of the third drive unit 83. The third drive unit 83 is configured to drive the third limb 23 to rotate around the second limb 22, thereby further increasing the degree of freedom of the mechanical leg 2 and improving the robot dog's mobility, making the robot dog suitable for more complex environments.

[0053] Specifically, one end of the drive body of the third drive member 83 is pivotally connected to the second limb 22, and one end of the output shaft of the third drive member 83 is pivotally connected to the third limb 23. The third drive member 83 is configured such that the output shaft can move along its own axis, thereby causing the third limb 23 to rotate relative to the second limb 22, thereby increasing the degree of freedom of the mechanical leg 2 and improving the mobility of the robot dog, making the robot dog suitable for more complex environments.

[0054] It should be noted that the third drive unit 83 uses a linear drive unit to move and cause the third limb 23 to rotate relative to the second limb 22. This avoids using a rotary drive unit to drive the third limb 23 to rotate relative to the second limb 22, and fully utilizes the characteristic that the rated torque of the linear drive unit is greater than that of the rotary drive unit. This allows the robot dog to bear a greater load and to carry heavy users.

[0055] It should be noted that when the robot dog's mechanical leg 2 has a third limb 23, the second limb 22 is the thigh and the third limb 23 is the lower leg, so that the robot dog's mechanical leg 2 has three degrees of freedom, making the robot dog's movement more flexible and more suitable for moving in complex environments.

[0056] Preferably, at least one of the first drive member 81, the second drive member 82, and the third drive member 83 includes a rotary motor, a lead screw, and planetary rollers. The lead screw is threadedly connected to the planetary rollers, and the motor shaft of the rotary motor is coaxially connected to the lead screw. This utilizes the slight self-locking characteristics of the lead screw and the planetary rollers to share some of the pressure when the drive member is not rotating, without having to maintain current in the motor to ensure the motor shaft remains stationary.

[0057] It should be noted that when the first drive member 81, the second drive member 82, or the third drive member 83 includes a rotary motor, a lead screw, and planetary rollers, the rotary motor is the drive body of the drive member, and the planetary rollers are the output shaft of the drive member.

[0058] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A robotic dog, characterized in that, The robot dog includes: Body (1); Mechanical leg (2), said mechanical leg (2) is mounted on the body (1); A saddle (3) is mounted on the body (1) and is used by the user to ride on it.

2. The robot dog according to claim 1, characterized in that, The robot dog also includes a rudder (4) installed on the body (1).

3. The robot dog according to claim 1, characterized in that, The robot dog also includes foot pedals (5) installed on the body (1).

4. The robot dog according to claim 1, characterized in that, The robot dog also includes a storage box (6) installed on the body (1).

5. The robot dog according to claim 1, characterized in that, The robot dog also includes a drive module (7), which is installed on the body (1), and the saddle (3) is spaced apart from the drive module (7).

6. The robot dog according to claim 5, characterized in that, The upper side wall of the body (1) is provided with a first bracket (11), and the saddle (3) is fixedly connected to the first bracket (11) on the side away from the body (1).

7. The robot dog according to any one of claims 1-6, characterized in that, The robot dog also includes a first drive unit (81), one of the body (1) and the mechanical leg (2) is connected to the drive unit body of the first drive unit (81), and the other is connected to the output shaft of the first drive unit (81). The first drive unit (81) is configured to drive the mechanical leg (2) to rotate around the body (1). The rotation axis of the mechanical leg (2) is set at an angle to the width direction of the body (1).

8. The robot dog according to claim 7, characterized in that, The robot dog also includes a second drive unit (82), and the mechanical leg (2) includes a first limb (21) and a second limb (22). One of the first limb (21) and the second limb (22) is connected to the drive unit body of the second drive unit (82), and the other is connected to the output shaft of the second drive unit (82). The second drive unit (82) is configured to drive the second limb (22) to rotate around the first limb (21).

9. The robot dog according to claim 8, characterized in that, The robot dog also includes a third drive unit (83), the mechanical leg (2) also includes a third limb (23), one of the second limb (22) and the third limb (23) is connected to the drive unit body of the third drive unit (83), and the other is connected to the output shaft of the third drive unit (83). The third drive unit (83) is configured to drive the third limb (23) to rotate around the second limb (22).

10. The robot dog according to claim 9, characterized in that, At least one of the first drive member (81), the second drive member (82) and the third drive member (83) includes a rotary motor, a lead screw and planetary rollers, the lead screw is threadedly connected to the planetary rollers, and the motor shaft of the rotary motor is coaxially connected to the lead screw.

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