Support arm with buffering and noise reduction for a robot dog

Abstract

The utility model relates to robot dog technical field discloses a kind of supporting arm with buffering and noise reduction for robot dog, including robot dog main body, robot dog main body is linked with thigh link arm, thigh link arm is connected with driving mechanism, thigh link arm one end hinged connection shank connecting arm, shank connecting arm is connected with foot palm extension mechanism for expanding support surface, foot palm extension mechanism is connected with foot palm buffer plate, foot palm buffer plate hinged connection telescopic cylinder one end, telescopic cylinder other end hinged connection shank connecting arm one side;By shank connecting arm inside installation foot palm extension mechanism, wherein connecting frame hinged connection foot palm buffer plate, connecting frame fixed connection extension plate, connecting frame hinged connection connecting arm, connecting arm hinged connection sliding block connecting piece, make it adjust sliding block connecting piece position under motor drive, to control the support surface of robot dog and ground, increase stress area, reduce walking muddy soil, and sink into muddy soil interior reduce the problem of action ability.

Description

Technical Field

[0001] This utility model relates to the field of robot dog technology, specifically to a support arm for robot dogs with buffering and noise reduction. Background Technology

[0002] A robot dog is a highly complex quadrupedal bionic robot platform that integrates multiple disciplines such as mechanics, electronics, control, computer science, and artificial intelligence. Its core capability lies in mimicking the gait of quadrupedal animals (walking, trotting, running, jumping, crawling, turning, going up and down stairs, getting up, falling and recovering, etc.).

[0003] The support arm with buffering and noise reduction refers to the mechanical arm segment or component in the leg structure of a robot dog, which is specially designed to absorb impact energy, suppress vibration transmission, and reduce motion noise. Existing buffering structures generally use foot pads made of high-damping rubber / polymer materials, which are installed at the end of the support arm to directly absorb collision energy and reduce impact noise. However, due to the limited support surface at the foot end of the support arm, it is easy for the support arm to sink into the muddy soil when walking on muddy soil, which reduces its mobility.

[0004] To address this, we propose a support arm with buffer and noise reduction for use with robotic dogs. Utility Model Content

[0005] The purpose of this invention is to provide a support arm with buffer and noise reduction for a robot dog, in order to solve the problem mentioned in the background art that the limited support surface at the foot of the support arm makes it easy for the support arm to sink into the muddy soil when walking on muddy soil, thus reducing its mobility.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a support arm for a robot dog with buffer and noise reduction, comprising a robot dog body, wherein the robot dog body is connected to multiple thigh connecting arms, each of the thigh connecting arms is connected to a drive mechanism, one end of the thigh connecting arm is hinged to a lower leg connecting arm, the lower leg connecting arm is connected to a foot extension mechanism for expanding the support surface, the foot extension mechanism is connected to a foot buffer plate, the foot buffer plate is hinged to one end of a telescopic cylinder, and the other end of the telescopic cylinder is hinged to one side of the lower leg connecting arm.

[0007] Preferably, the foot extension mechanism includes a motor, an upper base, a bearing, a drive shaft, a slider connector, a connecting arm, a connecting frame, an extension plate, and a lower base. The upper base is fixedly connected to the lower leg connecting arm, the bearing outer ring is tightly pressed inside the upper base, the motor is fixedly connected to the surface of the upper base, and the motor output shaft is inserted into the drive shaft.

[0008] Preferably, the drive shaft is rotatably connected to the slider connector, the slider connector is hinged to one end of three connecting arms, the other end of each connecting arm is hinged to a connecting frame, and the connecting frame is fixedly connected to one side of the extension plate.

[0009] Preferably, the lower base is fixedly connected to the inside of the lower leg connecting arm, and a bearing is provided inside the lower base, with the inner ring of the bearing tightly fitted to the drive shaft.

[0010] Preferably, a connecting plate is provided on one side of the lower leg connecting arm, the connecting plate is fixedly connected to the thigh connecting arm extension plate, the lower leg connecting arm is provided with a sliding guide groove for sliding of the connecting arm, and one end of the lower leg connecting arm is hinged to the foot cushioning plate.

[0011] Preferably, the extended plate is at the same height as the foot cushioning plate, and the surface of the foot cushioning plate is provided with multiple connecting ears, which are hinged to one end of the connecting frame.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] This invention features a foot extension mechanism installed inside the lower leg connecting arm. The foot extension mechanism includes a motor, upper base, bearing, drive shaft, slider connector, connecting arm, connecting frame, extension plate, and lower base. The connecting frame is hinged to the foot buffer plate, the connecting frame is fixedly connected to the extension plate, the connecting frame is hinged to the connecting arm, and the connecting arm is hinged to the slider connector. This allows the position of the slider connector to be adjusted under the drive of the motor, thereby controlling the support surface between the robot dog and the ground, increasing the force-bearing area, reducing the problem of walking on muddy soil and getting stuck in muddy soil, thus reducing mobility. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the cross-sectional structure of the lower leg connecting arm of this utility model;

[0015] Figure 2 This is a schematic diagram of the internal distribution structure of the lower leg connecting arm of this utility model;

[0016] Figure 3 This is a schematic diagram of the disassembled structure of the lower leg connecting arm and the foot extension mechanism of this utility model;

[0017] Figure 4 This is a schematic diagram of the overall front structure of this utility model;

[0018] In the diagram: 1. Main body of the robot dog; 2. Thigh connecting arm; 3. Drive mechanism; 4. Lower leg connecting arm; 5. Foot extension mechanism; 6. Foot cushioning plate; 7. Telescopic cylinder;

[0019] 401. Connecting plate;

[0020] 501. Motor; 502. Upper base; 503. Bearing; 504. Drive shaft; 505. Slider connector; 506. Connecting arm; 507. Connecting frame; 508. Extension plate; 509. Lower base;

[0021] 601. Connecting ear. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Example

[0024] Please see Figures 1-4 The illustration shows a support arm for a robotic dog with cushioning and noise reduction. It includes a robotic dog body 1, with multiple thigh-link arms 2 connected to the body. Each thigh-link arm 2 is connected to a drive mechanism 3. One end of each thigh-link arm 2 is hinged to a lower leg-link arm 4. The lower leg-link arm 4 is connected to a foot extension mechanism 5 for expanding the support surface. The foot extension mechanism 5 is connected to a foot cushioning plate 6. The foot cushioning plate 6 is hinged to one end of a telescopic cylinder 7, and the other end of the telescopic cylinder 7 is hinged to one side of the lower leg-link arm 4. The foot extension mechanism is installed inside the lower leg-link arm. The foot extension mechanism includes a motor, an upper base, bearings, a drive shaft, a slider connector, a connecting arm, a connecting frame, an extension plate, and a lower base. The connecting frame is hinged to the foot cushioning plate, the connecting frame is fixedly connected to the extension plate, the connecting frame is hinged to the connecting arm, and the connecting arm is hinged to the slider connector. Driven by the motor, the slider connector's position is adjusted, thereby controlling the support surface between the robotic dog and the ground, increasing the force-bearing area, reducing the problem of walking on muddy soil and getting stuck in mud, thus improving mobility.

[0025] Furthermore, the foot extension mechanism 5 includes a motor 501, an upper base 502, a bearing 503, a drive shaft 504, a slider connector 505, a connecting arm 506, a connecting frame 507, an extension plate 508, and a lower base 509. The upper base 502 is fixedly connected to the lower leg connecting arm 4. The outer ring of the bearing 503 is tightly pressed inside the upper base 502. The motor 501 is fixedly connected to the surface of the upper base 502. The output shaft of the motor 501 is inserted into and cooperates with the drive shaft 504. By installing the bearing inside the upper base and fixing the upper base to the inner wall of the lower leg connecting arm, the stability of the motor movement is ensured.

[0026] Furthermore, the drive shaft 504 is rotatably connected to the slider connector 505, which is hinged to one end of three connecting arms 506. The other end of each connecting arm 506 is hinged to the connecting frame 507. The connecting frame 507 is fixedly connected to one side of the extension plate 508. The slider connector is driven by the drive shaft, so that the slider connector can move up and down under the drive of the motor, and drive the connecting arms to change the angle of the connecting frame, thereby ensuring the stability of the extension plate when it is unfolded and retracted.

[0027] Furthermore, the lower base 509 is fixedly connected to the inside of the lower leg connecting arm 4. The lower base 509 is equipped with a bearing 503. The inner ring of the bearing 503 is tightly fitted to the drive shaft 504. The bearing is installed first through the lower base, and then the lower base with the bearing is assembled and pressed into the inside of the lower leg connecting arm to ensure the stability of the lower base.

[0028] Furthermore, a connecting plate 401 is provided on one side of the lower leg connecting arm 4. The connecting plate 401 is fixedly connected to the extension plate of the thigh connecting arm 2. The lower leg connecting arm 4 is provided with a sliding guide groove for sliding the connecting arm 506. One end of the lower leg connecting arm 4 is hinged to the foot cushioning plate 6. The connecting plate provided on the lower leg connecting arm facilitates the installation and disassembly of the foot extension mechanism. At the same time, the sliding guide groove can ensure the stability of the connecting arm's up and down movement.

[0029] Furthermore, the extension plate 508 is at the same height as the foot cushion plate 6. The surface of the foot cushion plate 6 is provided with multiple connecting ears 601. The connecting ears 601 are hinged to one end of the connecting frame 507. Two connecting ears are fixedly connected to one end of the connecting frame through the surface of the foot cushion plate, ensuring the stability of the extension plate during operation and facilitating the disassembly of the extension plate.

[0030] In this solution, the foot extension mechanism operates as follows: When the robot dog needs to extend its support surface, the control system sends a command to the motor 501, and the motor output shaft begins to rotate. The motor output shaft drives the drive shaft 504 to rotate synchronously through a plug-in connection. Both ends of the drive shaft are supported by bearings. The outer ring of the bearing 503 in the upper base 502 is tightly pressed and fixed, while the inner ring rotates with the drive shaft. The inner ring of the bearing 503 in the lower base 509 is also tightly attached to the drive shaft, forming a stable rotation fulcrum. The rotational motion of the drive shaft is transmitted to the slider connector 505, which generates a linear displacement along the axis of the drive shaft. The slider connector simultaneously pulls one end of each of the three connecting arms 506 through a hinge. The movement trajectory of the connecting arms is limited by the sliding guide groove on the side wall of the lower leg connecting arm 4, ensuring linear sliding without sway. The connecting frame moves horizontally outward under the push of the connecting arms, causing the extension plate 508 fixed on it to unfold synchronously. When the extension plate is fully unfolded, its upper surface is on the same horizontal plane as the foot cushioning plate 6, forming a continuous support plane.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A support arm with buffer and noise reduction for a robot dog, comprising a robot dog body (1), characterized in that: The main body (1) of the robot dog is connected to multiple thigh connecting arms (2), each of the thigh connecting arms (2) is connected to a drive mechanism (3), one end of the thigh connecting arm (2) is hinged to a lower leg connecting arm (4), the lower leg connecting arm (4) is connected to a foot extension mechanism (5) for expanding the support surface, the foot extension mechanism (5) is connected to a foot buffer plate (6), the foot buffer plate (6) is hinged to one end of a telescopic cylinder (7), and the other end of the telescopic cylinder (7) is hinged to one side of the lower leg connecting arm (4).

2. The support arm with buffer and noise reduction for a robot dog according to claim 1, characterized in that: The foot extension mechanism (5) includes a motor (501), an upper base (502), a bearing (503), a drive shaft (504), a slider connector (505), a connecting arm (506), a connecting frame (507), an extension plate (508), and a lower base (509). The upper base (502) is fixedly connected to the lower leg connecting arm (4). The outer ring of the bearing (503) is tightly pressed inside the upper base (502). The motor (501) is fixedly connected to the surface of the upper base (502). The output shaft of the motor (501) is inserted into and engaged with the drive shaft (504).

3. The support arm with buffer and noise reduction for a robot dog according to claim 2, characterized in that: The drive shaft (504) is rotatably connected to the slider connector (505), the slider connector (505) is hinged to one end of three connecting arms (506), and the other end of each connecting arm (506) is hinged to the connecting frame (507), the connecting frame (507) is fixedly connected to one side of the extension plate (508).

4. The support arm with buffer and noise reduction for a robot dog according to claim 2, characterized in that: The lower base (509) is fixedly connected to the inside of the lower leg connecting arm (4). The lower base (509) is provided with a bearing (503), and the inner ring of the bearing (503) is tightly fitted to the drive shaft (504).

5. A support arm with buffer and noise reduction for a robot dog according to claim 1, characterized in that: A connecting plate (401) is provided on one side of the lower leg connecting arm (4). The connecting plate (401) is fixedly connected to the extension plate of the thigh connecting arm (2). The lower leg connecting arm (4) is provided with a sliding guide groove for sliding the connecting arm (506). One end of the lower leg connecting arm (4) is hinged to the foot cushioning plate (6).

6. A support arm with buffer and noise reduction for a robot dog according to claim 2, characterized in that: The extension plate (508) is at the same height as the foot cushion plate (6) and the surface of the foot cushion plate (6) is provided with a plurality of connecting ears (601). The connecting ears (601) are hinged to one end of the connecting frame (507).

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