Amphibious wheel-foot mechanical dog
By introducing a first and second fixed ring structure into the amphibious wheeled robot dog and using a limit stop to block the rotation of the robot arm, the stability problem of the robot arm in flight posture is solved, and the horizontal deployment of the robot arm and the stability of the flight posture are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI ZHONGJIAN ZHIKR INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2025-07-31
- Publication Date
- 2026-05-15
AI Technical Summary
Existing amphibious robotic dogs have difficulty maintaining stability in flight postures, especially when the robotic arm is in a walking posture, where the motors may have errors, leading to unstable flight postures.
The system employs a first fixed ring and a second fixed ring structure. The first limiting block blocks the second limiting block, ensuring that the robotic arm remains horizontally extended in flight posture. The first fixed ring is screwed to the outer shell of the body to limit the rotation range of the robotic arm.
This improved the stability of the flight attitude and ensured the accuracy of the robotic arm's flight trajectory after long periods of alternating crawling and flight modes.
Smart Images
Figure CN224240771U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics, specifically to an amphibious wheeled mechanical dog with a stable flight posture. Background Technology
[0002] Existing amphibious flying robot dogs, which must accommodate both flight and crawling modes, cannot meet the different needs of their robotic arms in both modes. Figure 1 This is a schematic diagram of an existing amphibious wheeled robotic dog in flight mode. (Reference) Figure 1 In existing amphibious flying robot dogs, the robotic arm 2 is typically connected to the front and rear sides of the body 3. To accommodate the range of motion of the robotic arm 2 in crawling mode, it can rotate around the body 3. However, once in flight mode, the robotic arm 2 must be completely flat to ensure that the lift provided by the four propellers is vertically upward. At this point, if the mechanical self-locking state of the robotic arm 2 is pulled by the lift of the propellers, it is difficult to maintain a stable attitude, especially since the motor may have some errors after the robotic arm 2 frequently uses a walking posture. Moreover, when the lift of some propellers is large, it will also pull the robotic arm 2 to continue rotating upward, thus compromising the stability of the flight attitude.
[0003] In view of this, the present invention provides an amphibious wheeled mechanical dog.
[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this utility model, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention
[0005] In view of the problems in the prior art, the purpose of this utility model is to provide an amphibious wheeled mechanical dog that overcomes the difficulties of the prior art, can accurately limit the movement of the mechanical arm in flight posture, ensure the horizontal deployment posture of the mechanical arm, and improve the stability of the flight posture.
[0006] An embodiment of this utility model provides an amphibious wheeled mechanical dog, comprising:
[0007] The body contains a battery pack, four first motors, and a control system. The first motors are located at both ends of the front interior and both ends of the rear interior of the body.
[0008] Four first fixing rings with first limiting blocks are respectively connected to the two ends of the front side and the two ends of the rear side of the outer shell of the body;
[0009] Four second fixing rings, each second fixing ring comprising a second fixing ring body, a second limiting block, and a connecting plate. The connecting plate is disposed at both ends of the front side and both ends of the rear side of the body, and the connecting plate is respectively connected to the output shaft of the first motor to rotate coaxially with the first motor based on the center of the first fixing ring; and
[0010] Four robotic arms are provided. The upper limbs of the robotic arms are connected to the second fixed ring body, and the lower limbs of the robotic arms are connected to an amphibious posture self-switching power system. When the robotic arm rotates to a horizontal state with the second fixed ring, the first limit block of the corresponding first fixed ring prevents the second limit block of the second fixed ring from continuing to rotate.
[0011] Preferably, the first fixing ring includes a first fixing ring body and at least one first limiting block disposed on the first fixing ring body.
[0012] Preferably, the first fixing ring body is sleeved around the outer periphery of the connecting plate, and the first limiting block is disposed on the side of the first fixing ring body away from the body portion, the first limiting block protruding from the first fixing ring and extending into the stroke of the second limiting block during the rotation of the second fixing ring body.
[0013] Preferably, the first fixing ring body and the corresponding connecting plate are located on the same plane on the front or rear side of the body, and a first through hole is formed in the center of the first fixing ring body, and the first through hole is concentrically fitted around the outer periphery of the connecting plate.
[0014] Preferably, the connecting plate and the second limiting block are respectively disposed on opposite sides of one end of the second fixing ring body, and the connecting plate, the second limiting block and the second fixing ring body are integrally formed to form a T-shaped distribution.
[0015] Preferably, when the side of the second limiting block rotates to make surface contact with the side of the first limiting block, it forms a stop for the rotational stroke of the first limiting block against the second limiting block.
[0016] Preferably, the first fixing ring is provided with a plurality of first screw holes along the circumference, and the first screw holes are respectively screwed to the outer shell of the body.
[0017] Preferably, the first motor drives the robotic arm to rotate based on a horizontal axis parallel to the forward direction of the amphibious wheeled robotic dog.
[0018] Preferably, it also includes a second motor, which is disposed on the first side of the second fixed ring body, and the second motor drives the robotic arm to rotate in a direction based on the axis of the second fixed ring body.
[0019] Preferably, it also includes a third motor, which is disposed on the second side of the second fixed ring body. The third motor drives the linkage to drive the lower limb segment of the robotic arm to rotate based on the upper limb segment.
[0020] This utility model discloses an amphibious wheeled robotic dog that can accurately limit the movement of a robotic arm in flight mode, ensuring the horizontal extension of the robotic arm, improving the stability of the flight mode, and effectively improving the accuracy of the flight trajectory of the amphibious robotic dog after long-term use (alternating between crawling and flight modes). Attached Figure Description
[0021] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.
[0022] Figure 1 This is a schematic diagram of an existing amphibious wheeled robotic dog in flight mode.
[0023] Figure 2 This is a three-dimensional view of the body of the amphibious wheeled mechanical dog of this utility model.
[0024] Figure 3 This is a perspective view of the first fixing ring in the amphibious wheeled mechanical dog of this utility model.
[0025] Figure 4 This is a perspective view of the second fixing ring in the amphibious wheeled mechanical dog of this utility model.
[0026] Figure 5 This is a three-dimensional view of the amphibious wheeled mechanical dog of this utility model in a walking posture.
[0027] Figure 6 yes Figure 5 A magnified view of a portion of the image.
[0028] Figure 7 This is a three-dimensional view of the body of the amphibious wheeled mechanical dog of this utility model in a walking posture.
[0029] Figure 8 This is a three-dimensional view of the amphibious wheeled mechanical dog of this utility model in flight posture.
[0030] Figure 9 This is a three-dimensional view of the body of the amphibious wheeled mechanical dog of this utility model in a flight posture.
[0031] Figure 10 yes Figure 9 A magnified view of a portion of the image.
[0032] Figure Labels
[0033] 1. Amphibious attitude self-switching propulsion system
[0034] 2. Robotic Arm
[0035] 3. Body
[0036] 4 First fixing ring
[0037] 41 First limit stop
[0038] 42 First fixed ring body
[0039] 43 First Through Hole
[0040] 44 First screw hole
[0041] 5 Second fixing ring
[0042] 51 Second limit stop
[0043] 52 Second fixed ring body
[0044] 53 Second Through Hole
[0045] 54 Second screw hole
[0046] 55 Connecting plate
[0047] 61 First Electric Motor
[0048] 62 Second Motor
[0049] 63 Third Motor
[0050] 64 Drive Linkage Detailed Implementation
[0051] The following specific examples illustrate the implementation methods of this application. Those skilled in the art can easily understand the other advantages and effects of this application from the content disclosed herein. This application can also be implemented or applied through other different specific embodiments, and various details in this application can be modified or changed according to different viewpoints and application systems without departing from the spirit of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.
[0052] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily implement the application. This application may be embodied in many different forms and is not limited to the embodiments described herein.
[0053] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics represented in connection with that embodiment or example, which are included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate different embodiments or examples represented in this application, as well as features of different embodiments or examples.
[0054] Furthermore, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0055] For the purpose of clearly describing this application, devices that are not relevant to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.
[0056] Throughout this specification, when it is said that a device is "connected" to another device, this includes not only "direct connection" but also "indirect connection" by placing other components in between. Furthermore, when it is said that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.
[0057] When we say that a device is "above" another device, this can mean that it is directly above the other device, or it can mean that other devices are present in between. Conversely, when we say that a device is "directly" "above" another device, there are no other devices present in between.
[0058] Although the terms first, second, etc., are used in some instances to denote various elements in this invention, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used in this invention, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising” or “including” indicate the presence of features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are to be interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.
[0059] The technical terms used herein are for reference only to specific embodiments and are not intended to limit the scope of this application. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in the specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.
[0060] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the content of this present application, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.
[0061] Figure 2 This is a three-dimensional view of the body of the amphibious wheeled mechanical dog of this utility model. Figure 3 This is a perspective view of the first fixing ring in the amphibious wheeled mechanical dog of this utility model. Figure 4 This is a perspective view of the second fixing ring in the amphibious wheeled mechanical dog of this utility model. Figure 5 This is a three-dimensional view of the amphibious wheeled mechanical dog of this utility model in a walking posture. Figure 6 yes Figure 5 A magnified view of a portion of the image. Figure 7 This is a three-dimensional view of the body of the amphibious wheeled mechanical dog of this utility model in a walking posture. Figure 8 This is a three-dimensional view of the amphibious wheeled mechanical dog of this utility model in flight posture. Figure 9 This is a three-dimensional view of the body of the amphibious wheeled mechanical dog of this utility model in a flight posture. Figure 10 yes Figure 9 A magnified view of a portion of the image. For example... Figures 2 to 10 As shown, the amphibious wheeled mechanical dog of this invention includes: a body 3, four first fixing rings 4, four second fixing rings 5, and four mechanical arms 2. The body 3 houses a battery pack, four first motors 61 (only the outlines of the positions of the first motors 61 within the body 3 are shown due to obstruction by the outer shell), and a control system. The first motors 61 are located at both ends of the front and rear interior of the body 3. The first fixing rings 4, each with a first limiting block 41, are respectively connected to both ends of the front and rear of the outer shell of the body 3. Each second fixing ring 5 includes a second fixing ring body 52, a second limiting block 51, and a connecting plate 55. The connecting plate 55 is located at both ends of the front and rear of the body 3, and is connected to the output shaft of the first motor 61 to rotate coaxially with the first motor 61 based on the center of the first fixing ring 4. The upper limb segments of each robotic arm 2 are connected to the second fixed ring body 52, and the lower limb segments of the robotic arm 2 are connected to an amphibious attitude self-switching power system 1. When the robotic arm 2 rotates to a horizontal state with the second fixed ring 5, the first limiting block 41 of the corresponding first fixed ring 4 prevents the second limiting block 51 of the second fixed ring 5 from continuing to rotate. This invention can accurately limit the robotic arm in flight posture, ensuring the horizontal deployment posture of the robotic arm and improving the stability of the flight posture.
[0062] In a preferred embodiment, the first fixing ring 4 includes a first fixing ring body 42 and at least one first limiting block 41 disposed on the first fixing ring body 42, but is not limited thereto.
[0063] In a preferred embodiment, the first fixing ring body 42 is sleeved around the outer periphery of the connecting plate 55, and the first limiting block 41 is disposed on the side of the first fixing ring body 42 away from the body part 3. The first limiting block 41 protrudes from the first fixing ring 4 and extends into the stroke of the second limiting block 51 during the rotation of the second fixing ring body 52, but is not limited thereto.
[0064] In a preferred embodiment, the first fixing ring body 42 and the corresponding connecting plate 55 are both located on the same plane on the front or rear side of the body 3. A first through hole 43 is formed in the center of the first fixing ring body 42. The first through hole 43 is concentrically fitted around the outer periphery of the connecting plate 55, but this is not a limitation.
[0065] In a preferred embodiment, the connecting plate 55 and the second limiting block 51 are respectively disposed on opposite sides of one end of the second fixing ring body 52. The connecting plate 55, the second limiting block 51, and the second fixing ring body 52 are integrally formed to form a T-shaped distribution, but this is not a limitation.
[0066] In a preferred embodiment, when the side of the second limiting block 51 rotates to make surface contact with the side of the first limiting block 41, it forms a stop for the rotational stroke of the first limiting block 41 against the second limiting block 51, but is not limited thereto.
[0067] In a preferred embodiment, the first fixing ring 4 is provided with a plurality of first screw holes 44 along the circumference, and the first screw holes 44 are respectively screwed to the outer shell of the body 3, but not limited thereto.
[0068] In a preferred embodiment, the first motor 61 drives the robotic arm 2 to rotate based on a horizontal axis parallel to the forward direction of the amphibious wheeled robotic dog, but this is not a limitation.
[0069] In a preferred embodiment, a second motor 62 is also included, which is disposed on the first side of the second fixed ring body 52. The second motor 62 drives the robotic arm 2 to rotate in the direction of the axis of the second fixed ring body 52, but is not limited thereto.
[0070] In a preferred embodiment, a third motor 63 is also included, which is disposed on the second side of the second fixed ring body 52. The third motor 63 drives the linkage 64 (due to the obstruction of the outer shell of the robotic arm 2, only the outline of the position of the driving linkage 64 in the robotic arm 2 is shown) to drive the lower limb segment of the robotic arm 2 to rotate based on the upper limb segment, but is not limited thereto.
[0071] The specific implementation of this utility model is as follows:
[0072] like Figures 2 to 10As shown, the amphibious wheeled mechanical dog of this invention has a battery pack, four first motors 61, and a control system inside its body 3. The first motors 61 are located at both ends of the front and rear interior of the body 3. First fixing rings 4 with first limiting blocks 41 are respectively connected to both ends of the front and rear of the outer shell of the body 3. Each second fixing ring 5 includes a second fixing ring body 52, a second limiting block 51, and a connecting plate 55. The connecting plate 55 is located at both ends of the front and rear of the body 3, and is connected to the output shaft of the first motor 61 to rotate coaxially with the first motor 61 based on the center of the first fixing ring 4. The upper limb segment of each mechanical arm 2 is connected to the second fixing ring body 52, and the lower limb segment of the mechanical arm 2 is connected to an amphibious posture self-switching power system 1. When the mechanical arm 2 rotates to a horizontal state with the second fixing ring 5, the first limiting block 41 of the corresponding first fixing ring 4 prevents the second limiting block 51 of the second fixing ring 5 from continuing to rotate. The first fixing ring 4 includes a first fixing ring body 42 and at least one first limiting block 41 disposed on the first fixing ring body 42. The first fixing ring body 42 is sleeved around the outer periphery of the connecting plate 55, and the first limiting block 41 is disposed on the side of the first fixing ring body 42 opposite to the body 3. The first limiting block 41 protrudes from the first fixing ring 4 and extends into the stroke of the second limiting block 51 during the rotation of the second fixing ring body 52. The first fixing ring body 42 and the corresponding connecting plate 55 are both located on the same plane on the front or rear side of the body 3. A first through hole 43 is formed in the center of the first fixing ring body 42, and the first through hole 43 is concentrically sleeved around the outer periphery of the connecting plate 55. The connecting plate 55 and the second limiting block 51 are respectively disposed opposite to each other on both sides of one end of the second fixing ring body 52. The connecting plate 55, the second limiting block 51, and the second fixing ring body 52 are integrally formed and together form a T-shaped distribution. When the side of the second limiting block 51 rotates to make surface contact with the side of the first limiting block 41, it forms a stop for the rotational stroke of the first limiting block 41 against the second limiting block 51. The first fixing ring 4 is provided with a plurality of first screw holes 44 along the ring, and the first screw holes 44 are respectively screwed to the outer shell of the body 3. The first motor 61 drives the robotic arm 2 to rotate based on a horizontal rotating shaft parallel to the forward direction of the amphibious wheeled robotic dog. The second motor 62 is disposed on the first side of the second fixing ring body 52, and the second motor 62 drives the robotic arm 2 to rotate based on the axis of the second fixing ring body 52. The third motor 63 is disposed on the second side of the second fixing ring body 52, and the third motor 63 drives the linkage to drive the lower limb segment of the robotic arm 2 to rotate based on the upper limb segment.
[0073] The main structure of this amphibious wheeled robotic dog is that a motor is added to the end of the feet of the quadrupedal robotic dog, and an amphibious attitude self-switching power system 1 (i.e., a rotor and wheel hub integrated assembly) is installed on the motor. When the robotic dog is standing, it is in land mode (see reference). Figure 5The robot dog can move by walking, or by controlling the low-speed rotation of motors at the ends of its feet to drive the rotation of its wheels, or by a combination of walking and wheel rotation. When the robot dog lies down and extends its limbs to a horizontal position via motors in its shoulder and hip joints, it enters flight mode (see reference). Figure 8 The high-speed rotation of the motors at the ends of the feet drives the rotors to rotate, providing lift and enabling the quadruped robot dog to fly. At this time, the side of the second limiting block 51 rotates to make surface contact with the side of the first limiting block 41. Since the first limiting block 41 is fixed to the outer shell of the body 3 through the first fixing ring body 42, it can stop the rotation stroke of the second limiting block 51. In this state, even if the lift provided by some propellers is large and pulls the mechanical arm 2 to continue rotating upward, it will be limited by the first limiting block 41 and cannot continue to rotate. This ensures that the lift provided by the four propellers is always vertically upward, ensuring the stability of the flight attitude and effectively improving the accuracy of the flight trajectory of the amphibious robot dog after long-term use (alternating between crawling and flight modes).
[0074] In summary, this utility model provides an amphibious wheeled robotic dog that can accurately limit the movement of a robotic arm in flight, ensuring the horizontal deployment of the robotic arm and improving the stability of the flight posture.
[0075] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the protection scope of the present invention.
Claims
1. An amphibious wheel-legged mechanical dog, characterized in that, include: The body (3) is provided with a battery pack, four first motors (61) and a control system. The first motors (61) are located at both ends of the front interior and both ends of the rear interior of the body (3). Four first fixing rings (4) with first limiting blocks (41) are respectively connected to the two ends of the front side and the two ends of the rear side of the outer shell of the body (3); Four second fixing rings (5), each second fixing ring (5) comprising a second fixing ring body (52), a second limiting block (51), and a connecting plate (55), wherein the connecting plate (55) is disposed at both ends of the front side and both ends of the rear side of the body (3), and the connecting plate (55) is respectively connected to the output shaft of the first motor (61) to rotate coaxially with the first motor (61) based on the center of the first fixing ring (4); and Four robotic arms (2) are provided. The upper limb segments of the robotic arms (2) are respectively connected to the second fixed ring body (52). The lower limb segments of the robotic arms (2) are connected to an amphibious posture self-switching power system (1). When the robotic arm (2) rotates to a horizontal state with the second fixed ring (5), the first limiting block (41) of the corresponding first fixed ring (4) blocks the second limiting block (51) of the second fixed ring (5) from continuing to rotate.
2. The amphibious wheel-legged mechanical dog according to claim 1, characterized in that, The first fixing ring (4) includes a first fixing ring body (42) and at least one first limiting block (41) disposed on the first fixing ring body (42).
3. The amphibious wheel-legged mechanical dog according to claim 2, characterized in that, The first fixing ring body (42) is looped around the outer periphery of the connecting plate (55), and the first limiting block (41) is disposed on the side of the first fixing ring body (42) away from the body part (3). The first limiting block (41) protrudes from the first fixing ring (4) and extends into the stroke of the second limiting block (51) during the rotation of the second fixing ring body (52).
4. The amphibious wheel-legged mechanical dog according to claim 2, characterized in that, The first fixing ring body (42) and the corresponding connecting plate (55) are both located on the same plane on the front or rear side of the body (3). A first through hole (43) is formed in the center of the first fixing ring body (42), and the first through hole (43) is concentrically fitted around the outer periphery of the connecting plate (55).
5. The amphibious wheel-legged mechanical dog according to claim 1, characterized in that, The connecting plate (55) and the second limiting block (51) are respectively disposed on opposite sides of one end of the second fixing ring body (52). The connecting plate (55), the second limiting block (51) and the second fixing ring body (52) are integrally formed and together form a T-shaped distribution.
6. The amphibious wheel-legged mechanical dog according to claim 1, characterized in that, When the side of the second limiting block (51) rotates to make face contact with the side of the first limiting block (41), the first limiting block (41) stops the rotation stroke of the second limiting block (51).
7. The amphibious wheel-legged mechanical dog according to claim 1, characterized in that, The first fixing ring (4) is provided with a plurality of first screw holes (44) along the ring, and the first screw holes (44) are respectively screwed to the outer shell of the body part (3).
8. The amphibious wheel-legged mechanical dog according to claim 1, characterized in that, The first motor (61) drives the robotic arm (2) to rotate based on a horizontal axis parallel to the forward direction of the amphibious wheeled robotic dog.
9. The amphibious wheel-legged mechanical dog according to claim 8, characterized in that, It also includes a second motor (62) disposed on the first side of the second fixed ring body (52), the second motor (62) driving the robotic arm (2) to rotate in a direction based on the axis of the second fixed ring body (52).
10. The amphibious wheel-legged mechanical dog according to claim 9, characterized in that, It also includes a third motor (63), which is located on the second side of the second fixed ring body (52). The third motor (63) drives the linkage (64) to drive the lower limb segment of the robotic arm (2) to rotate based on the upper limb segment.