A dog-shaped robot

Abstract

This utility model discloses a dog-shaped transport robot, including a robot body and a support leg mechanism at the bottom of the robot body. The support leg mechanism includes legs installed at the bottom of the robot body, with a docking block fixedly installed at the bottom of the leg. A docking seat is installed below the docking block, and a connecting seat is fixedly installed at the bottom of the docking seat. A force-bearing foot and its mounting structure are installed on the connecting seat. The force-bearing foot and its mounting structure include a docking stud inserted inside the connecting seat, and a foot sleeve provided on the outside of the docking stud. The docking stud passes through the foot sleeve and is screwed and fixed with a docking nut. This dog-shaped transport robot enables rapid replacement of the force-bearing parts; it avoids the situation where the foot soles wear down to a certain extent, which directly leads to a decline in its function. By timely replacement of severely worn force-bearing feet and their mounting structures, the robot body can achieve stable walking operation.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a dog-shaped robot for carrying materials. Background Technology

[0002] With social development and the improvement of people's living standards, the robotics industry has developed rapidly, resulting in a wide variety of robots. Among them are multi-legged robots capable of walking on mountain roads and rugged terrain, with jumping and rolling functions. Quadruped robots (also known as robot dogs) walk on four driven legs, allowing them to move quickly on flat ground as well as on complex terrains such as mountain roads, depressions, stairs, and gravel roads. Therefore, they can work continuously 24 hours a day in scenarios such as mountain patrols, geological disaster relief, and search and rescue, replacing human labor. Currently, many quadruped robots carry functional devices on their backs, such as cameras, robotic arms, and spotlights, allowing these devices to move according to engineers' instructions. However, when replacing or installing functional devices on traditional quadruped robots, the entire robot shell needs to be removed, and the power and information interfaces of the functional devices need to be connected to the robot's internal circuitry. This is undoubtedly very cumbersome to install, and if different functional devices need to be replaced, it will lead to repeated disassembly and reassembly of the quadruped robot, which is time-consuming and laborious.

[0003] To address the aforementioned issues, a search revealed Chinese patent CN116133303A, which discloses a quadruped robot with quickly detachable and assembleable functional devices. The patent includes an outer shell with a torso connected to its bottom, a mating assembly for quickly connecting the functional devices, and a button assembly for engaging the mating assembly. The mating assembly includes a flip cover and a closure, the closure retracting to automatically open the flip cover.

[0004] While the aforementioned device improves overall installation and matching efficiency and makes installation and matching more convenient, allowing operators to directly match the chip in the quadruped robot's internal body using the exposed internal space through the open flip cover, in actual use, the bottom of the quadruped robot's feet is a stress-prone and wear-prone structure, and its stress-bearing parts cannot be quickly replaced. As the part that directly contacts the ground, the bottom of the feet bears the entire weight of the robot and must withstand repeated friction, impact, and torque during walking, running, and jumping, making it a high-wear part. If it is not easy to disassemble and replace, when the bottom of the feet wears down to a certain extent, it will directly lead to a decline in its function. The robot is also prone to slipping when walking on smooth or sloping ground, resulting in gait instability and falls. Utility Model Content

[0005] The purpose of this invention is to provide a dog-shaped robot for carrying goods, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, a dog-shaped transport robot is provided, comprising a transport robot body, a support leg mechanism at the bottom of the transport robot body, the support leg mechanism including legs installed at the bottom of the transport robot body, a docking block fixedly installed at the bottom of the legs, a docking seat installed below the docking block, a connecting seat fixedly installed at the bottom of the docking seat, a force-bearing foot and its mounting structure installed on the connecting seat, the force-bearing foot and its mounting structure including a docking stud inserted inside the connecting seat, a foot sleeve provided on the outside of the docking stud, the docking stud passing through the foot sleeve and being screwed and fixed with a docking nut, and a plug B covering the outside of the docking nut.

[0007] Furthermore, the support leg mechanism also includes a receiving hole, which is opened inside the mating seat. The size of the receiving hole is adapted to the mating block, and the mating block is inserted into the receiving hole and fixed by bolts.

[0008] Furthermore, a positioning seat is installed on the side wall of the docking block, and a positioning rail is provided on the inner wall of the docking seat. The positioning seat is inserted into the inside of the positioning rail, and the cross-section of the positioning rail and the positioning seat is dovetail-shaped.

[0009] Furthermore, the load-bearing foot and its mounting structure also include a plug A, a locking nut, a locking stud, a positioning block, and a friction sleeve. A locking stud is fixedly installed at the end of the mating stud. The locking stud passes through the through hole opened at the bottom of the connecting seat and is screwed and fixed to the locking nut. The outer side of the locking nut is covered by a plug A.

[0010] Furthermore, three sets of positioning grooves are equidistantly provided on the outer ring surface of the foot sleeve, and three sets of positioning blocks are fixedly connected equidistantly on the inner ring surface of the friction sleeve. The dimensions of the positioning blocks and the positioning grooves are compatible, and the positioning blocks are inserted into the interior of the positioning grooves. Both the positioning blocks and the positioning grooves are trapezoidal.

[0011] Furthermore, the friction sleeve is a cylindrical structure made of rubber. The friction sleeve is positioned and installed on the outside of the foot tube through three sets of positioning blocks and positioning grooves.

[0012] Furthermore, multiple sets of friction strips are equidistantly arranged on the outer circumference of the friction sleeve, and the friction strips are serrated.

[0013] Furthermore, the positioning block has a screw hole, and the bottom of the positioning groove has a through hole. A long bolt passes through the through hole and is screwed and fixed inside the screw hole.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. This solution uses docking blocks and docking seats to position and install the load-bearing feet and their mounting structure with the legs. The load-bearing feet and their mounting structure can be disassembled, facilitating the inspection and replacement of parts. This enables rapid replacement of load-bearing components and avoids the situation where the foot soles wear down to a certain extent, which would directly lead to a decline in function. By promptly replacing severely worn load-bearing feet and their mounting structures, the robot body can achieve stable walking operations.

[0016] 2. This solution ensures the stability of the handling robot during movement by using rubber friction sleeves in the load-bearing feet and their mounting structure to make contact with the ground. The cylindrical friction sleeves fit over the outside of the foot cylinders and are positioned using positioning blocks and slots, facilitating the installation of new friction sleeves or the replacement of worn ones. This effectively prevents the robot from slipping, strongly guarantees its movement stability, and greatly reduces the risk of movement deviation or even tipping over due to poor ground conditions.

[0017] 3. This solution uses a cylindrical friction sleeve with three surfaces, each of which can be used independently. The friction strips are serrated, which creates more contact points compared to a smooth surface. When the robot moves, these serrations can embed into tiny gaps in the ground or form a stronger mechanical engagement with the ground, effectively improving anti-slip performance. Especially when there are water stains, oil stains, or slight unevenness on the ground, it can reduce slippage and further ensure the stability of the robot's movement. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a dog-shaped robot for carrying things.

[0019] Figure 2 This is a front view schematic diagram of the structure of this utility model;

[0020] Figure 3 This is a bottom view of the structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the assembly and installation of the structure of this utility model;

[0022] Figure 5 for Figure 2 Top view;

[0023] Figure 6 Exploded view of the load-bearing foot and its mounting structure;

[0024] Figure 7 for Figure 6 Rear view;

[0025] Figure 8 for Figure 2Cross-sectional view.

[0026] The diagram is labeled as follows: 100, robot body; 200, support leg mechanism; 21, leg; 22, docking block; 23, docking seat; 24, receiving hole; 25, connecting seat; 26, load-bearing leg and its mounting structure; 261, plug A; 262, locking nut; 263, locking stud; 264, docking stud; 265, positioning block; 266, friction sleeve; 267, foot sleeve; 2671, positioning groove; 268, docking nut; 269, plug B. Detailed Implementation

[0027] Please see Figure 1-8 This utility model provides a dog-shaped transport robot, including a transport robot body 100. A support foot mechanism 200 is provided at the bottom of the transport robot body 100. The support foot mechanism 200 includes legs 21 installed at the bottom of the transport robot body 100. A docking block 22 is fixedly provided at the bottom of the legs 21. A docking seat 23 is installed below the docking block 22. A connecting seat 25 is fixedly provided at the bottom of the docking seat 23. A force-bearing foot and its mounting structure 26 are installed on the connecting seat 25. The force-bearing foot and its mounting structure 26 include a docking stud 264 inserted inside the connecting seat 25. A foot cylinder 267 is provided on the outside of the docking stud 264. The docking stud 264 passes through the foot cylinder 267 and is screwed and fixed to the docking nut 268. A plug B269 is covered on the outside of the docking nut 268.

[0028] Working principle: In actual use, the overall weight of the handling robot body 100 is supported and fixed by the bottom support foot mechanism 200. The support foot mechanism 200 and its mounting structure 26 are the main load-bearing structures. The support foot and its mounting structure 26 are positioned and installed with the leg 21 through the docking block 22 and docking seat 23. The support foot and its mounting structure 26 can be disassembled to facilitate the inspection and replacement of parts. This enables the quick replacement of the load-bearing parts and avoids the situation where the bottom of the foot wears down to a certain extent, which will directly lead to a decline in its function. By replacing the severely worn support foot and its mounting structure 26 in a timely manner, the handling robot body 100 can walk stably.

[0029] In a preferred embodiment, the support foot mechanism 200 also includes a receiving hole 24, which is opened inside the docking seat 23. The size of the receiving hole 24 is adapted to that of the docking block 22, and the docking block 22 is inserted into the receiving hole 24 and fixed by bolts.

[0030] A positioning seat is installed on the side wall of the docking block 22, and a positioning rail is provided on the inner wall of the docking seat 23. The positioning seat is inserted into the inside of the positioning rail, and the cross-section of the positioning rail and the positioning seat is dovetail-shaped.

[0031] The load-bearing foot and its mounting structure 26 also include a plug A261, a locking nut 262, a locking stud 263, a positioning block 265, and a friction sleeve 266. The locking stud 263 is fixedly installed at the end of the mating stud 264. The locking stud 263 passes through the through hole opened at the bottom of the connecting seat 25 and is screwed and fixed to the locking nut 262. The plug A261 covers the outside of the locking nut 262.

[0032] like Figure 2-5 As shown: The load-bearing foot and its mounting structure 26 can be disassembled. When the load-bearing foot and its mounting structure 26 are worn or damaged, they can be directly disassembled and replaced individually without the need to treat other parts of the support foot mechanism 200, such as the legs 21, docking blocks 22, and docking seats 23 as a whole. This greatly reduces maintenance costs and replacement difficulty, reduces downtime of the handling robot body 100 due to maintenance, and improves the efficiency of equipment use. Secondly, the detachable design allows for flexible replacement of load-bearing feet and their mounting structures of different specifications, materials, or structures according to different working environments and load-bearing requirements. Structure 26 enables the handling robot body 100 to better adapt to various complex working conditions, enhancing the equipment's versatility and adaptability. In addition, when cleaning, maintaining, or inspecting the support leg mechanism 200, disassembling the load-bearing leg and its mounting structure 26 makes the operation more convenient, facilitating thorough cleaning of dust and debris in the gaps between components. It also allows for a clearer inspection of the connection status between the docking block 22 and the docking seat 23, as well as the integrity of components such as the legs 21. This helps to promptly identify and address potential problems, extending the service life of the entire support leg mechanism 200 and even the handling robot body 100.

[0033] Furthermore, three sets of positioning grooves 2671 are equidistantly provided on the outer ring surface of the foot sleeve 267, and three sets of positioning blocks 265 are equidistantly fixedly connected on the inner ring surface of the friction sleeve 266. The dimensions of the positioning blocks 265 and the positioning grooves 2671 are compatible, and the positioning blocks 265 are inserted into the interior of the positioning grooves 2671. Both the positioning blocks 265 and the positioning grooves 2671 are trapezoidal.

[0034] As a preferred embodiment, the friction sleeve 266 is a cylindrical structure made of rubber. The friction sleeve 266 is positioned and installed on the outside of the foot sleeve 267 through three sets of positioning blocks 265 and positioning grooves 2671.

[0035] Multiple sets of friction strips are equidistantly arranged on the outer circumference of the friction sleeve 266, and the friction strips are serrated.

[0036] The positioning block 265 has a screw hole, and the bottom of the positioning groove 2671 has a through hole. A long bolt passes through the through hole and is screwed and fixed inside the screw hole.

[0037] like Figure 3-8 As shown: The support feet and their mounting structure 26 mainly contact the ground through rubber friction sleeves 266, ensuring the stability of the transport robot body 100 during movement. The friction sleeves 266 are cylindrical, fitted onto the outside of the foot cylinder 267, and positioned using positioning blocks 265 and positioning grooves 2671. This facilitates the installation of new friction sleeves 266 or the replacement of worn friction sleeves 266. The support feet and their mounting structure 26 of the transport robot body 100 use rubber friction sleeves 266 to contact the ground. Rubber has a high coefficient of friction, significantly increasing the friction between the transport robot body 100 and the ground during movement. Similar to how rubber bushings on a car chassis provide good grip, this effectively prevents the robot from slipping, ensuring its stability and greatly reducing the risk of movement deviation or even tipping due to poor ground conditions. The friction sleeves 266 are cylindrical, fitted onto the outside of the foot cylinder 267; this structure is similar to a straight... The columnar precision bushing not only reduces friction and wear to a certain extent, extending the service life of components, but also, due to its regular shape, ensures a more uniform pressure distribution when in contact with the ground, avoiding excessive local pressure that could cause ground damage or uneven wear. Positioning and installation are achieved using positioning blocks 265 and positioning slots 2671, similar to how positioning components and connecting slots in a steel truss beam enhance stability. When installing a new friction sleeve 266, positioning can be completed quickly and accurately, greatly improving installation efficiency. Furthermore, when the friction sleeve 266 is severely worn due to long-term use, it can be easily disassembled and replaced without complex tools or professional skills—as simple as replacing a suitcase wheel rubber sleeve. This effectively reduces robot downtime caused by component replacement, ensuring efficient and continuous handling operations, reducing maintenance costs, and allowing for flexible selection of different specifications and performance levels of the friction sleeve 266 based on environmental factors such as ground material and humidity under different working conditions, enhancing the adaptability of the handling robot 100 to complex working scenarios.

[0038] The friction sleeve 266 is cylindrical with three surfaces, each usable individually. By changing the positioning slots 2671 at different positions where the positioning block 265 is inserted, the friction positions on the outer ring surface of the friction sleeve 266 can be used alternately, improving its service life. Simultaneously, multiple sets of serrated friction strips are evenly spaced on the outer circumference of the friction sleeve 266. These serrated strips create more contact points compared to a smooth surface. When the robot body 100 moves, these serrations can embed into tiny gaps in the ground or form a stronger mechanical engagement with the ground, effectively enhancing protection. The improved slip resistance, especially on surfaces with water stains, oil, or slight unevenness, reduces slippage and further ensures the stability of the robot's movement. Simultaneously, the multiple equidistantly distributed designs allow for uniform distribution of friction force along the circumference of the friction sleeve 266, preventing uneven wear due to localized force distribution and extending its service life. Furthermore, the serrated friction strips, upon contact with the ground, can adapt to minor undulations through deformation, enhancing the fit between the load-bearing feet and their mounting structure 26 and the ground. This makes the robot body 100 more stable when carrying heavy loads, reducing the risk of swaying or displacement caused by poor ground contact.

Claims

1. A dog-shaped transport robot, comprising a transport robot body (100), characterized in that: The bottom of the transport robot body (100) is provided with a support foot mechanism (200). The support foot mechanism (200) includes a leg (21) installed at the bottom of the transport robot body (100). A docking block (22) is fixedly provided at the bottom of the leg (21). A docking seat (23) is installed below the docking block (22). A connecting seat (25) is fixedly provided at the bottom of the docking seat (23). A force-bearing foot and its mounting structure (26) are installed on the connecting seat (25). The force-bearing foot and its mounting structure (26) include a docking stud (264) inserted inside the connecting seat (25). A foot tube (267) is provided on the outside of the docking stud (264). The docking stud (264) passes through the foot tube (267) and is screwed and fixed with a docking nut (268). A plug B (269) covers the outside of the docking nut (268).

2. The dog-shaped transport robot according to claim 1, characterized in that: The support foot mechanism (200) also includes a receiving hole (24), which is opened inside the docking seat (23). The size of the receiving hole (24) and the docking block (22) are matched. The docking block (22) is inserted into the receiving hole (24) and fixed by bolts.

3. A dog-shaped transport robot according to claim 2, characterized in that: A positioning seat is installed on the side wall of the docking block (22), and a positioning rail is provided on the inner wall of the docking seat (23). The positioning seat is inserted into the inside of the positioning rail, and the cross-section of the positioning rail and the positioning seat is dovetail-shaped.

4. A dog-shaped transport robot according to claim 1, characterized in that: The force-bearing foot and its mounting structure (26) also include a plug A (261), a locking nut (262), a locking stud (263), a positioning block (265), and a friction sleeve (266). The locking stud (263) is fixedly provided at the end of the mating stud (264). The locking stud (263) passes through the through hole opened at the bottom of the connecting seat (25) and is screwed and fixed to the locking nut (262). The plug A (261) covers the outside of the locking nut (262).

5. A dog-shaped transport robot according to claim 4, characterized in that: The foot sleeve (267) has three sets of positioning grooves (2671) equidistantly opened on the outer ring surface. The friction sleeve (266) has three sets of positioning blocks (265) equidistantly fixedly connected on the inner ring surface. The positioning blocks (265) and the positioning grooves (2671) are matched in size. The positioning blocks (265) are inserted into the inside of the positioning grooves (2671). Both the positioning blocks (265) and the positioning grooves (2671) are trapezoidal.

6. A dog-shaped transport robot according to claim 5, characterized in that: The friction sleeve (266) is a cylindrical structure made of rubber. The friction sleeve (266) is positioned and installed on the outside of the foot tube (267) through three sets of positioning blocks (265) and positioning grooves (2671).

7. A dog-shaped transport robot according to claim 6, characterized in that: Multiple sets of friction strips are equidistantly arranged on the outer circumferential wall of the friction sleeve (266), and the friction strips are serrated.

8. A dog-shaped transport robot according to claim 5, characterized in that: The positioning block (265) has a screw hole, and the bottom of the positioning groove (2671) has a through hole. A long bolt passes through the through hole and is screwed and fixed inside the screw hole.

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