Walking structure of bionic mechanical dog

Abstract

The utility model relates to the technical field of bionic mechanical dogs, in particular to a walking structure of a bionic mechanical dog. Comprising four leg parts and a trunk part connecting the leg parts together, and each leg part comprises a mounting seat fixedly connected with the trunk part, a rotating joint arranged on the mounting seat and used for driving the mechanical dog to walk and a side-sway joint arranged on the adjacent side of the rotating joint and used for adjusting the walking direction of the mechanical dog; the rotating joint comprises a first driving piece arranged at one end of the mounting base, a thigh piece arranged at the output end of the first driving piece and a shank piece arranged at the tail end of the thigh piece and movably connected with the side swing joint. The walking structure of the bionic mechanical dog has the advantages of being capable of better walking and running modes of real animals, good in flexibility and stability, simple in structure, convenient to disassemble and assemble and the like.

Description

Technical Field

[0001] This utility model relates to the field of bionic mechanical dog technology, and in particular to a walking structure for a bionic mechanical dog. Background Technology

[0002] In modern society, with the fast pace of life and increased pressure, people's demand for emotional release and pet companionship is growing. At the same time, the joy and emotional support brought by pet ownership are widely recognized. However, many people are unable to fully care for and accompany their pets due to time and space constraints, or cannot keep pets due to physiological reasons (such as fur allergies). In order to achieve the goal of satisfying people's happiness in adopting pets without having to feed or clean up after them, a solution is needed.

[0003] Chinese patent CN216916096U discloses a leg structure and a mechanical dog. The mechanical dog includes a head, a torso, and four leg structures. Each leg structure includes a thigh, a lower leg, and a foot. The thigh and lower leg are rotatably connected by a first axial rotating member. The lower leg has a guide limiting protrusion with a guide limiting hole. One end of the foot passes upward through the guide limiting hole and can slide along it. The foot also has first and second limiting blocks, and first and second elastic members are fitted onto it. The two ends of the first elastic member abut against the first limiting block and the guide limiting protrusion, respectively, and the two ends of the second elastic member abut against the second limiting block and the guide limiting protrusion, respectively. This design allows the foot to automatically adjust to adapt to climbing stairs or steps, making the entire control simpler and more reliable, while ensuring the stability of the mechanical dog's movement throughout the process.

[0004] However, this technical solution adds extra limiting structures and elastic components, which increases the weight and space occupied by the mechanical dog, affecting its flexibility and portability. Furthermore, the belt-driven mechanical dog may experience belt slippage and tooth skipping under high load conditions. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a walking structure for a biomimetic mechanical dog. By using a rotating joint to drive the legs to walk forward and backward, and combining it with a lateral swing joint to drive the legs to turn, move laterally, and perform other gaits, the mechanical dog can move flexibly in multiple directions, better mimicking the walking and running patterns of real animals.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A walking structure for a biomimetic mechanical dog includes: four legs and a torso connecting the legs together. Each leg includes: a mounting base fixedly connected to the torso, a rotary joint disposed on the mounting base for driving the mechanical dog to walk, and a lateral joint disposed adjacent to the rotary joint for adjusting the walking direction of the mechanical dog.

[0008] Preferably, the rotary joint includes: a first drive member disposed at one end of the mounting base, a thigh member disposed at the output end of the first drive member, and a lower leg member disposed at the end of the thigh member and movably connected to the lateral swing joint.

[0009] Preferably, the thigh component includes: a rotating seat rotatably connected to the lower part of the first driving component and a receiving seat fixedly connected to the lower part of the rotating seat.

[0010] Preferably, the side swing joint includes: a second drive member disposed at the other end of the mounting base, a first connecting rod rotatably connected to the output end of the second drive member, a second connecting rod disposed at the end of the first connecting rod, and a connecting member disposed at the end of the second connecting rod and fixedly connected to the lower leg member.

[0011] Preferably, the length of the second connecting rod is adjustable, and it includes: a main body connecting part and extension parts respectively threaded to both ends of the main body connecting part, wherein the extension parts are respectively connected to the first connecting rod and the connecting member.

[0012] Preferably, a gap is provided between the rotary joint and the lateral joint for mounting the torso, and the size of the gap is adapted to the size of the torso.

[0013] Preferably, the rotating seat has a U-shaped cross-section, and the receiving seat has a square-shaped cross-section.

[0014] Preferably, the lower leg piece is square-shaped.

[0015] Preferably, the receiving seat is provided with a plurality of first mounting holes for mounting the lower leg component.

[0016] Preferably, the lower leg component is provided with a plurality of second mounting holes for mounting the connector.

[0017] Preferably, the outer dimensions of the rotating seat are larger than those of the receiving seat, and the outer dimensions of the receiving seat are adapted to the outer dimensions of the lower leg component.

[0018] The beneficial effects of this utility model are as follows:

[0019] (1) The present invention adopts an inner knee structure for the legs of the mechanical dog. Because the inner knee structure is the most stable, it provides more space for movement on both sides, and the overlapping range of the mechanical dog's legs is reduced during movement, which is conducive to the stable operation of the entire mechanical dog.

[0020] (2) The present invention makes the connecting rod in the side swing joint connected to the lower leg part adjustable, that is, the position of the side swing joint is adjustable, so as to adapt to the walking mode of different types of mechanical dogs, and maximize the smoothness of the mechanical dog's walking, without any jamming or other phenomena.

[0021] (3) The present invention forms a five-bar structure by means of a rotary joint and a lateral swing joint. The structure is simple and easy to assemble and disassemble. The structure can ensure the rigidity and straight-line stability of the mechanical dog, and can also realize the change of the mechanical dog's trajectory, thereby better imitating the walking and running of real animals.

[0022] In summary, this utility model has the advantages of better capturing the walking and running patterns of realistic animals, good flexibility and stability, simple structure, and convenient assembly and disassembly. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is a schematic diagram of the structure of a single leg of this utility model;

[0025] Figure 3 This is a schematic diagram of the installation of the lower leg component of this utility model. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] Example

[0029] like Figure 1-3 As shown, this embodiment provides a walking structure for a biomimetic mechanical dog, including: four legs 1 and a torso 2 connecting the legs 1 together. Each leg 1 includes: a mounting base 11 fixedly connected to the torso 2; a rotary joint 12 disposed on the mounting base 11 for driving the mechanical dog to walk; and a lateral swing joint 13 disposed adjacent to the rotary joint 12 for adjusting the walking direction of the mechanical dog. The rotary joint 12 determines the swinging, i.e., reciprocating motion of the leg 1. The main function of the lateral swing joint 13 is to provide the mechanical dog with the freedom of rotation, allowing the legs 1 of the mechanical dog to deviate from the vertical plane, thereby realizing gait such as turning, lateral movement, and resistance to lateral impact. The rotary joint 12 allows the legs 1 to rotate in the vertical plane, while the lateral swing joint 13 allows the legs 1 to swing laterally in the horizontal plane. This design allows the mechanical dog to move flexibly in multiple directions, better mimicking the walking and running patterns of real animals (such as dogs).

[0030] The rotary joint 12 includes: a first drive member 121 disposed at one end of the mounting base 11, a thigh member 122 disposed at the output end of the first drive member 121, and a lower leg member 123 disposed at the end of the thigh member 122 and movably connected to the lateral swing joint 13.

[0031] Meanwhile, the thigh component 122 includes: a rotating seat 1221 rotatably connected to the lower part of the first driving component 121 and a receiving seat 1222 fixedly connected to the lower part of the rotating seat 1221. The receiving seat 1222 increases the height of the entire thigh component 122, making the distance between the torso 2 and the ground adjustable to adapt to the diversity of the mechanical dog's movements, that is, by installing different receiving seats 1222 to correspond to different types of mechanical dogs.

[0032] In this embodiment, the leg 1 structure adopts an inward knee type because the inward knee type structure is the most stable, provides more movement space for both sides, and reduces the overlap range of the mechanical dog's legs 1 during movement, which is beneficial to the stable operation of the entire mechanical dog.

[0033] In this embodiment, the side-swing joint 13 includes: a second drive member 131 disposed at the other end of the mounting base 11, a first connecting rod 132 rotatably connected to the output end of the second drive member 131, a second connecting rod 133 disposed at the end of the first connecting rod 132, and a connecting member 134 disposed at the end of the second connecting rod 133 and fixedly connected to the lower leg member 123. The side-swing joint 13 provides additional degrees of freedom, enabling the mechanical dog to maintain better balance when encountering lateral impacts and avoid being pushed over.

[0034] In this embodiment, both the first drive unit 121 and the second drive unit 131 are preferably servo motors, which can better control the walking and turning operations of the mechanical dog.

[0035] In this embodiment, the length of the second connecting rod 133 is adjustable, and it includes a main body connecting part 1331 and extension parts 1332 respectively threaded to both ends of the main body connecting part 1331. The extension parts 1332 are respectively connected to the first connecting rod 132 and the connecting member 134. By rotating the main body connecting part 1331, the overall length of the second connecting rod 133 is adjusted, so that the lower leg piece 123 can move more smoothly, that is, to maximize the smoothness of the leg 1 movement and prevent jamming or other phenomena.

[0036] In this embodiment, a gap 14 is provided between the rotary joint 12 and the lateral joint 13 for mounting the torso 2. The size of the gap 14 is adapted to the size of the torso 2, and the gap 14 needs to ensure that there is no interference between the rotary joint 12 and the lateral joint 13, thereby ensuring the smoothness of the leg 1 movement.

[0037] In this embodiment, the rotating seat 1221 has a U-shaped cross section, the receiving seat 1222 has a square-shaped cross section, and the lower leg 123 has a square shape, which can provide more degrees of freedom of movement, enabling the legs 1 of the mechanical dog to achieve more complex movements, such as turning and lateral movement.

[0038] In this embodiment, the rotary joint 12 and the lateral swing joint 13 together form a five-bar structure, which can ensure the rigidity and straight-line stability of the mechanical dog, and also realize the variation of the mechanical dog's trajectory.

[0039] In this embodiment, the receiving seat 1222 is provided with a plurality of first mounting holes 1223 for mounting the lower leg 123, thereby adjusting the vertical position of the lower leg 123 so that the rotary joint 12 is in the optimal movement position.

[0040] In this embodiment, the lower leg member 123 is provided with a plurality of second mounting holes 1231 for mounting the connector 134, thereby adjusting the vertical position of the second connecting rod 133 so that the lateral swing joint 13 is in the optimal movement position.

[0041] In this embodiment, the outer dimensions of the rotating seat 1221 are larger than those of the receiving seat 1222. The outer dimensions of the receiving seat 1222 are adapted to the outer dimensions of the lower leg 123, so that the working space of the leg 1 is large enough, thereby ensuring that the mechanical dog can cover a larger area and increasing its operational flexibility and efficiency.

[0042] In this embodiment, the bionic robotic dog has many unique advantages over a real pet dog. First, the robotic dog requires no owner's care or companionship, has no physiological problems, and requires no vaccinations or concerns about disease. For those allergic to pet fur, the robotic dog provides an ideal solution as it does not trigger any allergic reactions. Furthermore, the robotic dog excels at providing emotional value, establishing an emotional connection with its owner without the hidden expenses associated with traditional pets, such as food, medical care, and daily grooming.

[0043] In this embodiment, compared with ordinary tire-type or even immobile companion robots, the bionic mechanical dog has significant advantages in design and function. First, its quadrupedal gait design makes its movements closer to those of a real pet dog, enabling it to perform complex movements such as walking, running, and jumping, rather than just simple rolling or rotating. This makes its interaction with users more realistic and natural, providing a higher degree of simulation and immersion. Second, the bionic mechanical dog's appearance and movements are more realistic, and its interaction with users is more approachable and attractive. Its design goal is to simulate the movement and behavioral characteristics of real dogs, enabling it to perform basic functions such as standing, squatting, leaning forward, leaning back, turning, and walking. This requires precise control of the coordinated movement of each joint and the speed and direction of the servo motors, especially in the walking function.

[0044] In contrast, ordinary tire-type robots, due to limitations in their movement and shape design, struggle to achieve the same simulation effects and interactive experiences. Furthermore, the multi-sensor fusion technology and bionic gait control of the bionic robot dog make it more flexible and intelligent in terms of environmental perception and adaptive behavior. It can accurately perceive its surroundings and make adaptive responses according to different situations, demonstrating higher reliability and practicality in actual use.

[0045] Overall, through its realistic biomimetic design and flexible interactive capabilities, the robotic dog not only surpasses traditional robotic dogs and ordinary companion robots in functionality, but also has unique advantages in user experience and emotional fulfillment, truly achieving the goal of an intelligent companion.

[0046] In this embodiment, the multifunctional mechanical dog adopts an eight-servo quadruped gait design, integrating technologies from multiple fields such as mechanical engineering, motion control, and robotics. The servos precisely control the angle and speed of each joint of leg 1, realizing the coordinated movement of each joint of leg 1, thereby achieving various gaits.

[0047] In this embodiment, gait design is the core of the quadrupedal robot's motion control. It can design various gaits such as walking and trotting according to different needs and application scenarios. In order to achieve a stable gait, the robot's center of gravity balance and dynamic characteristics need to be considered. Through reasonable gait planning and force balance analysis, the robot can maintain balance during walking.

[0048] In this embodiment, the multi-degree-of-freedom design structure of the bionic mechanical dog is an important component in achieving its highly realistic motion. The multi-degree-of-freedom design enables the bionic mechanical dog to more realistically simulate the head, tail, and limb movements of real dogs, thereby enhancing its environmental perception and the richness of its motor expression.

[0049] Of course, the multi-degree-of-freedom design structure includes multiple rotary joints 12 to achieve free movement in multiple directions. These joints are driven by high-precision motors or servos. Through precise control algorithms, the accuracy and stability of the movement are ensured. Through precise control algorithms and sensor signal feedback, the angle and speed of each joint are adjusted in real time to achieve precise movement of the head, tail and limbs. At the same time, the control system can also coordinate with the movement of other parts to achieve the coordination and stability of the overall movement of the bionic mechanical dog.

[0050] In addition, in the gait analysis, the movement of the dog's legs 1 is divided into a support phase and a crossing phase. During the support phase, the end of the lower leg 123, i.e. the foot, is in contact with the ground and relatively stationary, and the body moves forward. During the crossing phase, the foot leaves the ground and moves in the air to cross obstacles. By connecting the foot points, the crossing gait is simulated to form an ellipsoidal trajectory. In order to realize this movement trajectory, it is necessary to use differential and multi-threaded concurrent methods to control all leg 1 servos at the same time so that they move according to the ellipsoidal trajectory. The trajectory simulation and realization must be within the actual movement range of the mechanical dog's legs 1 to ensure that the movement conforms to the biomechanical principles and is stable and reliable in the actual environment.

[0051] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A walking structure of a bionic mechanical dog, comprising: Four leg parts and a trunk part connecting the leg parts together, characterized in that the leg parts comprise: a mounting base fixedly connected with the trunk part, a rotating joint arranged on the mounting base for driving the mechanical dog to walk, and a side swing joint arranged on the adjacent side of the rotating joint for adjusting the walking direction of the mechanical dog.

2. The walking structure of the bionic mechanical dog according to claim 1, wherein, The rotating joint comprises: a first driving member arranged at one end of the mounting base, a thigh member arranged at the output end of the first driving member, and a lower leg member arranged at the end of the thigh member and movably connected with the side swing joint.

3. The walking structure of the bionic mechanical dog according to claim 2, characterized in that, The thigh member comprises: a rotating base rotatably connected below the first driving member, and a receiving base fixedly connected below the rotating base.

4. The walking structure of the bionic mechanical dog according to claim 2, characterized in that, The side swing joint comprises: a second driving member arranged at the other end of the mounting base, a first connecting rod rotatably connected at the output end of the second driving member, a second connecting rod arranged at the end of the first connecting rod, and a connecting member arranged at the end of the second connecting rod and fixedly connected with the lower leg member.

5. The walking structure of the bionic mechanical dog according to claim 4, wherein, The length of the second connecting rod is adjustable, and the second connecting rod comprises: a body connecting part, and extension parts respectively threadedly connected at both ends of the body connecting part, the extension parts being respectively connected with the first connecting rod and the connecting member.

6. The walking structure of the bionic mechanical dog according to claim 1, wherein, A gap is left between the rotating joint and the side swing joint for mounting the trunk part, and the size of the gap is matched with the size of the trunk part.

7. The walking structure of the bionic mechanical dog according to claim 3, characterized in that, The rotating base has a U-shaped cross section, and the receiving base has a mouth-shaped cross section.

8. The walking structure of the bionic mechanical dog according to claim 4, characterized in that, The lower leg member has a mouth-shaped cross section.

9. The walking structure of the bionic mechanical dog according to claim 3, characterized in that, The receiving base is provided with a plurality of first mounting holes for mounting the lower leg member.

10. The walking structure of the bionic mechanical dog according to claim 4, characterized in that, The lower leg member is provided with a plurality of second mounting holes for mounting the connecting member.

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