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 easily changed by factors such as 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 the second support is connected to the display unit. Both the first and second supports are fixed with teeth. The locking component includes a locking gear and 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 gear simultaneously engages with both teeth to lock the first and second supports. In the unlocked position, the locking component releases the locking of the first and second supports.

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

[0009] The adjustment component of this invention has a first bracket and a second bracket hinged to its two ends respectively. The first bracket drives the main body of the support to rotate relative to the body, and the second bracket drives the display unit to rotate relative to the main body of the support. The locking component includes a locking gear, and teeth are fixed on both the first and second brackets. The locking component has a locked position and an unlocked position. When the adjustment component drives the locking component to the locked position, the locking gear simultaneously engages with the teeth of both the first and second brackets, thereby fixing the teeth of the first and second brackets. By fixing the teeth, the first and second brackets are locked, thus restricting the rotation of the first and second brackets relative to the main body of the support, so that... The display unit can be fixed relative to the torso, preventing the angle of the display unit from changing arbitrarily. This allows the user to observe the content displayed on the display unit in a more comfortable posture, thus improving the user experience. In addition, by locking two teeth simultaneously with a locking gear, the distance between the first and second supports can be effectively reduced, thereby reducing the length of the support body. This effectively reduces the torque generated by the weight of the display unit and the support body on the first support, further reducing the possibility of the display unit rotating arbitrarily relative to the torso and improving the positioning stability of the display unit and the torso. At the same time, it also simplifies the structure of the locking component, helping to reduce the size and weight of the connecting unit.

[0010] Preferably, the locking assembly further includes a base for positioning the locking gear, and a slide rail is provided inside the bracket body. The slide rail slides with the base to restrict the rotation of the base, and the adjusting component drives the base to slide. Using the aforementioned technical solution, the slide rail, in cooperation with the base, can effectively restrict the rotation of the base, thereby positioning the locking gear, reducing the possibility of the locking gear rotating, and enabling the locking gear to effectively lock the first bracket and the second bracket.

[0011] Preferably, the locking assembly further includes a bidirectional damper, one end of which is fixed to the base and the other end is connected to the locking gear to increase the resistance to the rotation of the locking gear relative to the base. Using the aforementioned technical solution, the bidirectional damper increases the resistance to the rotation of the locking gear relative to the base. This resistance overcomes 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 locking gear to effectively lock the first and second brackets. Therefore, the locking assembly prevents 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 is transmitted to the locking gear. If the torque on the locking gear is greater than the resistance of the bidirectional damper, the locking gear 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 second brackets from breaking due to excessive external force, and the bidirectional damper protects the first and second brackets.

[0012] Preferably, the locking gear is rotatably disposed within the bracket body, and the locking gear is engaged with the two teeth. In the locked position, the locking gear forms a concave-convex fit with the bidirectional damper and is locked, thereby locking the first bracket and the second bracket.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] Preferably, the rotating component has a coaxially arranged cone, and the outer peripheral side of the cone forms the first transmission surface. By employing the aforementioned technical solution, it can be ensured that during the rotation of the rotating component, the first transmission surface remains in contact with the first inclined surface. Simultaneously, as the rotating component is screwed in, the first transmission surface acts on the first inclined surface, thereby pushing the transmission component away from the rotating component, allowing it to slide towards the base. As the rotating component is screwed out, the first transmission surface gradually disengages from the first inclined surface, while the base and locking gear gradually move away from the locked position under the action of the elastic element. The base, through the second transmission surface and the second inclined surface, pushes the transmission component closer to the rotating component, thereby maintaining the first inclined surface of the transmission component abutting against the first transmission surface of the rotating component.

[0018] Preferably, both the first and second supports are hinged to the support body via a pivot. The support body contains two support columns for the pivot, forming a slide rail between them. The base has abutment portions on both sides, which abut against the support columns to restrict rotation. By employing the aforementioned technical solution, the two ends of the base abut against the two support columns, thereby preventing rotation of the base relative to the support body and ensuring that the locking gear can lock the teeth of the first and second supports. Furthermore, the slide rail formed between the two support columns guides the base to slide along the rail, making the sliding of the base smoother and more fluid.

[0019] Preferably, each tooth has a guide surface on the side facing the locking assembly, and the circumference of the locking gear has a guide surface on the side facing the locking position. Using the aforementioned technical solution, the guide surface can guide the engagement of the locking gear with the teeth of the first and second supports, facilitating engagement between the locking gear and the teeth of the first and second supports, preventing the possibility of jamming, and ensuring that the locking gear can lock the first and second supports.

[0020] This utility model also demonstrates 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.

[0021] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings:

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

[0024] Figure 2 This is a schematic diagram of the connecting unit in the display mechanism of this utility model;

[0025] Figure 3 This is a cross-sectional view of the connecting unit in the display mechanism of this utility model. Figure 1 ;

[0026] Figure 4 This is a schematic diagram of the locking component and the adjusting component in the display mechanism of this utility model;

[0027] Figure 5 This is an exploded view of the locking component and the adjusting component in the display mechanism of this utility model;

[0028] Figure 6 This is a cross-sectional view of the connecting unit in the display mechanism of this utility model. Figure 2 ;

[0029] Figure 7 This is a partial schematic diagram of the interior of the support body in the display mechanism of this utility model;

[0030] Figure 8 This is a schematic diagram of the locking component in the display mechanism of this utility model;

[0031] Figure 9 This is a schematic diagram of the structure of the quadruped robot of this utility model.

[0032] Reference numerals: 1. Display unit; 2. Connecting unit; 21. Support body; 211. Support column; 212. Positioning groove; 213. Guide groove; 22. First support; 221. First hinge; 222. Tooth; 223. Guide surface; 23. Second support; 231. Second hinge; 24. Locking assembly; 241. Locking gear; 242. Base; 243. Bidirectional damper; 244. Elastic element; 245. Abutment; 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

[0033] 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.

[0034] 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.

[0035] 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.

[0036] Example 1:

[0037] like Figures 1 to 8 As shown in the figure, this embodiment demonstrates 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 24, 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 the second support 23 is connected to the display unit 1. Both the first support 22 and the second support 23 are fixed with teeth 222. The locking component 24 includes a locking gear 241 and has a locked position and an unlocked position. The adjustment component 25 drives the locking component 24 to move between the locked position and the unlocked position. In the locked position, the locking gear 241 simultaneously engages with the two teeth 222 to lock the first support 22 and the second support 23. In the unlocked position, the locking component 24 releases the locking of the first support 22 and the second support 23.

[0038] In this embodiment, the adjustment component 25 is hinged to a first bracket 22 and a second bracket 23 at both ends. The first bracket 22 drives the bracket body 21 to rotate relative to the torso 3, and the second bracket 23 drives the display unit 1 to rotate relative to the bracket body 21. The locking component 24 includes a locking gear 241. Teeth 222 are fixed on both the first bracket 22 and the second bracket 23. The locking component 24 has a locked position and an unlocked position. When the adjustment component 25 drives the locking component 24 to the locked position, the locking gear 241 simultaneously engages with the teeth 222 of both the first bracket 22 and the second bracket 23, thereby fixing the teeth 222 of the first bracket 22 and the second bracket 23. By fixing the teeth 222, the first bracket 22 and the second bracket 23 are locked, thereby restricting the first bracket 22 and the second bracket 23. The rotation of the two supports 23 relative to the support body 21 allows the display unit 1 to be fixed relative to the torso 3, preventing the angle of the display unit 1 from changing arbitrarily. This allows the user to observe the content displayed on the display unit 1 in a more comfortable posture, thus improving the user experience. In addition, by locking the two teeth 222 simultaneously with a locking gear 241, the distance between the first support 22 and the second support 23 can be effectively reduced, thereby reducing the length of the support body 21. This effectively reduces the torque generated by the weight of the display unit 1 and the support body 21 on the first support 22, further reducing the possibility of the display unit 1 rotating arbitrarily relative to the torso 3 and improving the positioning stability of the display unit 1 and the torso 3. At the same time, it also simplifies the structure of the locking component 24, helping to reduce the size and weight of the connecting unit 2.

[0039] 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 211. After the shells are spliced, the support columns 211 of the two shells are aligned with each other. Fasteners are passed through the opposing support columns 211 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 211. 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.

[0040] like Figure 2 and Figure 3 As shown, in this embodiment, the first hinge portion 221 and the second hinge portion 231 are both provided with teeth 222 on their adjacent sides. The locking gear 241 is located between the first hinge portion 221 and the second hinge portion 231. When the locking assembly 24 is in the locked position, the locking gear 241 simultaneously engages with both teeth 222, thereby locking the first bracket 22 and the second bracket 23. It should be noted that in this embodiment, the teeth 222 are fixedly installed on the first hinge portion 221 and the second hinge portion 231. Of course, it can be understood that in other embodiments, the teeth 222 can also be formed by cutting the first hinge portion 221 and the second hinge portion 231 themselves. In addition, in this embodiment, the teeth 222 are fan-shaped, and the locking gear 241 is a complete circle. Of course, it can be understood that... In other embodiments, the tooth 222 can also be a full circle, and the locking gear 241 can also be two sector gears, which correspond to the tooth 222 of the first hinge portion 221 and the second hinge portion 231 respectively. Secondly, in this embodiment, the tooth 222 is provided with a guide surface 223 on the side facing the locking component 24, and the circumference of the locking gear 241 is provided with a guide surface 223 on the side facing the locking position. The guide surface 223 can guide the locking gear 241 to mesh with the tooth 222 of the first bracket 22 and the second bracket 23, so as to facilitate the meshing of the locking gear 241 with the tooth 222 of the first bracket 22 and the second bracket 23, prevent the possibility of jamming, and ensure that the locking gear 241 can lock the first bracket 22 and the second bracket 23.

[0041] like Figure 6 As shown, in this embodiment, the locking component 24 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 24 reciprocates between the locked position and the unlocked position. In addition, the base 242 can position the locking gear 241, thereby restricting the rotation of the locking gear 241 relative to the base 242. When the locking component 24 is in the locked position, the base 242 positions the locking gear 241. The locking gear 241 simultaneously engages two teeth 222, thereby locking the first bracket 22 and the second bracket 23 to restrict the arbitrary rotation of the first bracket 22 and the second bracket 23.

[0042] like Figure 7As shown, in this embodiment, the slide rail is formed between two support columns 211 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 211 to restrict the rotation of the base 242. Specifically, in this embodiment, the support column 211 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 211 through the circular curved surface. When the abutment portions 245 on both sides of the base 242 abut against the two support columns 211, the base 242 can be restricted from rotating, preventing the base 242 from rotating relative to the bracket body 21, ensuring that the locking gear 241 can lock the teeth 222 of the first bracket 22 and the second bracket 23. Simultaneously, the support column 211 can also slide along the axial direction of the base 242 along the support column 211, making the sliding of the base 242 smoother and allowing the locking assembly 24 to reciprocate between the locked and unlocked positions.

[0043] like Figure 8 As shown, the locking assembly 24 in this embodiment further includes a bidirectional damper 243. One end of the bidirectional damper 243 is fixed to the base 242, and the other end is fixedly connected to the locking gear 241. The bidirectional damper 243 can increase the resistance to the rotation of the locking gear 241 relative to the base 242. This resistance can overcome 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 locking gear 241 to effectively lock the first bracket 22 and the second bracket 23. Therefore, the locking assembly 24 can prevent the angle of the display unit 1 from changing arbitrarily. Changes; when the display unit 1 and the bracket body 21 are subjected to greater external force, the torque generated by the first bracket 22 and the second bracket 23 will be transmitted to the locking gear 241. The torque on the locking gear 241 is greater than the resistance of the bidirectional damper 243, so that the 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.

[0044] It is understandable that in other embodiments, the locking gear 241 may also be directly fixed to the base 242, with the locking gear 241 and the base 242 fixedly engaged to restrict the rotation of the locking gear 241.

[0045] It is understandable that in other embodiments, the locking gear 241 can also be rotatably mounted inside the bracket body 21. The locking gear 241 directly meshes with the teeth 222 of the first bracket 22 and the second bracket 23. The base 242 forms a detachable engagement with the locking gear 241 through the bidirectional damper 243. When the locking assembly 24 is in the unlocked position, the base 242 and the bidirectional damper 243 are separated from the locking gear 241, and the locking gear 241 can 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 assembly 24 is in the unlocked position, the base 242 and the bidirectional damper 243 are separated from the locking gear 241, and the locking gear 241 can rotate freely. When in the locked position, the bidirectional damper 243 and the locking gear 241 form a concave-convex engagement. When the 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 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.

[0046] like Figures 4 to 6As 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 211 and is threadedly connected to the support column 211. 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 211, thereby achieving axial displacement of the rotating member 251. The transmission member 252 is slidably disposed between the rotating member 251 and the base 242, transmitting... The moving part 252 has a first inclined surface 2521 and a second inclined surface 2522 at both ends. The rotating part 251 has 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 part 251 into the sliding of the transmission part 252. The base 242 has a second transmission surface 246 that abuts against the second inclined surface 2522. The transmission part 252 slides toward the base 242 to push the base 242 toward the locking position. In addition, the bracket body 21 has a positioning groove 212 and a locking gear 241. The locking gear 241 is elastically loaded by the elastic element 244, causing it to tend to slide towards the unlocked position. One end of the elastic element 244 is positioned in the positioning groove 212, and the other end is positioned in the locking gear 241. The rotating element 251 and the transmission element 252, through the cooperation of the first transmission surface 2512 and the first inclined surface 2521, can convert the rotation of the rotating element 251 into the sliding of the transmission element 252. The transmission element 252 and the base 242, through the cooperation of the second transmission surface 246 and the second inclined surface 2522, convert the lateral sliding of the transmission element 252 into the sliding of the base 242. The axial movement of the rotating component 251, through 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 211, which can improve the utilization rate of the internal space of the support column 211, eliminating the need to set up additional 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.

[0047] 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 213 for the guide post 2523 to slide. The length direction of the guide groove 213 is parallel to the sliding direction of the transmission component 252. The guide post 2523 is located in the guide groove 213, which can realize the positioning of the transmission component 252. The guide post 2523 slides along the guide groove 213. The cooperation between the guide groove 213 and the guide post 2523 can guide the sliding of the transmission component 252, making the sliding of the transmission component 252 smoother.

[0048] 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 241 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.

[0049] 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 211, 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 241 engages with the two teeth 222. At this time, the elastic element 244 is compressed. When it is necessary to unlock the first bracket 22 and the second bracket 23, the user rotates the adjustment knob 2511, causing the user to gradually rotate the support column 211, so that the user can gradually rotate the support column 211, so that the user can gradually rotate the support column 2512 ... When the 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 211, 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 241, causing the locking gear 241 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 24 slides to the unlocked position.

[0050] 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.

[0051] Example 2:

[0052] like Figure 9 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.

[0053] 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 the second support is connected to the display unit. Both the first support and the second support are fixed with teeth. The locking component includes a locking gear and 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. When in the locked position, the locking gear meshes with both teeth at the same time to lock the first support and 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 and locking gears, and a slide rail is provided inside the bracket body. The slide rail slides with the base to limit the rotation of the base, and the adjustment assembly drives the base to slide.

3. The display mechanism of the quadruped robot according to claim 2, characterized in that, The locking assembly also includes a bidirectional damper, one end of which is fixed to the base and the other end is connected to the locking gear to increase the resistance to the rotation of the locking gear relative to the base.

4. The display mechanism of the quadruped robot according to claim 3, characterized in that, The locking gear is rotatably disposed inside the bracket body, and the locking gear is engaged with the two teeth. When in the locked position, the locking gear and the bidirectional damper form a concave-convex fit and are locked, thereby locking the first bracket and the second bracket.

5. The display mechanism of the quadruped robot according to claim 2, 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.

6. The display mechanism of the quadruped robot according to claim 5, 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.

7. The display mechanism of the quadruped robot according to claim 5, 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.

8. The display mechanism of the quadruped robot according to claim 7, 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.

9. The display mechanism of the quadruped robot according to claim 7, characterized in that, The rotating component has a coaxially arranged cone, and the outer peripheral side of the cone forms the first transmission surface.

10. The display mechanism of the quadruped robot according to claim 2, characterized in that, Both the first and second brackets are hinged to the bracket body via a pivot. The bracket body has two support columns for the pivot to pass through, and the slide rail is formed between the two support columns. The base has abutment parts on both sides, which abut against the support columns to restrict the rotation of the base.

11. The display mechanism of the quadruped robot according to claim 1, characterized in that, The teeth are provided with guide surfaces on the side facing the locking assembly, and the circumference of the locking gear is provided with guide surfaces on the side facing the locking position.

12. 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 11.

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