Four-footed robot dog

Abstract

The utility model relates to the technical field of robot dogs, and provides a four-footed robot dog which comprises a robot dog body, a first construction plate, a second construction plate and a third construction plate which are distributed from top to bottom are fixedly connected into the robot dog body, the left sides and the right sides of the first construction plate, the second construction plate and the third construction plate extend out of the robot dog body, and protection plates are fixed to the heads of the three construction plates. A folding leg mechanism is arranged on the third construction plate, and a buffer mechanism is arranged on the lower surface of the robot dog main body; by starting a plurality of motors, the four supporting legs are bent and turned over towards the robot dog main body to achieve the folding purpose, when the robot dog main body is bent to work, the robot dog main body moves downwards, the ground is supported by a buffer plate, the bottom of the robot dog main body is prevented from making contact with the ground, the bottom of the robot dog main body is prevented from being damaged, and the robot dog can be folded conveniently. The practicability of the robot dog body is improved.

Description

Technical Field

[0001] The present application relates to the technical field of robot dogs, and in particular to a four-legged robot dog. Background Art

[0002] The bionic robot dog is a bionic robot designed based on the body shape of a dog. It is small, light and highly adaptable to different terrains. It is not only of great significance to the development of robotics, but also has broad application space and development prospects in the field of smart homes. The intelligent robot dogs currently under development mainly focus on the interaction capabilities between robot dogs and humans. In the process of production and life, the scope of use of robot dogs will become larger and larger.

[0003] For example, Chinese patent CN219467887U discloses a novel quadruped bionic robot dog, including a leg structure and a body part. The leg structures are provided with four legs, which are symmetrically arranged on both sides of the body part in a group of two. The body part includes a front part and a rear part. The front part is provided with a mounting seat, a camera and a protective shell. The protective shell is arranged on the outside of the mounting seat. The leg structure is installed on the side of the mounting seat, and a base for an external device is provided at the upper end. The camera is arranged at the front end of the mounting seat. The protective shell includes an abutting part and a protective part which are integrally connected. The abutting part is inclined and protrudes outward to form a protective cavity for installing the camera. A camera hole is opened on the abutting part, and the other side of the protective part is connected to the mounting seat.

[0004] The above-mentioned new four-legged bionic robot dog still has certain shortcomings. Although it protects the camera by providing a protective shell with a special structure, its leg structure can be bent, but the bending angle is limited, so that the folding effect is not ideal and the space utilization rate is low. Therefore, this application proposes a four-legged robot dog to solve the above problems. Utility Model Content

[0005] In order to solve the above problems, the present application provides a four-legged robot dog to solve the problem.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] A four-legged robot dog comprises a robot dog body, wherein a first construction plate, a second construction plate and a third construction plate are fixedly connected to the robot dog body from top to bottom, and the robot dog body is extended from the left and right sides of the three construction plates, a protective plate is fixed to the heads of the three construction plates, a foldable leg mechanism is arranged on the third construction plate, and a buffer mechanism is arranged on the lower surface of the robot dog body.

[0008] Preferably, the foldable leg mechanism includes four connecting blocks respectively installed at the four corners of the upper surface of the third structural plate, the left and right sides of the four connecting blocks are rotatably connected to the first connecting frame, the other ends of the four first connecting frames are respectively fixed to the second connecting frame, a first rotating rod is fixed between the front and rear side walls of the inner cavity of the second connecting frame, a supporting block is rotatably connected to the first rotating rod, a second rotating rod is fixed to the side of the support block away from the first rotating rod, the front and rear sides of the second rotating rod are rotatably connected to the third connecting frame, and a supporting leg is fixed to the side of the third connecting frame away from the second rotating rod; a motor for controlling the rotation of the first connecting frame is arranged in the connecting block, and two motors are arranged inside the four support blocks, and the two motors respectively control the rotation of the first rotating rod and the second rotating rod.

[0009] Preferably, the buffer mechanism includes a buffer box fixed on the lower surface of the robot dog body, a plurality of springs are fixed to the top wall of the inner cavity of the buffer box, a displacement plate is fixed to the lower surface of the plurality of springs, a plurality of fixed columns are fixed to the lower surface of the displacement plate, and the bottom ends of the plurality of fixed columns pass through the buffer box and are fixedly connected to the buffer plate.

[0010] Preferably, a plurality of dampers are fixed to the top wall of the inner cavity of the buffer box, a plurality of springs are respectively sleeved on the outside of the plurality of dampers, and the plurality of dampers are respectively connected to the plurality of springs, and the lower surfaces of the plurality of dampers are simultaneously connected to the displacement plate.

[0011] Preferably, slideways are fixed to the left and right side walls of the inner cavity of the buffer box, and sliding blocks slidably connected to the slideways are fixed to the left and right sides of the displacement plate.

[0012] Preferably, the first connecting frame, the second connecting frame and the third connecting frame are configured as U-shaped plates.

[0013] Preferably, a camera body for monitoring and shooting is provided on the upper surface of the first construction plate close to the head.

[0014] The advantages of the present application are as follows: the present application starts a plurality of electric motors to cause the four supporting legs to begin to bend and flip toward the direction of the robot dog body, thereby achieving the purpose of folding; at the same time, when the robot dog body is bending, the robot dog body itself will move downward, and the ground will be supported by a buffer plate to prevent the bottom of the robot dog body from contacting the ground, thereby effectively preventing the bottom of the robot dog body from being damaged and improving the practicality of the robot dog body. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 It is a three-dimensional diagram of the overall appearance structure of the utility model;

[0017] Figure 2 This is a three-dimensional diagram of the overall appearance structure of the utility model from another angle;

[0018] Figure 3 It is a front view of the structure of the utility model;

[0019] Figure 4 It is a schematic diagram of the folded structure of the utility model;

[0020] Figure 5 It is a cross-sectional schematic diagram of the buffer mechanism of the utility model.

[0021] Description of reference numerals:

[0022] 1. Robot dog body; 2. Folding leg mechanism; 21. Second connecting frame; 22. First rotating rod; 23. Support block; 24. Second rotating rod; 25. Third connecting frame; 26. Support leg; 31. First structural plate; 32. Second structural plate; 33. Third structural plate; 4. Buffer mechanism; 41. Buffer box; 42. Spring; 43. Damper; 44. Displacement plate; 45. Fixed column; 46. Buffer plate; 47. Slide; 48. Slider; 5. Protective plate; 6. Connecting block; 7. First connecting frame; 8. Camera body. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0024] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0025] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0026] Embodiment 1 is described in conjunction with the accompanying drawings:

[0027] A four-legged robot dog comprises a robot dog body 1, a first construction plate 31, a second construction plate 32 and a third construction plate 33 which are arranged from top to bottom are fixedly connected to the robot dog body 1, and the robot dog body 1 is extended from the left and right sides of the three, a protective plate 5 is fixed to the heads of the three, a camera body 8 for monitoring and shooting is arranged on the upper surface of the first construction plate 31 close to the head, electronic components (not shown in the figure) are arranged on the upper surface of the second construction plate 32, a foldable leg mechanism 2 is arranged on the third construction plate 33, and a buffer mechanism 4 is arranged on the lower surface of the robot dog body 1.

[0028] Embodiment 2 is described based on Embodiment 1 with reference to the accompanying drawings:

[0029] The foldable leg mechanism 2 includes four connecting blocks 6 respectively installed at the four corners of the upper surface of the third construction plate 33, and the left and right sides of the four connecting blocks 6 are rotatably connected to the first connecting frame 7, which is set as a U-shaped plate, and the openings of the first connecting frame 7 on the front and rear sides are arranged opposite to each other;

[0030] A second connecting frame 21 is fixed to the end faces of the four first connecting frames 7 that are away from the opening thereof, and the second connecting frame 21 is configured as a U-shaped plate, and its opening is configured vertically downward, and a first rotating rod 22 is fixed between the front and rear side walls of the inner cavity of the second connecting frame 21, and a supporting block 23 is rotatably connected to the first rotating rod 22, and a second rotating rod 24 is fixed to the side of the supporting block 23 away from the first rotating rod 22, and a third connecting frame 25 is rotatably connected to the front and rear sides of the second rotating rod 24, and the third connecting frame 25 is configured as a U-shaped plate, and its opening faces the side close to the robot dog body 1, and a supporting leg 26 is fixed to the side of the third connecting frame 25 away from the second rotating rod 24;

[0031] A motor (not shown) for controlling the rotation of the first connecting frame 7 is arranged in the connecting block 6, and two motors are arranged inside the supporting block 23, and the two motors respectively control the rotation of the first rotating rod 22 and the second rotating rod 24;

[0032] Start the motor located in the support block 23 and close to the second connecting frame 21, drive the support block 23 to flip counterclockwise until it is perpendicular to the second connecting frame 21, then start the motor close to the side of the third connecting frame 25, and make the four support legs 26 start to flip clockwise, so that the four support legs 26 are kept horizontal with the robot dog body 1, and start the motors located in the four connecting blocks 6, so that the four bent support legs 26 begin to flip in the direction of the robot dog body 1, so as to achieve the folding purpose.

[0033] Embodiment 3, based on embodiment 2, combined with the attached Figure 3-Figure 5 To explain:

[0034] The buffer mechanism 4 includes a buffer box 41 fixed to the lower surface of the robot dog body 1, a plurality of springs 42 are fixed to the top wall of the inner cavity of the buffer box 41, a displacement plate 44 is fixed to the lower surface of the plurality of springs 42, a plurality of fixing columns 45 are fixed to the lower surface of the displacement plate 44, and a buffer plate 46 is fixed to the bottom ends of the plurality of fixing columns 45 passing through the buffer box 41;

[0035] A plurality of dampers 43 are fixed on the top wall of the inner cavity of the buffer box 41, and a plurality of springs 42 are respectively sleeved on the outer sides of the plurality of dampers 43, and the plurality of dampers 43 are respectively connected to the plurality of springs 22, and the lower surfaces of the plurality of dampers 43 are simultaneously connected to the displacement plate 44;

[0036] Furthermore, slideways 47 are fixed to both left and right side walls of the inner cavity of the buffer box 41 , and sliding blocks 48 slidably connected to the slideways 47 are fixed to both left and right sides of the displacement plate 44 .

[0037] It can be understood that the electrical components appearing in the text are all electrically connected to the main controller and the power supply and the electrical components appearing in the text are all conventionally known devices, and this application will not go into too much detail. The main controller can be a conventionally known device that plays a control role for a computer, etc. The control circuit of the main controller can be realized by simple programming by technicians in this field, and the provision of power supply is also common knowledge in this field. In addition, the utility model is mainly used to protect mechanical devices, so the utility model will not explain the control method and circuit connection in detail. At the same time, the parts not described in detail in the utility model are all common knowledge to technicians in this field.

[0038] Working principle: When the four-legged robot dog needs to be folded, the four motors located in the support block 23 and close to the second connecting frame 21 are started to drive the support block 23 to flip counterclockwise until it is vertical to the second connecting frame 21, and then the four motors close to the third connecting frame 25 are started to make the four support legs 26 start to flip clockwise so that the four support legs 26 are level with the robot dog body 1, and then the motors located in the four connecting blocks 6 are started to make the four bent support legs 26 start to flip toward the direction of the robot dog body 1 to achieve the purpose of folding. At the same time, when the robot dog body 1 is bending, the robot dog body 1 itself will move downward, and the buffer plate 46 will be used to support the ground to prevent the bottom of the robot dog body 1 from contacting the ground, effectively preventing the bottom of the robot dog body 1 from being damaged.

[0039] Furthermore, the camera body 8 is used to shoot the external environment and can adjust its own height by folding. The specific action process is: by starting four motors located in the support block 23 and close to the second connecting frame 21, the support block 23 is driven to flip counterclockwise, thereby gradually reducing the distance between the robot dog body 1 and the ground, and the height of the camera body 8 set on the robot dog body 1 is reduced accordingly, thereby completing the height adjustment of the camera body 8, thereby expanding the monitoring range of the camera body 8.

[0040] For those skilled in the art, the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the appended claims rather than the above description, so it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0041] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any minor modifications, equivalent substitutions and improvements made to the above embodiments based on the technical essence of the present application should be included in the protection scope of the technical solution of the present application.

Claims

1. A four-legged robot dog, characterized in that: The invention comprises a robot dog body (1), wherein a first construction plate (31), a second construction plate (32) and a third construction plate (33) are fixedly connected to the robot dog body (1) from top to bottom, and the robot dog body (1) is extended from the left and right sides of the three construction plates, and a protective plate (5) is fixed to the heads of the three construction plates, a foldable leg mechanism (2) is arranged on the third construction plate (33), and a buffer mechanism (4) is arranged on the lower surface of the robot dog body (1); the foldable leg mechanism (2) comprises four connecting blocks (6) respectively installed at the four corners of the upper surface of the third construction plate (33), the left and right sides of the four connecting blocks (6) are rotatably connected to the first connecting frame (7), and the other ends of the four first connecting frames (7) are respectively A second connecting frame (21) is fixed, a first rotating rod (22) is fixed between the front and rear side walls of the inner cavity of the second connecting frame (21), a supporting block (23) is rotatably connected to the first rotating rod (22), a second rotating rod (24) is fixed on the side of the supporting block (23) away from the first rotating rod (22), a third connecting frame (25) is rotatably connected to the front and rear sides of the second rotating rod (24), and a supporting leg (26) is fixed on the side of the third connecting frame (25) away from the second rotating rod (24); a motor for controlling the rotation of the first connecting frame (7) is arranged in the connecting block (6), and two motors are arranged inside the four supporting blocks (23), and the two motors respectively control the rotation of the first rotating rod (22) and the second rotating rod (24).

2. A quadruped robot dog according to claim 1, characterized in that: The buffer mechanism (4) comprises a buffer box (41) fixed on the lower surface of the robot dog body (1); a plurality of springs (42) are fixed to the top wall of the inner cavity of the buffer box (41); a displacement plate (44) is fixed to the lower surface of the plurality of springs (42); a plurality of fixing columns (45) are fixed to the lower surface of the displacement plate (44); and the bottom ends of the plurality of fixing columns (45) pass through the buffer box (41) and are fixedly connected to the buffer plate (46).

3. A quadruped robot dog according to claim 2, characterized in that: A plurality of dampers (43) are fixed to the top wall of the inner cavity of the buffer box (41), a plurality of springs (42) are respectively sleeved on the outside of the plurality of dampers (43), and the plurality of dampers (43) are respectively connected to the plurality of springs (42), and the lower surfaces of the plurality of dampers (43) are simultaneously connected to the displacement plate (44).

4. A quadruped robot dog according to claim 2, characterized in that: Slideways (47) are fixed to the left and right side walls of the inner cavity of the buffer box (41), and sliding blocks (48) slidably connected to the slideways (47) are fixed to the left and right sides of the displacement plate (44).

5. A quadruped robot dog according to claim 2, characterized in that: The first connecting frame (7), the second connecting frame (21) and the third connecting frame are configured as U-shaped plates.

6. A quadruped robot dog according to claim 1, characterized in that: A camera body (8) for monitoring and shooting is arranged on the upper surface of the first structure plate (31) close to the head.

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