Display mechanism of quadruped robot and quadruped robot

Abstract

The utility model discloses four -legged robot's display mechanism and four -legged robot belong to four -legged robot field, have solved the problem that display unit is easy to appear angle change with four -legged robot's movement and vibration etc.

Description

Technical Field

[0001] This utility model demonstrates a display mechanism for a quadruped robot and a quadruped robot, belonging to the field of quadruped robot technology. Background Technology

[0002] Quadruped robots are biomimetic robots inspired by the movement of an animal's limbs. They typically consist of four legs, each equipped with at least one motor and sensor, allowing the robot to sense its surroundings and move. They are usually designed to move across a variety of terrains and environments, including flat ground, uneven terrain, stairs, narrow spaces, and hazardous environments. They can also be used to explore unknown areas, perform dangerous tasks, and conduct rescue operations.

[0003] To facilitate the display of status information, interactive information, and other information required by users, quadruped robots are usually equipped with a display mechanism. The display mechanism includes a display unit and a connection unit. One end of the connection unit is connected to the display unit, and the other end is connected to the torso of the quadruped robot. At the same time, the angle of the display unit can be adjusted through the connection unit to adapt to different user needs.

[0004] However, quadruped robots generate vibrations during movement. These vibrations, combined with the weight of the display unit itself, make it difficult to fix the display unit in place. This can lead to changes in the angle of the display unit, making it impossible for users to directly observe the content displayed on the display unit, thus affecting the user experience. Utility Model Content

[0005] The purpose of this invention is to solve the problem that the angle of the display unit is prone to change due to the movement and vibration of the quadruped robot. To this end, a display mechanism for the quadruped robot and the quadruped robot are provided. The locking component can lock the first bracket and the second bracket at the same time to prevent the angle of the display unit from changing arbitrarily.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] The display mechanism of the quadruped robot includes a display unit and a connection unit. The display unit is movably connected to the torso of the quadruped robot through the connection unit. The connection unit includes a support body, a locking component, an adjustment component, and a first support and a second support respectively hinged to both ends of the support body. The first support is connected to the torso and fixed with a first tooth, and the second support is connected to the display unit and fixed with a second tooth. The locking component includes a first locking gear and a second locking gear that are separated from each other. The locking component has a locked position and an unlocked position. The adjustment component drives the locking component to move between the locked position and the unlocked position. In the locked position, the locking component engages with the first tooth through the first locking gear to lock the first support, and engages with the second tooth through the second locking gear to lock the second support. In the unlocked position, the locking component releases the locking of the first support and the second support.

[0008] The beneficial effects of using this utility model are:

[0009] The locking assembly described in this invention includes a first locking gear and a second locking gear. The locking assembly has a locked position and an unlocked position. When the locking assembly is in the locked position, the first locking gear meshes with the first tooth, thereby locking the first bracket and restricting its free rotation. The second locking gear meshes with the second tooth, thereby locking the second bracket and restricting its free rotation. The locking assembly restricts the rotation of the first and second brackets relative to the bracket body, allowing the display unit to be fixed relative to the frame, preventing arbitrary changes in the angle of the display unit. This allows the user to observe the content displayed on the display unit in a more comfortable posture, thus improving the user experience. Furthermore, the first and second locking gears are separate and do not interfere with each other. When the first or second bracket is subjected to a large external force, only the bracket subjected to the force will be forcibly deflected or even break. The large torque will not be transmitted to the other bracket through the first or second locking gear, preventing damage to the other bracket due to linkage. This avoids the mutual transmission of torque between the two brackets, thus reducing the degree of damage to the connecting unit and helping to lower the maintenance cost of the display mechanism.

[0010] Preferably, the locking assembly further includes a base for positioning the first locking gear and the second locking gear. A slide rail is provided within the bracket body, and the slide rail slidably engages with the base to restrict base rotation. The adjusting component drives the base to slide, thereby causing the first and second locking gears to slide synchronously. Using the aforementioned technical solution, the slide rail engaging with the base effectively restricts base rotation, thus positioning the locking gears and reducing the likelihood of rotation. This allows the locking gears to effectively lock the first and second brackets. Furthermore, since the first and second locking gears are positioned on the same base, during the sliding process driven by the adjusting component, the first and second locking gears move synchronously, simultaneously locking the first and second brackets. This keeps the display unit fixed relative to the body, making the positioning of the display unit simpler and faster.

[0011] Preferably, the locking assembly includes two bases for positioning the first locking gear and the second locking gear, respectively. The connecting unit includes two adjusting components, each driving the two bases to slide. The two bases are located on the same side within the support body; or, the two bases are located on opposite sides within the support body. By employing the aforementioned technical solution, using two bases to position the first locking gear and the second locking gear respectively, the locking and unlocking of the first and second supports can be flexibly controlled. When fine-tuning the angle of the display unit is required, only one support can be unlocked, making the adjustment of the display unit flexible and convenient, thus improving the user experience.

[0012] Preferably, the locking assembly further includes two bidirectional dampers, which are respectively connected to the first locking gear and the second locking gear to increase the resistance to rotation of the first and second locking gears relative to the base. Using the aforementioned technical solution, the bidirectional dampers can increase the resistance to rotation of the first and second locking gears relative to the base. This resistance can overcome the torque generated by the display unit and the bracket body due to their own weight and external factors such as vibration, thereby enabling the first and second locking gears to effectively lock the first and second brackets. Therefore, the locking assembly can prevent the angle of the display unit from changing arbitrarily. When the display unit and the bracket body are subjected to a greater external force, the torque generated by the first and second brackets will be transmitted to their meshing locking gears. When the torque on the locking gears is greater than the resistance of the bidirectional dampers, the locking gears can rotate relative to the base, causing the first and / or second brackets to rotate relative to the bracket body. This prevents the first and / or second brackets from breaking due to excessive external force, and the bidirectional dampers can protect the first and / or second brackets.

[0013] Preferably, the first locking gear and / or the second locking gear are rotatably disposed within the bracket body, and the first locking gear and / or the second locking gear are engaged with their corresponding teeth. In the locked position, the first locking gear and / or the second locking gear form a concave-convex fit with the bidirectional damper and are locked.

[0014] Preferably, the adjustment component includes a rotating component and a transmission component. One end of the rotating component protrudes from the surface of the support body and forms an adjustment knob, while the other end is located inside the support body and is rotatably connected to the support body. The axial direction of the rotating component is parallel to the sliding direction of the base, and the rotation of the rotating component drives the base to slide through the transmission component.

[0015] Preferably, the rotating component is a lead screw, and the transmission component is a nut threaded to the lead screw. The nut is fixed to the base, and the rotation of the lead screw causes the nut to slide axially, thereby moving the base between a locked position and an unlocked position. Using the aforementioned technical solution, the sliding of the base through the cooperation of the lead screw and nut enables rapid adjustment of the base, helping to improve the user's adjustment efficiency.

[0016] Preferably, the rotating component is threadedly connected to the support body, and the locking gear is elastically loaded and tends to slide towards the unlocked position. The transmission component is slidably disposed between the rotating component and the base. The two ends of the transmission component are respectively provided with a first inclined surface and a second inclined surface. The rotating component has a first transmission surface that abuts against the first inclined surface. The first transmission surface cooperates with the first inclined surface to convert the rotation of the rotating component into the sliding of the transmission component. The base has a second transmission surface that abuts against the second inclined surface. The transmission component slides towards the base to push the base towards the locked position. Using the aforementioned technical solution, the rotating component and the transmission component, through the cooperation of the first transmission surface and the first inclined surface, can convert the rotation of the rotating component into the sliding of the transmission component. Furthermore, the transmission component and the base, through the cooperation of the second transmission surface and the second inclined surface, convert the lateral sliding of the transmission component into the axial movement of the base along the rotating component. The transmission component effectively reduces the length of the rotating component and the space it occupies, thereby reducing the length and thickness of the support body and making the structure of the support body more compact and lightweight.

[0017] Preferably, the support body has a groove for the transmission component to slide between the base and the rotating component. The transmission component has a guide post, and the support body has a guide groove for the guide post to slide in. The length direction of the guide groove is parallel to the sliding direction of the transmission component. Using the aforementioned technical solution, the guide post is positioned within the guide groove, which allows for the positioning of the transmission component. The guide post slides along the guide groove, and the cooperation between the guide groove and the guide post guides the sliding of the transmission component, making the sliding of the transmission component smoother and more fluid.

[0018] This utility model also discloses a quadruped robot, including a torso, four leg mechanisms connected to the torso, and a display mechanism movably connected to the front side of the torso, wherein the display mechanism adopts any of the above-described display mechanisms.

[0019] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings:

[0021] Figure 1 This is a schematic diagram of the display mechanism of this utility model;

[0022] Figure 2 This is a cross-sectional view of the connecting unit in the display mechanism of this utility model;

[0023] Figure 3 This is a schematic diagram of the locking component and the adjusting component in the display mechanism of this utility model;

[0024] Figure 4 This is an exploded view of the locking component and the adjusting component in the display mechanism of this utility model;

[0025] Figure 5 This is a schematic diagram of the locking component in the display mechanism of this utility model;

[0026] Figure 6 This is a schematic diagram of the structure of the quadruped robot of this utility model.

[0027] Reference numerals: 1. Display unit; 2. Connecting unit; 21. Support body; 22. First support; 221. First hinge; 222. First tooth; 23. Second support; 231. Second hinge; 232. Second tooth; 240. First locking gear; 241. Second locking gear; 242. Base; 243. Two-way damper; 244. Elastic element; 245. Abutment part; 246. Second transmission surface; 25. Adjustment assembly; 251. Rotating element; 2511. Adjustment knob; 2512. First transmission surface; 252. Transmission element; 2521. First inclined surface; 2522. Second inclined surface; 2523. Guide column; 3. Torso; 4. Leg mechanism. Detailed Implementation

[0028] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0029] 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", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] Example 1:

[0032] like Figures 1 to 5 As shown in the figure, this embodiment illustrates the display mechanism of a quadruped robot, including a display unit 1 and a connection unit 2. The display unit 1 is movably connected to the torso 3 of the quadruped robot through the connection unit 2. The connection unit 2 includes a support body 21, a locking component, an adjustment component 25, and a first support 22 and a second support 23 respectively hinged to both ends of the support body 21. The first support 22 is connected to the torso 3 and fixed with a first tooth 222, and the second support 23 is connected to the display unit 1 and fixed with a second tooth 232. The locking component includes a first locking gear 240 and a second locking gear 241 that are separated from each other. The locking component has a locked position and an unlocked position. The adjustment component 25 drives the locking component to move between the locked position and the unlocked position. In the locked position, the locking component engages with the first tooth 222 through the first locking gear 240 to lock the first support 22, and engages with the second tooth 232 through the second locking gear 241 to lock the second support 23. In the unlocked position, the locking component releases the locking of the first support 22 and the second support 23.

[0033] The locking assembly described in this embodiment includes a first locking gear 240 and a second locking gear 241. The locking assembly has a locked position and an unlocked position. When the locking assembly is in the locked position, the first locking gear 240 engages with the first tooth 222, thereby locking the first bracket 22 to restrict the free rotation of the first bracket 22. The second locking gear 241 engages with the second tooth 232, thereby locking the second bracket 23 to restrict the free rotation of the second bracket 23. The locking assembly restricts the rotation of the first bracket 22 and the second bracket 23 relative to the bracket body 21, so that the display unit 1 can be fixed relative to the body 3, preventing the angle of the display unit 1 from changing arbitrarily, so that the user can observe it in a more comfortable posture. The content displayed on the display unit 1 is thus displayed, which helps to improve the user experience. In addition, the first locking gear 240 and the second locking gear 241 are separated from each other and do not interfere with each other. When the first bracket 22 or the second bracket 23 is subjected to a large external force, only the bracket subjected to the force will be forced to deflect or even break. The large torque will not be transmitted to the other bracket through the first locking gear 240 or the second locking gear 241. This can prevent the other bracket from being damaged due to linkage and avoid the torque on the two brackets being transmitted to each other, which would cause the two brackets to be damaged at the same time. Therefore, the degree of damage to the connecting unit 2 can be reduced, which helps to reduce the maintenance cost of the display mechanism.

[0034] like Figure 1 and Figure 2 As shown, in this embodiment, one end of the first bracket 22 is fixedly connected to the torso 3 of the quadruped robot, and the other end forms a first hinge 221 and is hinged to the bracket body 21. One end of the second bracket 23 is fixed to the rear side of the display unit 1, and the other end forms a second hinge 231 and is hinged to the bracket body 21. The first hinge 221 and the second hinge 231 are both rotatably connected to the bracket body 21 through a pivot. The bracket body 21 includes two shells that can be spliced ​​together. Each shell is provided with two support columns. After the shells are spliced, the support columns of the two shells are aligned with each other. Fasteners are passed through the opposing support columns of the two shells. The fasteners lock the two shells to realize the splicing of the bracket body 21. In addition, a bushing is fitted on the fastener. The bushing is located between the two support columns. The bushing and the fastener cooperate to form the pivot. The first hinge 221 and the second hinge 231 are fitted on the outer periphery of the bushing, thereby realizing the rotatable connection between the first bracket 22 and the second bracket 23 and the bracket body 21.

[0035] like Figure 2As shown, in this embodiment, the first hinge portion 221 is provided with a first tooth 222 on the side near the second hinge portion 231, and the second hinge portion 231 is provided with a second tooth 232 on the side near the first hinge portion 221. The first locking gear 240 is near the first tooth 222, and the second locking gear 241 is near the second tooth 232. When the locking assembly is in the locked position, the first locking gear 240 meshes with the first tooth 222, and the second locking gear 241 meshes with the second tooth 232. The first locking gear 240 and the second locking gear 241 are separated from each other. When the first bracket 22 is subjected to a large external force, the torque will not be transmitted to the second bracket 23 through the first locking gear 240. Similarly, the torque on the second bracket 23 will not be transmitted to the first bracket 22 through the second locking gear 241.

[0036] It should be noted that in this embodiment, the first tooth 222 is fixedly installed on the first hinge portion 221, and the second tooth 232 is fixedly installed on the second hinge portion 231. It is understood that in other embodiments, the first tooth 222 can also be formed by cutting the first hinge portion 221 itself, and similarly, the second tooth 232 can also be formed by cutting the second hinge portion 231 itself. Furthermore, in this embodiment, both the first tooth 222 and the second tooth 232 are fan-shaped, and both the first locking gear 240 and the second locking gear 241 are full circles. It is understood that in other embodiments, the first tooth 222 and the second tooth 232 can also be full circles, and both the first locking gear 240 and the second locking gear 241 are full circles. 241 can also be a sector gear; secondly, in this embodiment, the first tooth 222 and the second tooth 232 are both provided with guide surfaces on the side facing the locking component, and the periphery of the first locking gear 240 and the second locking gear 241 is provided with guide surfaces on the side facing the locking position. The guide surfaces can guide the first locking gear 240 to mesh with the teeth of the first bracket 22, and the second locking gear 241 to mesh with the teeth of the first bracket 22 and the second bracket 23, so as to facilitate the meshing of the first locking gear 240 and the second locking gear 241 with the teeth of the first bracket 22 and the second bracket 23, prevent the possibility of jamming, and ensure that the first locking gear 240 and the second locking gear 241 can lock the first bracket 22 and the second bracket 23.

[0037] In this embodiment, the locking component also includes a base 242. A slide rail is provided inside the bracket body 21. The slide rail slides with the base 242 to restrict the rotation of the base 242. The adjusting component 25 drives the base 242 to slide, so that the locking component reciprocates between the locked position and the unlocked position. In addition, the base 242 can position the first locking gear 240 and the second locking gear 241, thereby restricting the rotation of the first locking gear 240 and the second locking gear 241 relative to the base 242. When the locking component is in the locked position, the base 242 positions the first locking gear 240 and the second locking gear 241. When the first locking gear 240 meshes with the first tooth 222, the first locking gear 240 can lock the first bracket 22 to restrict the free rotation of the first bracket 22. When the second locking tooth meshes with the second tooth 232, the second locking gear 241 can lock the second bracket 23 to restrict the free rotation of the second bracket 23.

[0038] In this embodiment, the slide rail is formed between two support columns within the same housing of the bracket body 21. The base 242 has abutment portions 245 on both sides. The abutment portions 245 abut against the support columns to restrict the rotation of the base 242. Specifically, in this embodiment, the support column is cylindrical in shape, and the abutment portion 245 has a concave circular curved surface. The abutment portion 245 abuts against the outer surface of the support column through the circular curved surface. When the abutment portions 245 on both sides of the base 242 abut against the two support columns, the base 242 can be restricted from rotating, preventing it from rotating relative to the bracket body 21. This ensures that the first locking gear 240 can lock the teeth of the first bracket 22, and the second locking gear 241 can lock the teeth of the second bracket 23. Simultaneously, the support column can slide along the axial direction of the base 242, making the sliding of the base 242 smoother and allowing the locking assembly to reciprocate between the locked and unlocked positions.

[0039] In this embodiment, the locking assembly includes a base 242 with two bidirectional dampers 243 mounted on it. The two bidirectional dampers 243 are fixed to the same base 242 and are respectively used to connect the first locking gear 240 and the second locking gear 241. The bidirectional dampers 243 increase the resistance to rotation of the first locking gear 240 and the second locking gear 241 relative to the base 242. This resistance overcomes the torque generated by the display unit 1 and the bracket body 21 due to their own weight and external factors such as vibration, thereby enabling the first locking gear 240 to effectively lock the first bracket 22 and the second locking gear 241 to effectively lock the second bracket 23. Therefore, the locking assembly can prevent the display unit 1 from rotating. The angle can change at will; when the display unit 1 and the bracket body 21 are subjected to a greater external force, the torque generated by the first bracket 22 will be transmitted to the first locking gear 240, and the torque generated by the second bracket 23 will be transmitted to the locking gear. The torques on the first locking gear 240 and the second locking gear 241 are greater than the resistance of the bidirectional damper 243, so that the first locking gear 240 and the second locking gear 241 can rotate relative to the base 242, so that the first bracket 22 and / or the second bracket 23 can rotate relative to the bracket body 21, preventing the first bracket 22 and the second bracket 23 from breaking due to excessive external force. The bidirectional damper 243 can protect the first bracket 22 and the second bracket 23.

[0040] It is understandable that in other embodiments, the first locking gear 240 and the second locking gear 241 may also be directly fixed to the base 242, with both the first locking gear 240 and the second locking gear 241 fixedly engaged with the base 242 to restrict the rotation of the first locking gear 240 and the second locking gear 241.

[0041] It is understandable that in other embodiments, the first locking gear 240 and the second locking gear 241 can also be rotatably mounted inside the bracket body 21. The first locking gear 240 directly meshes with the first tooth 222, and the second locking gear 241 directly meshes with the second tooth 232. The base 242 forms a detachable engagement with the first locking gear 240 and the second gear 241 through two bidirectional dampers 243 respectively. When the locking assembly is in the unlocked position, the base 242 and the bidirectional dampers 243 move away from the first locking gear 240 and the second locking gear 241, allowing the first locking gear 240 and the second locking gear 241 to rotate freely. At this time, the first bracket 22 and the second bracket 23 can also rotate relative to the bracket body 21 to adjust the angle of the display unit 1. When the locking component is in the locked position, the bidirectional damper 243 forms a concave-convex engagement with the first locking gear 240 and the second locking gear 241. When the first locking gear 240 or the second locking gear 241 rotates, it will drive one end of the bidirectional damper 243 to rotate. The bidirectional damper 243 will increase the resistance when the first locking gear 240 and / or the second locking gear 241 rotates, thereby locking the first bracket 22 and the second bracket 23 and restricting the rotation of the first bracket 22 and the second bracket 23 relative to the bracket body 21. This allows the display unit 1 to be fixed relative to the body 3, preventing the angle of the display unit 1 from changing arbitrarily. This allows the user to observe the content displayed by the display unit 1 in a more comfortable posture, thereby improving the user experience.

[0042] It is understandable that in other embodiments, the first locking gear 240 may be rotatably disposed within the bracket body 21, and the first locking gear 240 and its corresponding bidirectional damper 243 may form a detachable engagement. When the locking component is in the locked position, the bidirectional damper 243 and the first locking gear 240 may form a concave-convex engagement. The second locking gear 241 may be connected to the base 242 through the bidirectional damper 243, and the base 242 may slide within the bracket body 21 to drive the second locking gear 241 to slide synchronously.

[0043] It is understandable that, in other embodiments, the locking assembly may include two bases 242, which are respectively used to connect the first locking gear 240 and the second locking gear 241. The connecting unit 2 includes two adjusting components 25, which respectively drive the two bases 242 to slide. The two bases 242 are located on the same side within the bracket body 21. This structure can reduce the width of the bracket body 21. In other embodiments, the two bases 242 may also be located on opposite sides within the bracket body 21. This structure can reduce the length of the bracket body 21. By using the two bases 242 to position the first locking gear 240 and the second locking gear 241 respectively, the locking and unlocking of the first bracket 22 and the second bracket 23 can be flexibly controlled. When it is necessary to fine-tune the angle of the display unit 1, only one bracket can be unlocked, making the adjustment of the display unit 1 flexible and convenient, which helps to improve the user experience. In addition, in the above embodiments, the two bases 242 may also be connected to the first locking gear 240 or the second locking gear 241 through a bidirectional damper 243, or they may fix the first locking gear 240 or the second locking gear 241.

[0044] like Figures 3 to 5As shown, in this embodiment, the adjustment component 25 includes a rotating member 251 and a transmission member 252. One end of the rotating member 251 extends into one of the support columns and is threadedly connected to the support column. The other end of the rotating member 251 protrudes from the surface of the bracket body 21 and forms an adjustment knob 2511. The user rotates the adjustment knob 2511 to screw the rotating member 251 into or out of the support column, thereby achieving axial displacement of the rotating member 251. In addition, the transmission member 252 is slidably disposed between the rotating member 251 and the base 242. The two ends of the transmission member 252 are respectively provided with a first inclined surface 252. 1. The first inclined surface 2522 and the second inclined surface 2522, the rotating component 251 is provided with a first transmission surface 2512 that abuts against the first inclined surface 2521. The first transmission surface 2512 cooperates with the first inclined surface 2521 to convert the rotation of the rotating component 251 into the sliding of the transmission component 252. The base 242 is provided with a second transmission surface 246 that abuts against the second inclined surface 2522. The transmission component 252 slides towards the base 242 to push the base 242 to slide towards the locking position. In addition, the bracket body 21 is provided with a positioning groove. The first locking gear 240 and the second locking gear 241 are elastically loaded by the elastic element 244, that is, the bracket body 2 The device 1 contains two elastic elements 244, which cause the first locking gear 240 and the second locking gear 241 to tend to slide towards the unlocked position. One end of the elastic element 244 is positioned in the positioning groove, and the other end is positioned in the first locking gear 240 or the second locking gear 241. The rotating member 251 and the transmission member 252 are connected by the cooperation of the first transmission surface 2512 and the first inclined surface 2521, which can convert the rotation of the rotating member 251 into the sliding of the transmission member 252. The transmission member 252 and the base 242 are connected by the cooperation of the second transmission surface 246 and the second inclined surface 2522, which can convert the rotation of the rotating member 251 into the sliding of the transmission member 252. The lateral sliding of component 2 is converted into the axial movement of the base 242 along the rotating component 251. The transmission component 252 can effectively reduce the length of the rotating component 251 and the space occupied by the rotating component 251, thereby reducing the length and thickness of the support body 21 and making the structure of the support body 21 more compact and lightweight. Secondly, the rotating component 251 is threadedly connected to the support column, which can improve the utilization rate of the internal space of the support column. There is no need to set up extra space to assemble the rotating component 251, thereby reducing the space occupied by the rotating component 251 and making the assembly of the internal structure of the support body 21 more compact.

[0045] In addition, the bracket body 21 described in this embodiment is provided with a sliding groove for the transmission component 252 to slide between the base 242 and the rotating component 251. The transmission component 252 is provided with a guide post 2523. The bracket body 21 is provided with a guide groove for the guide post 2523 to slide. The length direction of the guide groove is parallel to the sliding direction of the transmission component 252. The guide post 2523 is located in the guide groove, which can realize the positioning of the transmission component 252. The guide post 2523 slides along the guide groove. The cooperation between the guide groove and the guide post 2523 can guide the sliding of the transmission component 252, making the sliding of the transmission component 252 smoother.

[0046] Secondly, in this embodiment, the rotating member 251 has a coaxially arranged cone, and the outer peripheral side of the cone forms the first transmission surface 2512. This ensures that during the rotation of the rotating member 251, the first transmission surface 2512 can always maintain contact with the first inclined surface 2521. As the rotating member 251 is screwed in, the first transmission surface 2512 acts on the first inclined surface 2521, thereby pushing the transmission member 252 away from the rotating member 251, so that the transmission member 252 slides towards the base 242. As the rotating member 251 is screwed out, the first transmission surface 2512 gradually separates from the first inclined surface 2521, and the base 242 and the locking gear gradually move away from the locking position under the action of the elastic member 244. The base 242 pushes the transmission member 252 closer to the rotating member 251 through the second transmission surface 246 and the second inclined surface 2522, thereby keeping the first inclined surface 2521 of the transmission member 252 in contact with the first transmission surface 2512 of the rotating member 251.

[0047] The adjustment process of the adjustment component 25 is as follows: When it is necessary to lock the first bracket 22 and the second bracket 23, the user rotates the adjustment knob 2511, causing the rotating component 251 to gradually screw into the support column, so that the rotating component 251 extends axially into the bracket body 21. As the rotating component 251 moves axially, the first transmission surface 2512 acts on the first inclined surface 2521, causing the transmission component 252 to move away from the rotating component 251, that is, the transmission component 252 slides towards the base 242. The second inclined surface 2522 of the transmission component 252 acts on the second transmission surface 246 of the base 242, causing the base 242 to slide towards the locking position until the locking gear engages with the two teeth 222. At this time, the elastic element 244 is compressed. When it is necessary to unlock... When the first bracket 22 and the second bracket 23 are in operation, the user rotates the adjustment knob 2511 in the opposite direction, causing the rotating component 251 to gradually rotate out of the support column, so that the rotating component 251 extends axially out of the bracket body 21. As the rotating component 251 moves axially, the first transmission surface 2512 moves away from the first inclined surface 2521, and the transmission component 252 loses the force of the first transmission surface 2512. The elastic force of the elastic component 244 acts on the locking gear, causing the locking gear and the base 242 to slide toward the unlocked position. The base 242 pushes the transmission component 252 toward the rotating component 251 through the second transmission surface 246, so that the first inclined surface 2521 of the transmission component 252 abuts against the first transmission surface 2512 of the rotating component 251, until the locking component slides to the unlocked position.

[0048] It is understandable that in other embodiments, the rotating component 251 can also be a lead screw, and the transmission component 252 is a nut that is threadedly engaged with the lead screw. The nut is fixed to the base 242. The rotation of the lead screw drives the nut to slide axially, thereby driving the base 242 to move between the locked position and the unlocked position. By using the cooperation of the lead screw and the nut to drive the base 242 to slide, the base 242 can be quickly adjusted, which helps to improve the user's adjustment efficiency.

[0049] Example 2:

[0050] like Figure 6 As shown, this embodiment illustrates a quadruped robot, including a torso 3, four leg mechanisms 4 connected to the torso 3, and a display mechanism movably connected to the front of the torso 3. The display mechanism is the same as that described in Embodiment 1.

[0051] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A display mechanism for a quadruped robot, comprising a display unit and a connecting unit, wherein the display unit is movably connected to the torso of the quadruped robot via the connecting unit, characterized in that, The connecting unit includes a support body, a locking component, an adjusting component, and a first support and a second support respectively hinged to both ends of the support body. The first support is connected to the torso and fixed with a first tooth, and the second support is connected to the display unit and fixed with a second tooth. The locking component includes a first locking gear and a second locking gear that are separated from each other. The locking component has a locked position and an unlocked position. The adjusting component drives the locking component to move between the locked position and the unlocked position. In the locked position, the locking component engages with the first tooth through the first locking gear to lock the first support, and engages with the second tooth through the second locking gear to lock the second support. When in the unlocked position, the locking component releases the locking of the first and second brackets.

2. The display mechanism of the quadruped robot according to claim 1, characterized in that, The locking assembly also includes a base for positioning the first locking gear and the second locking gear. The bracket body is provided with a slide rail, which slides with the base to limit the rotation of the base. The adjustment assembly drives the base to slide, thereby driving the first locking gear and the second locking gear to slide synchronously.

3. The display mechanism of the quadruped robot according to claim 1, characterized in that, The locking assembly includes two bases for positioning the first locking gear and the second locking gear, respectively. The connecting unit includes two adjusting components, which drive the two bases to slide. The two bases are located on the same side of the support body; or the two bases are located on opposite sides of the support body.

4. The display mechanism of the quadruped robot according to claim 2 or 3, characterized in that, The locking assembly also includes two bidirectional dampers, which are respectively connected to the first locking gear and the second locking gear to increase the resistance to the rotation of the first locking gear and the second locking gear relative to the base.

5. The display mechanism of the quadruped robot according to claim 4, characterized in that, The first locking gear and / or the second locking gear are rotatably disposed within the bracket body, and the first locking gear and / or the second locking gear are engaged with their corresponding teeth. In the locked position, the first locking gear and / or the second locking gear form a concave-convex fit with the bidirectional damper and are locked.

6. The display mechanism of the quadruped robot according to claim 2 or 3, characterized in that, The adjustment assembly includes a rotating component and a transmission component. One end of the rotating component protrudes from the surface of the support body and forms an adjustment knob, while the other end is located inside the support body and is rotatably connected to the support body. The axial direction of the rotating component is parallel to the sliding direction of the base, and the rotation of the rotating component drives the base to slide through the transmission component.

7. The display mechanism of the quadruped robot according to claim 6, characterized in that, The rotating component is a lead screw, and the transmission component is a nut that is threaded with the lead screw. The nut is fixed to the base. The rotation of the lead screw causes the nut to slide axially, thereby moving the base between the locked position and the unlocked position.

8. The display mechanism of the quadruped robot according to claim 6, characterized in that, The rotating component is threadedly connected to the main body of the bracket. The locking gear is elastically loaded and tends to slide towards the unlocked position. The transmission component is slidably disposed between the rotating component and the base. The two ends of the transmission component are respectively provided with a first inclined surface and a second inclined surface. The rotating component is provided with a first transmission surface that abuts against the first inclined surface. The first transmission surface cooperates with the first inclined surface to convert the rotation of the rotating component into the sliding of the transmission component. The base is provided with a second transmission surface that abuts against the second inclined surface. The transmission component slides towards the base to push the base to slide towards the locked position.

9. The display mechanism of the quadruped robot according to claim 8, characterized in that, The main body of the bracket is provided with a sliding groove for the transmission component to slide between the base and the rotating component. The transmission component is provided with a guide post, and the main body of the bracket is provided with a guide groove for the guide post to slide. The length direction of the guide groove is parallel to the sliding direction of the transmission component.

10. A quadruped robot, comprising a torso, four leg mechanisms connected to the torso, and a display mechanism movably connected to the front side of the torso, characterized in that, The display mechanism is the display mechanism as described in any one of claims 1 to 9.

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