Telescopic rotary mechanical arm for quadruped robot dog

Abstract

The utility model relates to the technical field of robots, and discloses a telescopic rotary mechanical arm for a four-footed robot dog, which comprises a machine body, mechanical feet are arranged outside the machine body, a back box is fixedly connected to the upper surface of the machine body, a first motor is fixedly connected to the inside of the back box, a base assembly is arranged on the upper surface of the back box, and a second motor is fixedly connected to the inside of the base assembly. The output end of the first motor is connected with a supporting column, the outer portion of the transmission assembly is fixedly connected with a shell, a bolt is arranged in the flange plate, a shock pad is arranged between the flange plate and the back box, and the output end of the second motor is connected with a first transmission arm. According to the robot dog, vibration isolation between the mechanical arm and the robot dog body is achieved through the shock pad, then the first motor is started to drive the supporting column to rotate to adjust the direction of the mechanical arm, the second motor and the third motor control the first transmission arm and the second transmission arm to complete rotation and pitching actions respectively, and therefore the effect that the mechanical arm generates resonance can be avoided.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a telescopic rotating robotic arm for a quadrupedal robotic dog. Background Technology

[0002] The quadruped robot dog is a biomimetic mobile robot that takes the locomotion mechanism of quadrupedal animals (such as dogs) in nature as its core design inspiration. Through the coordination of mechanical leg structure, drive system and control system, it can achieve high dynamic movement capability. The quadruped robot dog integrates a telescopic and rotating mechanical arm, which can perform operations such as grasping and carrying, and plays an important role in the field of logistics and transportation.

[0003] A search revealed Chinese Patent Publication No. CN116250422A, which discloses a tea-picking robotic arm mounting structure based on a quadrupedal robotic dog. The structure includes a robotic dog, a tea-picking robotic arm mechanism, and a mounting mechanism. The tea-picking robotic arm mechanism is mounted on the upper part of the robotic dog via the mounting mechanism. The mounting mechanism includes a first arc-shaped cover, a second arc-shaped cover, a positioning plate, and a rotating base. The first arc-shaped cover is fixed to the upper part of the robotic dog, and the second arc-shaped cover is rotatably connected to one end of the first arc-shaped cover. Both the first and second arc-shaped covers have arc-shaped notches, and a quick-locking mechanism is provided between the first and second arc-shaped covers. This invention enables rapid installation and disassembly without the need to remove a large number of bolts, greatly reducing the difficulty of assembly and disassembly.

[0004] In the aforementioned application, the existing robotic arm is directly and rigidly fixed to the back of the robot dog, lacking shock absorption measures. The four-legged robot dog vibrates during movement, causing the robotic arm to easily resonate. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a telescopic rotary robotic arm for a quadruped robot dog, which aims to improve the problem of resonance that easily occurs in the robotic arm during the movement of the quadruped robot dog in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a telescopic rotating robotic arm for a quadrupedal robot dog, comprising a body, mechanical legs provided on the outside of the body, a back box fixedly connected to the upper surface of the body, a first motor fixedly connected inside the back box, a base assembly provided on the upper surface of the back box, a support column connected to the output end of the first motor, a transmission assembly provided outside the support column, and a housing fixedly connected outside the transmission assembly.

[0007] The above technical solution allows the robot to move via mechanical legs. The back box is fixed to the upper surface of the robot, and the first motor inside drives the support column to rotate in order to adjust the position of the robotic arm.

[0008] As a further description of the above technical solution:

[0009] The base assembly includes a flange, the outer surface of which is disposed on the upper surface of the back box, and bolts are disposed inside the flange. A shock-absorbing pad is disposed between the flange and the back box.

[0010] The above technical solution involves fixing the flange to the upper surface of the back box with bolts, which penetrate the shock-absorbing pads. By utilizing the shock-absorbing properties of silicone material, the vibration transmission between the robotic arm and the robot dog body is reduced, thus lowering the risk of resonance.

[0011] As a further description of the above technical solution:

[0012] The transmission assembly includes a second motor, which is externally fixedly connected to the outside of the support column. The output end of the second motor is connected to a first transmission arm. A third motor is externally fixedly connected to the end of the first transmission arm away from the support column. The output end of the third motor is connected to the second transmission arm. One end of the housing is externally fixedly connected to the end of the second transmission arm away from the third motor.

[0013] Through the above technical solution: the second motor drives the first transmission arm to rotate, and the third motor drives the second transmission arm to achieve pitching motion. Through the cooperation of multiple motors, the transmission structure drives the robotic arm to operate, realizing the multi-angle rotation and extension functions of the robotic arm.

[0014] As a further description of the above technical solution:

[0015] A hydraulic cylinder is fixedly connected inside the housing, and a clamping assembly is provided at the output end of the hydraulic cylinder. A clamping pad is fixedly connected to the outside of the clamping assembly.

[0016] The above technical solution involves a hydraulic cylinder driving the clamping assembly and clamping pad, enabling the clamping assembly to open and close, thereby grasping and releasing the items, transporting materials, and reducing the workload of workers.

[0017] As a further description of the above technical solution:

[0018] The clamping assembly includes a push plate, the inside of which is fixedly connected to the output end of a hydraulic cylinder, and a first rotating plate is provided on the outside of the push plate, with a clamping plate provided on the outer wall of the first rotating plate.

[0019] The above technical solution involves fixing the push plate to the output end of the hydraulic cylinder, and using the first rotating plate to drive the clamping plate to rotate on the inner wall of the outer shell, thereby forming a clamping action. The clamping pad is used to contact the clamped item.

[0020] As a further description of the above technical solution:

[0021] The clamping pad is externally fixedly connected to the outside of the clamping plate away from the first rotating plate.

[0022] Through the above technical solution: the clamping plate, located away from the outside of the first rotating plate, serves to support the outside of the clamping pad. The clamping pad, with its flexible silicone surface, adapts to clamping items of different shapes, avoiding rigid contact that could damage the items and preventing damage to fragile objects.

[0023] As a further description of the above technical solution:

[0024] One end of the bolt is externally threaded into the inside of the back box, and the outer wall of the middle part of the bolt is set inside the shock-absorbing pad.

[0025] The above technical solution involves filling the space between the flange and the back box with a shock-absorbing pad to block the vibration transmission path, prevent the robotic arm from resonating, and consume vibration energy.

[0026] As a further description of the above technical solution:

[0027] One end of the clamping plate is rotatably connected to the inner wall of the outer shell.

[0028] Through the above technical solution, the outer shell serves to support the rotation of the clamping plate, thereby realizing the opening and closing function.

[0029] This utility model has the following beneficial effects:

[0030] 1. In this utility model, the flange of the base assembly is fixed to the upper surface of the back box by bolts, and the shock-absorbing pad realizes the vibration isolation between the robotic arm and the robot dog body. Then, the first motor is started to drive the support column to rotate and adjust the position of the robotic arm. Then, the second motor and the third motor control the first transmission arm and the second transmission arm to complete the rotation and pitching actions, thereby avoiding the robotic arm from resonating and consuming vibration energy.

[0031] 2. In this utility model, the hydraulic cylinder drives the push plate to slide, and the first rotating plate drives the clamping plate to rotate. The silicone clamping pad is used to clamp the item, thereby achieving the effect of adaptively clamping different object shapes and avoiding damage to fragile objects. Attached Figure Description

[0032] Figure 1 This is a perspective view of a telescopic rotating robotic arm for a quadrupedal robotic dog proposed in this utility model.

[0033] Figure 2 This is a partial structural diagram of the support column for a telescopic rotating robotic arm for a quadrupedal robotic dog proposed in this utility model.

[0034] Figure 3 This is a partial structural diagram of the shock-absorbing pad for a telescopic rotating robotic arm used in a quadrupedal robot dog, as proposed in this utility model.

[0035] Figure 4 This is a partial structural diagram of the outer shell of a telescopic rotating robotic arm for a quadrupedal robotic dog proposed in this utility model.

[0036] Figure 5 This is a partial structural diagram of the clamping pad of a telescopic rotating robotic arm for a quadrupedal robotic dog proposed in this utility model.

[0037] Legend:

[0038] 1. Body; 2. Mechanical feet; 3. Back box; 4. First motor; 5. Base assembly; 501. Flange; 502. Bolt; 503. Shock-absorbing pad; 6. Support column; 7. Transmission assembly; 701. Second motor; 702. First transmission arm; 703. Third motor; 704. Second transmission arm; 8. Outer shell; 9. Hydraulic cylinder; 10. Clamping assembly; 101. Push plate; 102. First rotating plate; 103. Clamping plate; 11. Clamping pad. Detailed Implementation

[0039] 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.

[0040] Reference Figures 1-3 An embodiment of this utility model is provided: a telescopic rotating robotic arm for a quadrupedal robot dog, including a body 1, mechanical legs 2 provided on the outside of the body 1, a back box 3 fixedly connected to the upper surface of the body 1, a first motor 4 fixedly connected inside the back box 3, a base assembly 5 provided on the upper surface of the back box 3, a support column 6 connected to the output end of the first motor 4, a transmission assembly 7 provided on the outside of the support column 6, and a shell 8 fixedly connected to the outside of the transmission assembly 7.

[0041] Specifically, the body 1 is the main body of the robot dog, the mechanical legs 2 are used to enable the robot dog to move, the back box 3 is used to fix the first motor 4, the first motor 4 is used to drive the support column 6 to rotate, the base assembly 5 is used to fix the robotic arm to the back box 3 and to absorb shock, the support column 6 is used to support the transmission assembly 7, the transmission assembly 7 is used to realize the extension and rotation of the robotic arm, and the outer shell 8 is used to fix the hydraulic cylinder 9 and the clamping assembly 10 to operate.

[0042] Reference Figures 2-4The base assembly 5 includes a flange 501, which is externally disposed on the upper surface of the back box 3. Bolts 502 are disposed inside the flange 501, and a shock-absorbing pad 503 is disposed between the flange 501 and the back box 3. The transmission assembly 7 includes a second motor 701, which is externally fixedly connected to the outside of the support column 6. The output end of the second motor 701 is connected to a first transmission arm 702. A third motor 703 is externally fixedly connected to the end of the first transmission arm 702 away from the support column 6. The output end of the third motor 703 is connected to a second transmission arm 704. One end of the outer casing 8 is externally fixedly connected to the end of the second transmission arm 704 away from the third motor 703.

[0043] Specifically, the flange 501 is fixed to the upper surface of the back box 3 by bolts 502, the shock-absorbing pad 503 is used to reduce the vibration transmission between the robotic arm and the back box 3, the second motor 701 is used to drive the first transmission arm 702 to rotate, and the third motor 703 is used to drive the second transmission arm 704 to realize the pitching action of the robotic arm, thereby achieving the effect of avoiding resonance of the robotic arm.

[0044] Reference Figures 3-5 A hydraulic cylinder 9 is fixedly connected inside the outer casing 8. A clamping assembly 10 is provided at the output end of the hydraulic cylinder 9. A clamping pad 11 is fixedly connected to the outside of the clamping assembly 10. The clamping assembly 10 includes a push plate 101, which is fixedly connected to the output end of the hydraulic cylinder 9. A first rotating plate 102 is provided on the outside of the push plate 101. A clamping plate 103 is provided on the outer wall of the first rotating plate 102. The clamping pad 11 is fixedly connected to the outside of the clamping plate 103 away from the first rotating plate 102. One end of the bolt 502 is externally threaded to the inside of the back box 3. The outer wall of the middle part of the bolt 502 is provided inside the shock-absorbing pad 503. One end of the clamping plate 103 is rotatably connected to the inner wall of the outer casing 8.

[0045] Specifically, the hydraulic cylinder 9 is used to drive the push plate 101 to move. The push plate 101 is used to drive the clamping plate 103 to rotate on the inner wall of the outer shell 8 through the first rotating plate 102 to achieve the clamping action. The clamping pad 11 is made of silicone and is used to adapt to different sizes and protect the clamped items. It is also used to improve the clamping stability. The bolt 502 fixes the flange 501 to the back box 3. The shock-absorbing pad 503 is made of silicone and reduces vibration transmission, thereby achieving the effect of adaptively clamping different object shapes.

[0046] Working principle: When using this telescopic rotating robotic arm for a quadruped robot dog, firstly, the flange 501 of the base assembly 5 is fixed to the upper surface of the back box 3 by bolts 502. The shock-absorbing pad 503 isolates the robotic arm from the robot dog body. Then, the first motor 4 inside the back box 3 is started to drive the support column 6 to rotate and adjust the position of the robotic arm. Then, the second motor 701 and the third motor 703 control the first transmission arm 702 and the second transmission arm 704 respectively to complete the rotation and pitch movements, thereby avoiding resonance of the robotic arm and consuming vibration energy.

[0047] Next, the hydraulic cylinder 9 is activated to drive the push plate 101 to slide, and the first rotating plate 102 drives the clamping plate 103 to rotate. The silicone clamping pad 11 is used to clamp the item, thereby achieving the effect of adaptively clamping different object shapes and avoiding damage to fragile objects.

[0048] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., 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 telescopic rotating robotic arm for a quadrupedal robotic dog, comprising a body (1), characterized in that: The body (1) is provided with mechanical feet (2) on the outside. The upper surface of the body (1) is fixedly connected with a back box (3). The back box (3) is fixedly connected with a first motor (4). The upper surface of the back box (3) is provided with a base assembly (5). The output end of the first motor (4) is connected with a support column (6). The support column (6) is provided with a transmission assembly (7) on the outside. The transmission assembly (7) is fixedly connected with a shell (8).

2. The telescopic rotary robotic arm for a quadrupedal robotic dog according to claim 1, characterized in that: The base assembly (5) includes a flange (501), the outside of which is disposed on the upper surface of the back box (3), and bolts (502) are disposed inside the flange (501). A shock-absorbing pad (503) is disposed between the flange (501) and the back box (3).

3. The telescopic rotary robotic arm for a quadrupedal robotic dog according to claim 2, characterized in that: The transmission assembly (7) includes a second motor (701), which is externally fixedly connected to the outside of the support column (6). The output end of the second motor (701) is connected to a first transmission arm (702). A third motor (703) is externally fixedly connected to the end of the first transmission arm (702) away from the support column (6). The output end of the third motor (703) is connected to a second transmission arm (704). One end of the outer casing (8) is externally fixedly connected to the end of the second transmission arm (704) away from the third motor (703).

4. The telescopic rotary robotic arm for a quadrupedal robotic dog according to claim 3, characterized in that: A hydraulic cylinder (9) is fixedly connected inside the outer shell (8), and a clamping assembly (10) is provided at the output end of the hydraulic cylinder (9). A clamping pad (11) is fixedly connected to the outside of the clamping assembly (10).

5. The telescopic rotary robotic arm for a quadrupedal robotic dog according to claim 4, characterized in that: The clamping assembly (10) includes a push plate (101), the inside of which is fixedly connected to the output end of the hydraulic cylinder (9), and a first rotating plate (102) is provided on the outside of the push plate (101), and a clamping plate (103) is provided on the outer wall of the first rotating plate (102).

6. The telescopic rotary robotic arm for a quadrupedal robotic dog according to claim 5, characterized in that: The clamping pad (11) is externally fixedly connected to the outside of the clamping plate (103) away from the first rotating plate (102).

7. The telescopic rotary robotic arm for a quadrupedal robotic dog according to claim 2, characterized in that: One end of the bolt (502) is externally threaded into the interior of the back box (3), and the middle outer wall of the bolt (502) is disposed inside the shock-absorbing pad (503).

8. The telescopic rotary robotic arm for a quadrupedal robotic dog according to claim 5, characterized in that: One end of the clamping plate (103) is rotatably connected to the inner wall of the outer shell (8).

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