Walking structure of mechanical dog

Abstract

The utility model relates to a walking structure of a mechanical dog, and relates to the field of mechanical dogs, the walking structure comprises a connecting end formed at the end part of a leg structure of the mechanical dog, and a sole assembly for supporting is hinged to the connecting end; the foot sole assembly comprises a foot sole frame, a main supporting round rod and two coplanar side supporting round rods, the foot sole frame is hinged to the connecting end, the main supporting round rod and the two side supporting round rods are all arranged on the foot sole frame, and a driving assembly connected with the main supporting round rod is arranged on the foot sole frame; the driving assembly can drive the main supporting round rod to be coplanar with the two side supporting round rods so that the sole assembly can be in a surface contact state with the ground, or the driving assembly can drive the main supporting round rod to be in contact with the ground so that the sole assembly can be in a line contact state with the ground. The connecting end is provided with an adjusting assembly capable of driving the sole frame to rotate. According to the mechanical dog, when the state of the sole structure is adjusted, the sole structure does not need to be detached, and therefore the state adjusting efficiency of the mechanical dog is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical dogs, in particular to a walking structure of a mechanical dog. BACKGROUND

[0002] Mechanical dogs, also known as bionic quadruped robots, are robots that highly imitate the walking manner of animals. They usually have four legs and can simulate the actions of dogs or other quadruped animals, such as walking, running, jumping, and even climbing stairs. During the walking process of the mechanical dog, on the one hand, in order to make the mechanical dog move at high speed, the sole structure of the mechanical dog is arranged in line contact with the ground, and on the other hand, in order to improve the stability of the movement of the mechanical dog, the sole structure of the mechanical dog is arranged in surface contact with the ground.

[0003] The existing mechanical dog needs to adjust the state according to the stability requirement and the speed requirement during the movement, and needs to replace the sole structure at the same time of state adjustment. The time spent in the process of disassembling and assembling the sole structure is relatively long, which leads to low efficiency of state adjustment of the mechanical dog. CONTENT OF THE UTILITY MODEL

[0004] In order to improve the problem that the time spent in the process of disassembling and assembling the sole structure is relatively long, which leads to low efficiency of state adjustment of the mechanical dog, the present application provides a walking structure of a mechanical dog.

[0005] The walking structure of the mechanical dog provided by the present application adopts the following technical scheme:

[0006] A walking structure of a mechanical dog, a connecting end formed on the end of the leg structure of the mechanical dog, a sole assembly for supporting is hinged on the connecting end;

[0007] The sole assembly comprises a sole frame, a main supporting round rod and two coplanar side supporting round rods, the sole frame is hinged with the connecting end, the main supporting round rod and the two side supporting round rods are arranged on the sole frame, and a driving assembly connected with the main supporting round rod is arranged on the sole frame;

[0008] The driving assembly can drive the main supporting round rod and the two side supporting round rods to be coplanar, so that the sole assembly is in surface contact with the ground, or drive the main supporting round rod to be in contact with the ground, so that the sole assembly is in line contact with the ground;

[0009] The connecting end is provided with an adjusting assembly capable of driving the sole frame to rotate, so that the sole assembly is in surface contact with the ground during the movement of the mechanical dog.

[0010] By adopting the technical scheme, when the mechanical dog runs fast, the driving assembly drives the main supporting round rod and the two side supporting round rods to be out of plane, so that the sole assembly is in line contact with the ground, to adapt to high-speed running of the mechanical dog, when the mechanical dog requires high stability, the driving assembly drives the main supporting round rod and the two side supporting round rods to be in plane, so that the sole assembly is in surface contact with the ground, and the inclination angle of the sole assembly is adjusted through the adjusting assembly, to cooperate with movement of the leg structure, when the state of the sole structure is adjusted, the sole structure does not need to be disassembled, thereby improving the state adjustment efficiency of the mechanical dog.

[0011] In a specific implementation, the main supporting round rod is located between the two side supporting round rods, and the main supporting round rod is parallel to the two side supporting round rods.

[0012] By adopting the technical scheme, the parallel arrangement of the main supporting round rod and the side supporting round rod improves the stability of the main supporting round rod in supporting the mechanical dog in the line contact state.

[0013] In a specific implementation, the driving assembly comprises a first linear hydraulic cylinder, a cylinder body of the first linear hydraulic cylinder is fixedly connected with the sole frame, and a piston rod of the first linear hydraulic cylinder is fixedly connected with the main supporting round rod, so as to drive the main supporting round rod to move.

[0014] By adopting the technical scheme, the first linear hydraulic cylinder adjusts the inclination angle of the sole frame, thereby improving the stability of the inclination angle adjustment of the sole frame.

[0015] In a specific implementation, the two side supporting round rods are slidingly arranged with the sole frame, and the main supporting round rod is connected with each side supporting round rod through a connecting plate, so as to drive the two side supporting round rods to move close to or away from each other.

[0016] By adopting the technical scheme, the connecting plate can increase the contact area of the sole assembly with the ground in the surface contact state, thereby improving the stability of the sole assembly in supporting the mechanical dog.

[0017] In a specific implementation, the sole frame comprises a frame body and an extension rod, the frame body is rotatably connected with the connecting end, the frame body and the extension rod each correspond to one side supporting round rod, the frame body is slidingly inserted into the corresponding side supporting round rod, the extension rod is fixedly connected with the corresponding side supporting round rod, and the extension rod is slidingly inserted into the frame body, to form the sliding arrangement of the side supporting round rod and the frame body.

[0018] By adopting the technical scheme, when the first linear hydraulic cylinder drives the main supporting round rod to move, the main supporting round rod pulls the telescopic rod to retract into the frame body through one connecting plate, and pulls the side supporting round rod to slide on the frame body through another connecting plate, so that the extension range of one side supporting round rod can be reduced, the side supporting round rod is effectively prevented from contacting the ground when the leg structure walks, and the stability of the mechanical dog leg structure in walking is improved.

[0019] In a specific implementable scheme, the bottom surface of the connecting plate is tangent to the cylindrical surface of the side supporting round rod and the main supporting round rod.

[0020] By adopting the technical scheme, the connecting plate, the side supporting round rod and the main supporting round rod can be ensured to contact the ground at the same time, the bottom of the sole assembly is more flat, and the stability of the mechanical dog in walking is improved.

[0021] In a specific implementable scheme, the adjusting assembly comprises a second linear hydraulic cylinder, the cylinder body of the second linear hydraulic cylinder is hinged to the leg structure, and the piston rod is hinged to the frame body, so as to drive the sole frame to adjust the inclination angle.

[0022] By adopting the technical scheme, the frame body is driven to rotate around the rotation point by the second linear hydraulic cylinder, the inclination angle of the sole assembly is adjusted, and the stability of the adjusted sole assembly is ensured.

[0023] In a specific implementable scheme, a first circular groove is formed on the side supporting round rod, a first rotation shaft is formed in the middle of the first circular groove, a first rotation sleeve is fixedly arranged on the connecting plate, the first rotation sleeve is rotatably arranged on the first rotation shaft and embedded in the first circular groove.

[0024] Two second circular grooves are formed on the main supporting round rod, a second rotation shaft is formed in the middle of each second circular groove, a second rotation sleeve is fixedly arranged on each connecting plate, the second rotation sleeve corresponds to the second circular groove, the second rotation sleeve is rotatably arranged on the second rotation shaft and embedded in the second circular groove.

[0025] By adopting the technical scheme, the connecting plate, the side supporting round rod and the main supporting round rod are rotatably connected, and the connecting plate, the side supporting round rod and the main supporting round rod are ensured to contact the ground at the same time, so that the bottom of the sole assembly is more flat.

[0026] In summary, the present application has at least one of the following beneficial technical effects:

[0027] 1. When the mechanical dog runs fast, the driving assembly drives the main support round rod and the two side support round rods to be out of plane, so that the foot sole assembly is in line contact with the ground, to adapt to the running of the mechanical dog, when the mechanical dog requires high stability, the driving assembly drives the main support round rod and the two side support round rods to be in plane, so that the foot sole assembly is in surface contact with the ground, and the inclination angle of the foot sole assembly is adjusted through the adjusting assembly to cooperate with the movement of the leg structure, and the foot sole structure does not need to be disassembled when the state of the foot sole structure is adjusted, thereby improving the state adjustment efficiency of the mechanical dog.

[0028] 2. When the first linear hydraulic cylinder drives the main support round rod to move, the main support round rod pulls the telescopic rod to retract into the frame through one connecting plate, and pulls the side support round rod to slide on the frame through another connecting plate, so that the extension range of one of the side support round rods can be reduced, and the side support round rod is effectively prevented from contacting the ground when the leg structure walks, and the stability of the leg structure of the mechanical dog in walking is improved. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structural schematic view of a walking structure of a mechanical dog according to an embodiment of the present application.

[0030] Figure 2 is a structural schematic view for showing the main support round rod.

[0031] Figure 3 is a partial sectional view for showing the second rotating shaft.

[0032] Mark 1, leg structure; 11, connecting end; 2, foot sole assembly; 21, foot sole frame; 211, frame; 212, telescopic rod; 213, connecting plate; 214, first circular groove; 215, first rotating shaft; 216, first rotating sleeve; 217, second circular groove; 218, second rotating shaft; 219, second rotating sleeve; 22, main support round rod; 23, side support round rod; 24, support frame; 3, driving assembly; 31, first linear hydraulic cylinder; 4, adjusting assembly; 41, second linear hydraulic cylinder. DETAILED DESCRIPTION

[0033] The following will be described in detail in combination with the accompanying Figures 1-3 The present application will be described in further detail.

[0034] The present application discloses a walking structure of a mechanical dog.

[0035] Reference will be made to Figure 1The walking structure of the mechanical dog comprises a connecting end 11 formed on the end of a leg structure 1 of the mechanical dog, the connecting end 11 is a U-shaped articulated support structure, a foot sole assembly 2 for supporting is articulated on the connecting end 11, the foot sole assembly 2 comprises a foot sole frame 21, a main supporting round rod 22 and two coplanar side supporting round rods 23, the foot sole frame 21 is articulated with the connecting end 11 through an articulated shaft, a U-shaped support frame 24 is fixedly arranged on the foot sole frame 21, the support frame 24 is arranged perpendicularly to the foot sole frame 21, a driving assembly 3 is arranged on the support frame 24, the driving assembly 3 in the embodiment comprises a first linear hydraulic cylinder 31, which can also be one of a cylinder, a linear motor in other embodiments, the cylinder body of the first linear hydraulic cylinder 31 is fixedly connected with the support frame 24, and the piston rod is fixedly connected with the main supporting round rod 22.

[0036] With reference to Figure 1 The two side supporting round rods 23 are slidingly arranged on the foot sole frame 21 and located at the two sides of the main supporting round rod 22, the two side supporting round rods 23 are arranged in parallel to the main supporting round rod 22 and have equal diameters, on one hand, the first linear hydraulic cylinder 31 drives the main supporting round rod 22 and the two side supporting round rods 23 to be coplanar, so that the foot sole assembly 2 is in a surface contact state with the ground, on the other hand, the first linear hydraulic cylinder 31 drives the main supporting round rod 22 to move downward and the two side supporting round rods 23 to extend outward, the main supporting round rod 22 is in contact with the ground, so that the foot sole assembly 2 is in a line contact state with the ground.

[0037] With reference to Figure 1 The connecting end 11 is provided with an adjusting assembly 4 capable of driving the foot sole frame 21 to rotate, the adjusting assembly 4 in the embodiment comprises a second linear hydraulic cylinder 41, the cylinder body of the second linear hydraulic cylinder 41 is articulated with the leg structure 1, and the piston rod is articulated with the edge position of the foot sole frame 21, so that the inclination angle of the foot sole frame 21 is adjusted, and the foot sole assembly 2 is ensured to be in a surface contact state with the ground during the movement of the mechanical dog.

[0038] When the mechanical dog runs fast, the first linear hydraulic cylinder 31 drives the main supporting round rod 22 and the two side supporting round rods 23 to be non-coplanar, so that the foot sole assembly 2 is in a line contact state with the ground, to adapt to the high-speed running of the mechanical dog, when the mechanical dog requires high stability, the first linear hydraulic cylinder 31 drives the main supporting round rod 22 and the two side supporting round rods 23 to be coplanar, so that the foot sole assembly 2 is in a surface contact state with the ground, and the inclination angle of the foot sole assembly 2 is adjusted through the second linear hydraulic cylinder 41, to cooperate with the movement of the leg structure 1, when the state of the foot sole structure is adjusted, the foot sole structure does not need to be disassembled, so that the state adjustment efficiency of the mechanical dog is improved.

[0039] With reference to Figure 2The sole frame 21 in the embodiment comprises a frame body 211 and telescopic rods 212. The frame body 211 is in a U-shaped structure, and a hinge shaft is fixedly arranged on both sides of the frame body 211. The number of the telescopic rods 212 is two, and the two telescopic rods 212 are respectively arranged at both ends of the frame body 211 and are slidingly inserted into the frame body 211. One side support round rod 23 is arranged on the frame body 211, and the other side support round rod 23 is arranged on the two telescopic rods 212. The two parallel rod portions of the frame body 211 are slidingly inserted into the corresponding side support round rods 23, and the two telescopic rods 212 are fixedly connected with the corresponding side support round rods 23.

[0040] With reference to Figure 3 The main support round rod 22 and each side support round rod 23 are connected through a connecting plate 213, and the bottom surface of the connecting plate 213 is tangent to the cylindrical surface of the side support round rod 23 and the main support round rod 22. The connecting plate 213, the side support round rod 23 and the main support round rod 22 can be in contact with the ground at the same time, so that the bottom of the sole assembly 2 is more flat, thereby improving the stability of the mechanical dog in walking. A first circular groove 214 is formed in the side support round rod 23, and a first rotating shaft 215 is formed in the middle of the first circular groove 214. A first rotating sleeve 216 is fixedly arranged on the connecting plate 213, the first rotating sleeve 216 is rotatably sleeved on the first rotating shaft 215 and is embedded in the first circular groove 214. Two second circular grooves 217 are formed in the main support round rod 22, and a second rotating shaft 218 is formed in the middle of each second circular groove 217. A second rotating sleeve 219 is fixedly arranged on each of the two connecting plates 213, the second rotating sleeve 219 corresponds to the second circular groove 217 in a one-to-one manner, the second rotating sleeve 219 is rotatably sleeved on the second rotating shaft 218 and is embedded in the second circular groove 217. The connecting plate 213 and the side support round rod 23 are rotatably connected, and the connecting plate 213 and the side support round rod 23 are in contact with the ground at the same time, so that the bottom of the sole assembly 2 is more flat.

[0041] When the first linear hydraulic cylinder 31 drives the main support round rod 22 to move, the main support round rod 22 pulls the telescopic rod 212 to retract into the frame body 211 through one connecting plate 213, and pulls the side support round rod 23 to slide on the frame body 211 through the other connecting plate 213, so as to reduce the extension range of one side support round rod 23, effectively avoid the side support round rod 23 from contacting the ground when the leg structure 1 is walking, and improve the stability of the mechanical dog leg structure 1 in walking.

[0042] When the first linear hydraulic cylinder 31 drives the main support round rod 22 to move downward, the main support round rod 22 pulls the telescopic rod 212 into the frame body 211 through a connecting plate 213, and pulls the side support round rod 23 to slide on the frame body 211 through another connecting plate 213, so as to reduce the extension range of one of the side support round rods 23, effectively avoid the side support round rod 23 from contacting the ground when the leg structure 1 is walking, and improve the stability of the mechanical dog leg structure 1 when walking.

[0043] The implementation principle of the walking structure of the mechanical dog in the embodiment of the application is as follows: when the mechanical dog runs fast, the first linear hydraulic cylinder 31 drives the main support round rod 22 and the two side support round rods 23 to be out of plane, so that the sole assembly 2 contacts the ground in a line, to adapt to the high-speed running of the mechanical dog; when the mechanical dog requires high stability, the first linear hydraulic cylinder 31 drives the main support round rod 22 and the two side support round rods 23 to be in plane, so that the sole assembly 2 contacts the ground in a plane, and the inclination angle of the sole assembly 2 is adjusted through the second linear hydraulic cylinder 41, to cooperate with the movement of the leg structure 1; when the state of the sole structure is adjusted, the sole structure does not need to be disassembled, so as to improve the state adjustment efficiency of the mechanical dog.

[0044] The above are preferred embodiments of the application, and do not limit the protection scope of the application, so: equivalent changes made according to the structure, shape, principle of the application should be covered in the protection scope of the application.

Claims

1. A walking structure for a mechanical dog, characterized in that: A connecting end (11) is formed on the end of a leg structure (1) of a mechanical dog, and a sole assembly (2) for supporting is hinged to the connecting end (11); The sole assembly (2) comprises a sole frame (21), a main supporting round rod (22) and two coplanar side supporting round rods (23), the sole frame (21) is hinged to the connecting end (11), the main supporting round rod (22) and the two side supporting round rods (23) are arranged on the sole frame (21), and a driving assembly (3) connected with the main supporting round rod (22) is arranged on the sole frame (21); The driving assembly (3) can drive the main supporting round rod (22) and the two side supporting round rods (23) to be coplanar, so that the sole assembly (2) is in surface contact with the ground, or drive the main supporting round rod (22) to be in contact with the ground, so that the sole assembly (2) is in linear contact with the ground; An adjusting assembly (4) capable of driving the sole frame (21) to rotate is arranged on the connecting end (11), so that the sole assembly (2) is in surface contact with the ground during the movement of the mechanical dog.

2. The walking structure of a mechanical dog according to claim 1, wherein: The main supporting round rod (22) is located between the two side supporting round rods (23), and the main supporting round rod (22) and the two side supporting round rods (23) are arranged in parallel.

3. The walking structure of a mechanical dog according to claim 1, wherein: The driving assembly (3) comprises a first linear hydraulic cylinder (31), the cylinder body of the first linear hydraulic cylinder (31) is fixedly connected with the sole frame (21), and the piston rod of the first linear hydraulic cylinder (31) is fixedly connected with the main supporting round rod (22), so as to drive the main supporting round rod (22) to move.

4. The walking structure of a mechanical dog according to claim 1, wherein: The two side supporting round rods (23) are slidably arranged on the sole frame (21), and the main supporting round rod (22) and each side supporting round rod (23) are connected through a connecting plate (213), so as to drive the two side supporting round rods (23) to move close to or away from each other.

5. The walking structure of the mechanical dog according to claim 4, wherein: The sole frame (21) comprises a frame body (211) and a telescopic rod (212), the frame body (211) is rotatably connected with the connecting end (11), the frame body (211) and the telescopic rod (212) correspond to one side supporting round rod (23) respectively, the frame body (211) is slidably inserted into the corresponding side supporting round rod (23), the telescopic rod (212) is fixedly connected with the corresponding side supporting round rod (23), and the telescopic rod (212) is slidably inserted into the frame body (211), so as to form the sliding arrangement of the side supporting round rod (23) and the frame body (211).

6. The walking structure of the mechanical dog according to claim 5, wherein: The bottom surface of the connecting plate (213) is tangent to the cylindrical surface of the side supporting round rod (23) and the main supporting round rod (22).

7. The walking structure of the mechanical dog according to claim 5, wherein: The adjusting assembly (4) comprises a second linear hydraulic cylinder (41), the cylinder body of the second linear hydraulic cylinder (41) is hinged to the leg structure (1), and the piston rod is hinged to the frame body (211), so as to drive the sole frame (21) to adjust the inclination angle.

8. The walking structure of a mechanical dog according to claim 4, wherein: The side support round rod (23) is provided with a first circular groove (214), and a first rotating shaft (215) is formed in the middle of the first circular groove (214); the connecting plate (213) is fixedly provided with a first rotating sleeve (216); the first rotating sleeve (216) is rotatably sleeved on the first rotating shaft (215) and embedded in the first circular groove (214); The main support round rod (22) is provided with two second circular grooves (217), and a second rotating shaft (218) is formed in the middle of each second circular groove (217); the two connecting plates (213) are both fixedly provided with a second rotating sleeve (219); the second rotating sleeve (219) corresponds to the second circular groove (217) one by one; the second rotating sleeve (219) is rotatably sleeved on the second rotating shaft (218) and embedded in the second circular groove (217).

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