Mechanical dog supporting device and mechanical dog

Abstract

The utility model provides a kind of mechanical dog supporting device and mechanical dog, belong to robot technical field, wherein mechanical dog supporting device includes telescopic sleeve, telescopic drive part, rotary drive part and guide structure;Telescopic sleeve includes multiple sequentially sleeved cylinder, and the sliding fit of adjacent two cylinder;Telescopic drive part is located on the inner chamber of telescopic sleeve Middle axis and is longitudinally fixed on the abdomen shell of mechanical dog;Rotary drive part is located at the free end of telescopic drive part, and rotary drive part has the freedom of horizontal rotation and rotary drive part can switch connection one or more cylinder;Guide structure is located between adjacent two cylinder.The utility model provides the mechanical dog supporting device of guide structure, the movement trajectory of cylinder is limited and the stability of cylinder in moving process is improved;Telescopic drive part is used to cooperate rotary drive part to drive cylinder cooperatively, form spiral rotating track, reach the stability of overall structure and the purpose of anti-offset ability.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, and more specifically, it relates to a mechanical dog support device and a mechanical dog. Background Technology

[0002] Caregiver robots have entered the public eye. Most existing caregiver robots are used to accompany the elderly and monitor their safety, but they lack a structure for the elderly to rest. For example, some elderly people need to sit down and rest when they take a walk outdoors, but existing robots only rely on four movable legs for support. Their support is weak and insufficient to support the weight of an adult, and their stability is poor, posing a risk of tilting and falling. Utility Model Content

[0003] The purpose of this utility model is to provide a mechanical dog support device and a mechanical dog, which aims to solve the problems of insufficient support strength and poor support stability of the mechanical dog.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A mechanical dog support device is provided, connected to the lower end of the mechanical dog's abdomen, to assist the mechanical dog's four movable legs in supporting itself on the ground. The mechanical dog support device includes: Telescopic sleeve, the telescopic sleeve includes multiple sleeves arranged in sequence, the outermost sleeve is longitudinally installed on the abdominal shell of the mechanical dog, and two adjacent sleeves slide together. A telescopic drive component is located on the central axis of the inner cavity of the telescopic sleeve and is longitudinally fixed to the abdominal shell of the mechanical dog. The free end of the telescopic drive component extends downward and is telescopic along the length direction. A rotary drive unit, located at the free end of the telescopic drive unit, the rotary drive unit having a degree of freedom of horizontal rotation and being switchably connected to one or more of the cylinders; A guide structure is provided between two adjacent cylinders. The guide structure includes a spiral guide track formed on the outer / inner wall of one of the cylinders and a limiting member protruding from the inner / outer wall of the other cylinder. The limiting member is embedded in the guide track and slides along the guide track.

[0005] In another embodiment of this application, the rotary drive includes: A rotary motor, which is fixedly connected to the free end of the telescopic drive component; A rotating shaft is connected to the output end of the rotary motor and extends downward. The rotating shaft rotates horizontally under the drive of the rotary motor. The rotating shaft has a helical drive structure between itself and the innermost cylinder. A connecting part is located on the upper part of the rotating shaft and extends radially through the rotating shaft to the outer side. The connecting part has a degree of freedom along its length direction. The connecting part is used to switch between connecting multiple cylinders or retract to the innermost cylinder.

[0006] In another embodiment of this application, the connecting portion includes: An extension rod, located at the free end of the connecting portion, is telescopically configurable. The upper part of the cylinder has a connecting hole, which is used to engage with the extension rod.

[0007] As another embodiment of this application, the extension rod has multiple extension rods, and the multiple extension rods are arranged at equal included angles in the circumferential direction of the rotation axis.

[0008] In another embodiment of this application, both ends of the guide structure have snap-fit ​​components, the snap-fit ​​components including: A stop bar is slidably disposed on one side of the guide rail along the longitudinal direction and spaced apart from the closed end face of the guide rail. The free end of the stop bar extends into the groove of the guide rail. The stop bar has a longitudinal degree of freedom and is used to abut and clamp the limiting member.

[0009] In another embodiment of this application, the snap-fit ​​component further includes: A limiting hole is provided on one side wall of the guide rail, and one end of the stop rod extends into the limiting hole and slides along the depth direction of the limiting hole; A stop block, located at the working end of the stop rod, is located in the inner cavity of the guide rail and is used to fit the limiting member; A spring is sleeved on the outside of the stop bar, one end of the spring is connected to the side wall of the guide rail, and the other end of the spring is connected to the stop block.

[0010] In another embodiment of this application, the limiting member includes: A baffle plate having an inclined transition portion and an action portion on the side near the stop block, the action portion being higher than the inclined transition portion and the action portion being used to abut against the stop block.

[0011] In another embodiment of this application, the telescopic sleeve includes: The outer cylindrical body is fixedly connected to the abdominal shell of the mechanical dog; A sandwich cylinder is slidably connected to the inner side of the outer cylinder, and the sandwich cylinder is detachably connected to the connecting part. The telescopic drive component drives the sandwich cylinder to move up and down. The inner cylinder is slidably connected to the inner side of the sandwich cylinder and is connected to the rotating shaft.

[0012] The beneficial effects of the mechanical dog support device provided by this utility model are as follows: Compared with the prior art, the mechanical dog support device of this utility model achieves step-by-step locking by controlling multiple cylinders individually and coordinating their expansion and contraction in stages; the multi-stage cylinders cooperate with the rotation drive during the expansion and contraction process to form a multi-stage stroke expansion scheme, avoiding the disadvantages of excessive stroke of the single-direction expansion component, which leads to large size and reduced rigidity, and forming a spiral rotation trajectory, thereby improving the stability and anti-displacement ability of the overall structure.

[0013] A mechanical dog is also provided, wherein the aforementioned mechanical dog support device is installed on the abdomen of the mechanical dog.

[0014] In another embodiment of this application, the distance between the mechanical dog support device and the four movable legs of the mechanical dog is equal.

[0015] The beneficial effects of the mechanical dog provided by this utility model are as follows: Compared with the prior art, the mechanical dog of this utility model improves the support strength and stability of the mechanical dog by adding a support structure in the middle of the mechanical dog; it adopts a multi-segment telescopic sleeve structure to realize step-by-step extension and locking, thereby improving the stability of the telescopic sleeve structure; at the same time, it combines linear extension and rotation drive to make the telescopic sleeve form a spiral extension trajectory, which further improves the bending strength of the support structure, thereby ensuring the stability of the mechanical dog and enabling it to meet the functional requirements of the seat. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A perspective view of the mechanical dog provided in an embodiment of this utility model; Figure 2 A side view of the mechanical dog provided in an embodiment of this utility model; Figure 3 A perspective view of the mechanical dog support device provided in an embodiment of this utility model; Figure 4 A front view of the mechanical dog support device provided in an embodiment of this utility model; Figure 5 For along Figure 4 Sectional view of line AA in the middle; Figure 6for Figure 5 Enlarged view at point M; Figure 7 For along Figure 5 Sectional view of the middle BB line; Figure 8 for Figure 7 Enlarged view of point P in the middle; Figure 9 A bottom view of the mechanical dog support device provided in an embodiment of this utility model; Figure 10 For along Figure 9 A cross-sectional view of the CC line; Figure 11 for Figure 10 A magnified view of point N in the middle.

[0018] In the diagram: 10. Abdominal shell; 20. Movable outrigger; 30. Telescopic sleeve; 31. Outer cylinder; 32. Sandwiched cylinder; 33. Inner cylinder; 34. Guide rail; 35. Baffle; 36. Mounting part; 37. Stop block; 38. Connecting hole; 40. Stop bar; 41. Stop block; 42. Limiting hole; 43. Spring; 50. Telescopic drive component; 60. Rotary motor; 61. Rotating shaft; 62. Connecting part; 63. Extension rod; 64. Cover. Detailed Implementation

[0019] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0020] Please see Figures 1 to 11The mechanical dog support device and the mechanical dog provided by this utility model will now be described. The mechanical dog support device is connected to the lower end of the mechanical dog's abdomen and is used to assist the mechanical dog's four movable legs in supporting the ground. The mechanical dog support device includes a telescopic sleeve 30, a telescopic drive component 50, a rotary drive component, and a guide structure. The telescopic sleeve 30 includes multiple cylinders that are sequentially nested. The outermost cylinder is longitudinally installed on the mechanical dog's abdominal shell 10, and adjacent cylinders are slidably fitted. The telescopic drive component 50 is located on the central axis of the inner cavity of the telescopic sleeve 30 and is longitudinally fixed to the mechanical dog's abdominal shell 10. The free end of the telescopic drive component 50 extends downward and is telescopic along its length. The rotary drive component is located at the free end of the telescopic drive component 50. The rotary drive component has a degree of freedom of horizontal rotation and can be switched to connect to one or more cylinders. The guide structure is located between two adjacent cylinders. The guide structure includes a spiral guide rail 34 opened on the outer / inner wall of one cylinder and a limiting component protruding from the inner / outer wall of the other cylinder. The limiting component is embedded in the guide rail 34 and slides along the guide rail 34.

[0021] By adding a support device to the lower abdomen of the robotic dog, and by adding a support device to the four legs, the support stability and load-bearing capacity of the robotic dog are enhanced, thereby meeting the needs of adults to sit and rest, enabling the robotic dog to function as a rest seat, and expanding the application scenarios of service robots.

[0022] Specifically, the telescopic sleeve 30 includes multiple cylinders that can slide relative to each other. When support is needed, the multiple cylinders extend in stages to increase the overall length of the telescopic sleeve 30 until the lowermost end face of the telescopic sleeve 30 extends to the ground, thereby enhancing the support strength for the mechanical dog's shell. When retraction is needed, the multiple cylinders retract in stages to shorten the overall length of the telescopic sleeve 30 until the lower end of the telescopic sleeve 30 separates from the ground and retracts to its shortest length, thus avoiding affecting the movement of the mechanical dog.

[0023] During the telescopic process, the telescopic drive 50 extends and retracts in a straight longitudinal direction, and is connected to the cylinder by the rotary drive, which drives the cylinder to move in the longitudinal direction. At the same time, the rotary drive rotates horizontally, which drives the cylinder to rotate in the horizontal plane. Under the synergistic effect of the two drive components, the cylinder moves up and down along a spiral trajectory.

[0024] During the spiral movement of the cylinders, multiple cylinders move sequentially. Adjacent cylinders on the outer sides of the moving cylinders form a group of cylinders that slide relative to each other. A guide structure is provided between the two cylinders in this group: a guide rail 34 is provided on one cylinder, and a limiting member is provided on the other cylinder. Both work together to restrict the sliding trajectory of the moving cylinders. Furthermore, two cylinders in the same group are stacked and nested. If the outer wall of the inner cylinder 33 has a guide rail 34, then the inner wall of the outer cylinder 31 has a limiting member; conversely, if the outer wall of the inner cylinder 33 has a limiting member, then the inner wall of the outer cylinder 31 has a guide rail 34. When the limiting member abuts against the upper end of the guide rail 34, the cylinder group is in a retracted state; when the limiting member abuts against the lower end of the guide rail 34, the cylinder group is in an extended state.

[0025] Compared with the prior art, the mechanical dog support device provided by this utility model has multiple cylinders and rotary drive components that are fixed separately and locked step by step through distributed extension and retraction controlled individually. There is a guide structure between the multiple cylinders, which restricts the movement trajectory of the cylinders and improves the stability of the cylinders during movement. The telescopic drive component 50 is used in conjunction with the rotary drive component to drive the cylinders, which avoids the disadvantages of excessive travel of the telescopic component in a single direction when using a single drive, resulting in a large volume and reduced rigidity. It forms a spiral rotation trajectory, thereby improving the stability and anti-displacement ability of the overall structure.

[0026] In some possible embodiments, please refer to Figures 3 to 8 The telescopic drive component 50 can adopt structures such as electric push rods, cylinders, and hydraulic cylinders. When the telescopic drive component 50 adopts an electric push rod, the electric push rod is arranged longitudinally, and its fixed end extends into the abdominal shell 10 of the mechanical dog and is fixedly connected to the abdominal shell 10 of the mechanical dog. The lower end of the electric push rod extends into the inner cavity of the telescopic sleeve 30, and the lower end of the electric push rod is connected to the rotary drive component.

[0027] During telescopic operation, the stroke of the telescopic drive component 50 is the telescopic length of a single cylinder. Furthermore, the lengths and telescopic lengths of the multiple cylinders within the telescopic sleeve 30 are all identical. The telescopic drive component 50 can fully extend one cylinder to achieve drive along its length.

[0028] In some possible embodiments, please refer to Figures 4 to 11The rotary drive component includes a rotary motor 60, a rotary shaft 61, and a connecting part 62. The rotary motor 60 is fixedly connected to the free end of the telescopic drive component 50. The rotary shaft 61 is connected to the output end of the rotary motor 60 and extends downward. The rotary shaft 61 rotates horizontally under the drive of the rotary motor 60. There is a helical drive structure between the rotary shaft 61 and the innermost cylinder 33. The connecting part 62 is located on the upper part of the rotary shaft 61 and extends outward through the radial direction of the rotary shaft 61. The connecting part 62 has a degree of freedom along its length direction. The connecting part 62 is used to switch between connecting multiple cylinders or retract to the innermost cylinder 33.

[0029] The fixed end of the telescopic drive component 50 is installed upwards inside the abdominal shell 10 of the mechanical dog, and the telescopic drive component 50 is coaxially arranged with the telescopic sleeve 30. The telescopic direction of the telescopic drive component 50 is consistent with the axial direction of the telescopic sleeve 30. The free end of the telescopic drive component 50 is its downward-extending actuating end, which moves longitudinally up and down as the telescopic drive component 50 is driven. The free end of the telescopic drive component 50 is connected to a rotary motor 60, and the output shaft of the rotary motor 60 is located on the axis of the telescopic sleeve 30. The output shaft of the rotary motor 60 extends downwards and is connected to the upper end of the rotary shaft 61.

[0030] The rotating shaft 61 is a hollow circular shaft with a cap 64 at its upper end, which is coaxially fixed to the output shaft of the rotary motor 60; its lower end is open. The rotating shaft 61 is adjacent to the inner wall of the innermost cylinder 33, and there is a helical drive structure between the rotating shaft 61 and the innermost cylinder 33. This helical drive structure is consistent with the structure of the guide structure, both including a guide rail 34 and a limiting member. When the guide rail 34 is arranged on the outer wall of the rotating shaft 61, a limiting member needs to be arranged on the inner wall of the innermost cylinder 33; or when the limiting member is arranged on the outer wall of the rotating shaft 61, a guide rail 34 needs to be arranged on the inner wall of the innermost cylinder 33.

[0031] The connecting part 62 is located in the upper part of the inner cavity of the rotating shaft 61 and is arranged perpendicular to the axial direction of the rotating shaft 61. The end of the connecting part 62 penetrates the side wall of the rotating shaft 61. Correspondingly, a connecting hole 38 corresponding to the connecting part 62 is provided in the upper part of the side wall of the rotating shaft 61. The end of the connecting part 62 extends out from the connecting hole 38 or retracts into the inner side of the rotating shaft 61 along the radial direction of the rotating shaft 61. When the connecting part 62 is in the extended state, the connecting part 62 extends to connect with multiple cylinders at the same time. When the connecting part 62 is in the retracted state, the connecting part 62 is not connected to the cylinders.

[0032] Specifically, the innermost cylinder 33 is connected to the rotating shaft 61 via a helical drive structure, while there is at least one cylinder on the outer side of the innermost cylinder 33. Therefore, the connecting part 62 can connect at least two cylinders simultaneously, namely the innermost cylinder 33 and at least one adjacent cylinder, so that the at least two connected cylinders form a whole and move synchronously under the action of the telescopic drive member 50 and the rotary motor 60.

[0033] like Figure 10 , Figure 11 As shown, the connecting part 62 includes an extension rod 63, which is located at the free end of the connecting part 62 and is telescopically oriented. A connecting hole 38 is provided at the upper part of the cylinder for engaging the extension rod 63. The lower end of the connecting part 62 also includes a sealing plate connected to the inner wall of the rotating shaft 61. The sealing plate is parallel to and spaced apart from the cover 64 of the rotating shaft 61. Both ends of the sealing plate in the longitudinal direction are fixedly connected to the inner wall of the rotating shaft 61, increasing the stability of the extension rod 63. The width of the sealing plate is smaller than the inner diameter of the rotating shaft 61.

[0034] The extension rod 63 can be an electric actuator. When the extension rod 63 is also an electric actuator, the fixed end of the extension rod 63 is connected to the output end of the rotary motor 60, and the output end of the extension rod 63 extends radially along the rotation shaft 61. The ends of the extension rod 63 correspond one-to-one with the connection holes 38 on the cylinder. When it is necessary to connect and move the rotation shaft 61 and the cylinder synchronously, the extension rod 63 is extended, and the end of the extension rod 63 extends into the corresponding connection hole 38 of the cylinder.

[0035] Since the innermost cylinder is connected to the rotating shaft 61, the extension rod 63 is mainly used to fix other cylinders besides the innermost and outermost ones. For example, when the telescopic sleeve 30 includes three cylinders, the extension rod 63 is mainly used to limit the middle cylinder. When connecting the middle cylinder, the extension rod 63 needs to pass through the connection hole 38 of both the innermost cylinder and the middle cylinder to ensure that the innermost cylinder 33 and the middle cylinder form a whole. The telescopic sleeve 30 is not limited to three cylinders; multiple middle cylinders can be located between the innermost and outermost cylinders. Correspondingly, the telescopic stroke of the telescopic drive 50 is the same as the sum of the telescopic strokes of the middle cylinders.

[0036] Optionally, to improve the connection stability between the connecting part 62 and the cylinder, multiple extension rods 63 connected to the rotating shaft 61 are provided, with the multiple extension rods 63 arranged at equal included angles around the circumference of the rotating shaft 61. When the extension rods 63 need to connect to the cylinder, all the extension rods 63 need to be extended outwards until all the extension rods 63 are engaged and limited with the corresponding connecting holes 38. After the extension rods 63 are positioned, the telescopic drive 50 and the rotating drive are then activated.

[0037] Optionally, the connecting part 62 further includes a fixing disk, which is located in the inner cavity of the rotating shaft 61 and is connected to the top plate of the rotating shaft 61 or to the output end of the rotary motor 60. The fixing disk is a disc and is coaxially arranged with the rotating shaft 61, and the outer diameter of the fixing disk is smaller than the inner diameter of the rotating shaft 61. A plurality of extension rods 63 are evenly distributed around the periphery of the fixing disk.

[0038] In some possible embodiments, please refer to Figures 5 to 11 Both ends of the guide structure have snap-fit ​​components, each including a stop bar 40. The stop bar 40 is slidably disposed on one side of the guide rail 34 along the longitudinal direction and is spaced apart from the closed end face of the guide rail 34. The free end of the stop bar 40 extends into the groove of the guide rail 34. The stop bar 40 has a longitudinal degree of freedom and is used to abut against the snap-fit ​​limiting component.

[0039] The stop lever 40 is movably mounted on the side of the guide rail 34 and is used to block and engage the limiting component. Because the guide rail 34 has a spiral structure, the length direction of the stop lever 40 is either aligned with the axial direction of the rotation shaft 61 or perpendicular to the side wall of the guide rail 34 and parallel to the bottom of the groove in the guide rail 34. The bottom of the groove in the guide rail 34 is parallel to the side wall of the cylinder, and the opening of the guide rail 34 faces outwards. The stop lever 40 is slidably mounted, with one end embedded in the side wall of the cylinder on one side of the guide rail 34, and the other end located inside the guide rail 34.

[0040] When the limiting member moves to the end of the guide rail 34, it abuts against the stop rod 40 and pushes the stop rod 40 into the side wall of the cylinder until the stop rod 40 is stopped. At this time, the end of the stop rod 40 abuts against the limiting member, restricting its movement. The stop rod 40 and the closed end face of the guide rail 34 enclose a limiting space; the limiting space is used to accommodate a part of the limiting member.

[0041] The snap-fit ​​assembly also includes a limiting hole 42, a stop block 41, and a spring 43; the limiting hole 42 is opened on one side wall of the guide rail 34, one end of the stop rod 40 extends into the limiting hole 42 and slides along the depth direction of the limiting hole 42; the stop block 41 is located at the working end of the stop rod 40, the stop block 41 is located in the inner cavity of the guide rail 34, and the stop block 41 is used to fit the limiting component; the spring 43 is sleeved on the outside of the stop rod 40, one end of the spring 43 is connected to the side wall of the guide rail 34, and the other end of the spring 43 is connected to the stop block 41.

[0042] The guide rail 34 is spirally distributed and has an upper sidewall and a lower sidewall. The stop rod 40 can be located at the upper or lower part of the guide rail 34. When the stop rod 40 is located at the upper part of the guide rail 34, the limiting hole 42 is opened on the upper side of the guide rail 34, and the opening of the limiting hole 42 is located on the upper sidewall of the guide rail 34, with the opening direction facing the guide rail 34. When the stop rod 40 is located at the lower part of the guide rail 34, the limiting hole 42 is opened on the lower side of the guide rail 34, and the opening of the limiting hole 42 is located on the lower sidewall of the guide rail 34, with the opening direction facing the guide rail 34. One end of the stop rod 40 is located inside the limiting hole 42, and the other end extends from the opening of the limiting hole 42 into the guide rail 34. The stop rod 40 can move along the length direction of the limiting hole 42, allowing its length within the guide rail 34 to expand and contract. When the stop lever 40 is in the retracted state, one end of the stop lever 40 abuts against the closed end of the limiting hole 42, and the stop block 41 at the other end of the stop lever 40 is always located within the guide rail 34.

[0043] The limiting component includes a mounting part 36 and a baffle 35. The mounting part 36 is connected and fixed to the cylinder body. The mounting part 36 is a circular plate-shaped structure that is mounted on the cylinder body and fits against the side wall of the cylinder body. The mounting part 36 has a baffle 35. The baffle 35 has an inclined transition part and an actuating part on the side near the stop block 41. The actuating part is higher than the inclined transition part and is used to abut against the stop block 41.

[0044] The baffle 35 includes a first inclined transition portion and an action portion connected in sequence; the first inclined transition portion gradually increases in height towards the action portion along its length. The baffle 35 can adopt an inverted S-shaped sheet structure, with the first inclined transition portion and the action portion on the upper end face and the first inclined transition portion and the action portion on the lower end face, and the structures of the upper end face and the lower end face are centrally symmetrical.

[0045] When it rotates downwards, the stop bar 40 at the lower end of the guide rail 34 is located at the upper part of the guide rail 34, causing the end face of the baffle 35 near the stop bar 40 to gradually rise as it enters the guide rail 34. When it rotates upwards, the stop bar 40 at the upper end of the guide rail 34 is located at the lower part of the guide rail 34, causing the lower end face of the baffle 35 to approach the stop bar 40 as it enters the guide rail 34, and its lower end face to gradually decrease along the moving direction, pressing against the stop bar 40. When the stop block 41 abuts and locks with the baffle 35, the spring 43 is in a compressed state. When the baffle 35 moves, the spring 43 applies a reverse drive to the stop block 41, causing the stop block 41 to reset.

[0046] The stop block 41 is installed at the end of the stop lever 40. The stop block 41 and the stop plate 35 are in contact and can slide relative to each other. Therefore, the end face of the stop block 41 that contacts the stop plate 35 can be a raised arc-shaped surface.

[0047] Optionally, the upper end of the baffle 35 has a protruding stop block 37 on the side of the function portion away from the first inclined transition portion, and correspondingly, the lower end of the baffle 35 also has a protruding stop block 37 on the side of the function portion away from the first inclined transition portion.

[0048] In one embodiment, such as Figures 3 to 11 As shown, the telescopic sleeve 30 includes an outer cylinder 31, a sandwich cylinder 32, and an inner cylinder 33. The outer cylinder 31 is fixedly connected to the abdominal shell 10 of the mechanical dog. The sandwich cylinder 32 is slidably connected to the inner side of the outer cylinder 31. The sandwich cylinder 32 is detachably connected to the connecting part 62. The telescopic drive 50 drives the sandwich cylinder 32 to move up and down. The inner cylinder 33 is slidably connected to the inner side of the sandwich cylinder 32. The inner cylinder 33 is connected to the rotating shaft 61.

[0049] When the telescopic sleeve 30 has three stacked cylinders, the three cylinders are the outer cylinder 31, the interlayer cylinder 32, and the inner cylinder 33.

[0050] The outer cylinder 31 is fixed to the abdominal shell 10 of the mechanical dog and will not move. Both the sandwich cylinder 32 and the inner cylinder 33 have connecting holes 38 at their upper parts. The extension rod 63 can pass through the connecting hole 38 of the inner cylinder 33 and extend into the connecting hole 38 of the sandwich cylinder 32, which can realize the synchronous movement of the rotating shaft 61, the inner cylinder 33 and the sandwich cylinder 32.

[0051] A first guide rail is provided on the inner wall of the outer cylinder 31, and a first limiting member is installed on the outer wall of the sandwich cylinder 32, with the limiting member located at the upper part of the sandwich cylinder 32. When the sandwich cylinder 32 is in the initial position, the first limiting member is located at the upper end of the first guide rail and is abutted and locked by the stop block 41 on the lower side of the first guide rail; when the sandwich cylinder 32 is in the final position, the first limiting member reaches the lower end of the first guide rail and is abutted and locked by the stop block 41 on the upper side of the first guide rail.

[0052] A second limiting member is installed on the inner wall of the sandwich cylinder 32, and the second limiting member is located at the lower part of the sandwich cylinder 32. A second guide rail is opened on the outer wall of the inner cylinder 33, and the second limiting member is correspondingly connected to the second guide rail. When the inner cylinder 33 is in the initial position, the second limiting member is located at the lower end of the second guide rail and is abutted and locked by the stop 41 on the upper side of the second guide rail; when the inner cylinder 33 is in the final position, the second limiting member is located at the upper end of the second guide rail and is abutted and locked by the stop 41 on the lower side of the second guide rail.

[0053] A helical drive structure is arranged between the inner cylinder 33 and the rotating shaft 61, and the helical drive structure is consistent with the aforementioned guide structure. The helical drive structure also includes a guide rail 34 and a limiting member. A third limiting member is provided on the upper part of the inner wall of the inner cylinder 33, and a third guide rail is provided on the outer wall of the rotating shaft 61. The third limiting member is adapted to the third guide rail. When the inner cylinder 33 is in the initial position, the third limiting member is located at the upper end of the third guide rail and is abutted and locked by the stop 41 on the lower side of the third guide rail; when the inner cylinder 33 is in the final position, the third limiting member is located at the lower end of the third guide rail and is abutted and locked by the stop 41 on the upper side of the third guide rail.

[0054] like Figure 1 and Figure 2 As shown, this application also provides a mechanical dog, on which the above-mentioned mechanical dog support device is installed in the abdomen.

[0055] Compared with the prior art, the mechanical dog provided by this utility model has a mechanical dog support device installed on the abdominal shell 10 of the mechanical dog. By adding a support structure in the middle of the mechanical dog, the support strength and stability of the mechanical dog are improved. Moreover, the multi-segment step-by-step telescopic sleeve structure is combined with linear telescopic and rotary drive to make the telescopic sleeve 30 form a spiral telescopic trajectory, which further improves the bending strength of the support structure, thereby ensuring the stability of the mechanical dog and enabling it to meet the functional requirements of the seat.

[0056] In addition, the distance between the mechanical dog support device and the four movable legs 20 of the mechanical dog is equal, which can ensure that the support structure and the four movable legs 20 are subjected to uniform force, and prevent the mechanical dog from tilting and falling due to uneven force.

[0057] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A mechanical dog support device, connected to the lower abdomen of a mechanical dog, used to assist the mechanical dog's four movable legs in supporting itself on the ground, characterized in that, include: Telescopic sleeve (30), the telescopic sleeve (30) includes a plurality of cylinders that are sequentially sleeved, the outermost cylinder is longitudinally installed on the abdominal shell (10) of the mechanical dog, and the two adjacent cylinders are slidably engaged; Telescopic drive (50), the telescopic drive (50) is located on the central axis of the inner cavity of the telescopic sleeve (30) and is longitudinally fixed on the abdominal shell (10) of the mechanical dog, the free end of the telescopic drive (50) extends downward and is telescopic along the length direction; A rotary drive unit located at the free end of the telescopic drive unit (50), the rotary drive unit having a degree of freedom of horizontal rotation and the rotary drive unit being switchably connected to one or more of the cylinders; A guide structure is provided between two adjacent cylinders. The guide structure includes a spiral guide rail (34) opened on the outer / inner wall of one of the cylinders and a limiting member protruding from the inner / outer wall of the other cylinder. The limiting member is embedded in the guide rail (34) and slides along the guide rail (34).

2. The mechanical dog support device as described in claim 1, characterized in that, The rotary drive component includes: A rotary motor (60) is fixedly connected to the free end of the telescopic drive member (50); A rotating shaft (61) is connected to the output end of the rotating motor and extends downward. The rotating shaft (61) rotates horizontally under the drive of the rotating motor. The rotating shaft (61) has a spiral drive structure with the innermost cylinder. The connecting part (62) is located on the upper part of the rotating shaft (61) and extends outward through the rotating shaft (61) radially. The connecting part (62) has a degree of freedom along its length direction. The connecting part (62) is used to switch between connecting multiple cylinders or retract to the innermost cylinder.

3. The mechanical dog support device as described in claim 2, characterized in that, The connecting part (62) includes: An extension rod (63) is located at the free end of the connecting part (62), and the extension rod (63) is telescopically oriented. The upper part of the cylinder is provided with a connecting hole (38), which is used to engage with the extension rod (63).

4. The mechanical dog support device as described in claim 3, characterized in that, The extension rod (63) is multiple, and the multiple extension rods (63) are arranged at equal angles around the circumference of the rotating shaft (61).

5. The mechanical dog support device as described in claim 1, characterized in that, Both ends of the guide structure have snap-fit ​​components, and the snap-fit ​​components include: A stop bar (40) is slidably disposed on one side of the guide rail (34) along the longitudinal direction and spaced apart from the closed end face of the guide rail (34). The free end of the stop bar (40) extends into the groove of the guide rail (34). The stop bar (40) has a longitudinal degree of freedom and is used to abut and clamp the limiting member.

6. The mechanical dog support device as described in claim 5, characterized in that, The snap-fit ​​assembly also includes: A limiting hole (42) is provided on one side wall of the guide rail (34). One end of the stop rod (40) extends into the limiting hole (42) and slides along the depth direction of the limiting hole (42). The stop (41) is located at the working end of the stop rod (40) and is located in the inner cavity of the guide rail (34). The stop (41) is used to fit the limiting member. A spring (43) is sleeved on the outside of the stop bar (40). One end of the spring (43) is connected to the side wall of the guide rail (34), and the other end of the spring (43) is connected to the stop block (41).

7. The mechanical dog support device as described in claim 6, characterized in that, The limiting component includes: The baffle (35) has an inclined transition portion and an action portion on the side near the stop block (41), the action portion being higher than the inclined transition portion and the action portion being used to abut against the stop block (41).

8. The mechanical dog support device as described in claim 2, characterized in that, The telescopic sleeve (30) includes: The outer cylindrical body (31) is fixedly connected to the abdominal shell (10) of the mechanical dog; The sandwich cylinder (32) is slidably connected to the inner side of the outer cylinder (31), and the sandwich cylinder (32) is detachably connected to the connecting part (62). The telescopic drive (50) drives the sandwich cylinder (32) to move up and down. The inner cylinder (33) is slidably connected to the inner side of the sandwich cylinder (32) and is connected to the rotating shaft (61).

9. A mechanical dog, characterized in that, The mechanical dog is fitted with a mechanical dog support device as described in any one of claims 1-8 on its abdomen.

10. The mechanical dog as described in claim 9, characterized in that, The distance between the mechanical dog support device and the four movable legs (20) of the mechanical dog is equal.

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