mechanical dog

Abstract

The utility model discloses a mechanical dog, it contains the body and a plurality of walking mechanism. Each walking mechanism contains upper limb arm and the lower limb arm of being linked to upper limb arm. Upper limb arm contains first driving part, first walking piece and first pivot connection axle, and one end of first walking piece is arranged in first movable part and can rotate relative to first fixed part. First pivot connection axle forms first friction part. Lower limb arm contains second driving part and the second walking piece of being installed to second driving part, and one end of second walking piece forms second perforation and the second friction part of the hole wall at second perforation, and first pivot connection axle is worn in second perforation. Second walking piece can rotate along first pivot connection axle relative to first walking piece through second driving part to make second friction part rub first friction part. Thus, each walking mechanism can reduce the load of motor when bearing greater load force, and further play the effect of energy saving and prolonging its operation time.

Description

Technical Field

[0001] This utility model relates to a mechanical dog, and more particularly to a mechanical dog that can be used to reduce the load on an electric motor. Background Technology

[0002] Existing robotic dogs are typically battery-powered and function by driving their walking mechanism with an electric motor. However, existing robotic dogs often require continuous output from the electric motor to maintain stable operation, causing the motor to be under high load for extended periods, resulting in increased energy consumption and limited operating time.

[0003] Therefore, the inventor of this utility model believed that the above-mentioned defects could be improved. So he devoted himself to research and applied scientific principles, and finally proposed a utility model with a reasonable design that effectively improves the above-mentioned defects. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a mechanical dog that addresses the shortcomings of existing technologies.

[0005] This utility model discloses a mechanical dog, comprising: a main body; and a plurality of walking mechanisms, mounted in pairs on both sides of the main body, each walking mechanism comprising: an upper limb arm mounted on the main body, the upper limb arm comprising: a first driving member disposed on the main body, the first driving member comprising: a first fixed part comprising a first motor; and a first movable part mounted on the first motor, the first movable part being rotatable relative to the first fixed part via the first motor; at least one first walking member, one end disposed on the first movable part and rotatable relative to the first fixed part; and a first pivot shaft, for fixing... The first pivot shaft is fixed at the other end of at least one of the first walking members, and a first friction portion is formed on the first pivot shaft; and a lower limb arm is connected to the upper limb arm, the lower limb arm comprising: a second drive member disposed adjacent to the first drive member; and a second walking member mounted on the second drive member; wherein, one end of the second walking member forms a second through hole and a second friction portion located on the hole wall of the second through hole, the first pivot shaft passing through the second through hole; wherein, the second walking member can rotate relative to at least one of the first walking members along the first pivot shaft via the second drive member, so that the second friction portion rubs against the first friction portion.

[0006] Optionally, when at least one of the first traveling members and the second traveling member are at an angle between 110° and 125°, the second friction part can rub against the first friction part.

[0007] Optionally, the second friction part is an arc-shaped protrusion with a central angle between 10° and 20°.

[0008] Optionally, the first pivot shaft is fixed vertically to at least one of the first traveling members along its long axis and passes through the second through hole, so that the first friction part abuts against the second friction part in a radial direction of the first pivot shaft.

[0009] Optionally, the number of at least one first traveling member is further limited to two, with both ends of the first pivot shaft respectively fixed to the two first traveling members, and one end of the second traveling member disposed between the two first traveling members.

[0010] Optionally, the second driving member further includes: a second electric motor disposed within the first movable part; and a linkage assembly, one end of which is mounted to the second electric motor, and the other end of which is fixed to the second traveling member; wherein the linkage assembly can drive the second traveling member to rotate relative to at least one of the first traveling members via the second electric motor.

[0011] This utility model also discloses a mechanical dog, which includes: a main body; and a plurality of walking mechanisms, installed in pairs on both sides of the main body, and each walking mechanism includes: an upper limb arm installed on the main body, the upper limb arm including: a first driving member disposed on the main body, the first driving member including: a first fixed part including a first motor; and a first movable part installed on the first motor, the first movable part being rotatable relative to the first fixed part by the first motor; and at least one first walking member, one end of which is disposed on the first movable part and is rotatable relative to the first fixed part; wherein, at least one of the... The other end of the first walking member has a first through hole and a first friction part located on the wall of the first through hole; and a lower limb arm connected to the upper limb arm, the lower limb arm comprising: a second driving member disposed adjacent to the first driving member; a second walking member mounted on the second driving member; and a second pivot shaft fixed to the second walking member and passing through the first through hole, and the second pivot shaft having a second friction part corresponding to the first friction part; wherein the second walking member can rotate relative to at least one first walking member about the second pivot shaft via the second driving member, so that the second friction part rubs against the first friction part.

[0012] Optionally, when at least one of the first traveling members and the second traveling member are at an angle between 110° and 125°, the second friction part can rub against the first friction part.

[0013] Optionally, the first friction part is an arc-shaped protrusion with a central angle between 10° and 20°.

[0014] Optionally, the second pivot shaft is fixed vertically to the second traveling member along its long axis and passes through the first through hole, so that the second friction part abuts against the first friction part in a radial direction of the second pivot shaft.

[0015] Optionally, the number of at least one first traveling member is further limited to two, each of the first traveling members having the first through hole, and one of the first traveling members having the first friction portion located on the hole wall of the first through hole; wherein, the two ends of the second pivot shaft are respectively provided through the first through holes of the two first traveling members, and one end of the second pivot shaft has a second friction portion corresponding to the first friction portion.

[0016] Optionally, the number of at least one first traveling member is further limited to two; each of the first traveling members has a first perforation and a first friction portion located on the wall of the first perforation; each end of the second pivot shaft has a second friction portion corresponding to the first friction portion of one of the first traveling members, so that the second friction portions formed at both ends of the second pivot shaft rub against the first friction portions of the two first traveling members respectively.

[0017] Optionally, the second driving member further includes: a second electric motor disposed within the first movable part; and a linkage assembly, one end of which is mounted to the second electric motor, and the other end of which is fixed to the second traveling member; wherein the linkage assembly can drive the second traveling member to rotate relative to at least one of the first traveling members via the second electric motor.

[0018] This utility model embodiment also discloses a mechanical dog, the mechanical dog comprising: a body; and a plurality of walking mechanisms, mounted in pairs on both sides of the body, and each walking mechanism comprising: an upper limb arm mounted on the body, the upper limb arm comprising: a first driving member disposed on the body, the first driving member comprising: a first fixed part comprising a first motor; and a first movable part mounted on the first motor, the first movable part being rotatable relative to the first fixed part; and at least one first walking member, one end of which is disposed on the first movable part and is rotatable relative to the first fixed part; a... A first friction part; and a lower limb arm connected to the upper limb arm, the lower limb arm comprising: a second driving member disposed adjacent to the first driving member; and a second traveling member mounted on the second driving member and pivotally connected to the other end of at least one of the first traveling members, wherein a second friction part corresponding to the first friction part is formed on one side of the second traveling member; wherein at least one of the first traveling members and the second traveling member are pivotally connected to each other along an axial direction, and the second friction part can abut against the first friction part in the axial direction; wherein the second traveling member can be rotated by the second driving member to cause the second friction part to rub against the first friction part.

[0019] Optionally, when at least one of the first traveling members and the second traveling member are at an angle between 110° and 125°, the second friction part can rub against the first friction part.

[0020] Optionally, at least one of the first traveling member and the second traveling member are pivotally connected to each other via a pivot shaft; the first friction portion has a central angle between 2° and 7° relative to a center line of the pivot shaft, and the second friction portion has a central angle between 10° and 20° relative to the center line of the pivot shaft.

[0021] Optionally, the number of at least one first traveling member is further limited to two, wherein one of the first traveling members has the first friction portion formed thereon, and one side of the second traveling member has a second friction portion corresponding to the first friction portion formed thereon.

[0022] Optionally, the number of at least one first traveling member is further limited to two, with the first friction portion formed on one side of each first traveling member, and the first friction portions of the two first traveling members facing each other; the second friction portions are formed on opposite sides of the second traveling member, so that the second friction portions on opposite sides of the second traveling member rub against the first friction portions of the two first traveling members respectively.

[0023] Optionally, the second driving member further includes: a second electric motor disposed within the first movable part; and a linkage assembly, one end of which is mounted to the second electric motor, and the other end of which is fixed to the second traveling member; wherein the linkage assembly can drive the second traveling member to rotate relative to at least one of the first traveling members via the second electric motor.

[0024] This utility model also discloses a mechanical dog, which includes: a body; and a plurality of walking mechanisms, which are installed in pairs on both sides of the body, and each walking mechanism includes: an upper limb arm installed on the body, the upper limb arm including: a first driving member disposed on the body, the first driving member including: a first fixed part including a first motor, and a first friction area formed on one side of the first fixed part; and a first movable part installed on the first motor; a first protrusion corresponding to the first friction area is formed on one side of the first movable part; wherein the first movable part can rotate relative to the first fixed part so that the first protrusion rubs against the first friction area; and at least one first walking member, one end of which is disposed on the first movable part and can rotate relative to the first fixed part; and a lower limb arm connected to the upper limb arm, the lower limb arm including: a second driving member disposed adjacent to the first driving member; and a second walking member installed on the second driving member and pivotally connected to the other end of at least one first walking member; wherein the second walking member can rotate relative to at least one first walking member through the second driving member.

[0025] Optionally, when at least one of the first walking components is positioned at an angle between 45° and 85° with respect to the body, the first protrusion can rub against the first friction area.

[0026] Optionally, the second driving member further includes: a second electric motor disposed within the first movable part; and a linkage assembly, one end of which is mounted to the second electric motor, and the other end of which is fixed to the second traveling member; wherein the linkage assembly can drive the second traveling member to rotate relative to at least one of the first traveling members via the second electric motor.

[0027] In summary, the mechanical dog disclosed in this utility model embodiment can generate additional resistance (such as friction) when the lower limb arm rotates relative to the upper limb arm through the combination of the first friction part and the second friction part. This allows the walking mechanism to reduce the load on the motor (such as the first motor) when bearing a large load, thereby achieving the effect of energy saving and extending its working time.

[0028] To further understand the features and technical content of this utility model, please refer to the following detailed description and drawings of this utility model. However, these descriptions and drawings are only used to illustrate this utility model and are not intended to limit the scope of protection of this utility model in any way. Attached Figure Description

[0029] Figure 1 This is a three-dimensional schematic diagram of the mechanical dog according to an embodiment of the present utility model. Figure 2 for Figure 1 Cross-sectional view of the upper and lower limbs. Figure 3 for Figure 1 A cross-sectional view of the upper and lower limbs from another perspective. Figure 4 for Figure 2 A head-up view diagram. Figure 5 for Figure 1 Enlarged schematic diagram of the first walking component and lower limb arm. Figure 6 for Figure 1 A cross-sectional view of the upper and lower limbs in another state. Figure 7 for Figure 5 A head-up view diagram. Figure 8 for Figure 1 A rear view diagram of the traveling mechanism. Figure 9 for Figure 8 Enlarged visual intention of the upper and lower limbs. Figure 10 for Figure 9 A schematic diagram of its breakdown. Figure 11 for Figure 1 A three-dimensional diagram of another state of the upper and middle limbs. Detailed Implementation The following specific embodiments illustrate the implementation of the "mechanical dog" disclosed in this utility model. Those skilled in the art can understand the advantages and effects of this utility model from the content disclosed in this specification. This utility model can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this utility model. Furthermore, the accompanying drawings of this utility model are for simple illustrative purposes only and are not depictions of actual dimensions, as stated in advance. The following embodiments will further describe the relevant technical content of this utility model in detail, but the disclosed content is not intended to limit the scope of protection of this utility model.

[0030] It should be understood that while terms such as "first," "second," and "third" may be used in this document to describe various components or signals, these components or signals should not be limited by these terms. These terms are primarily used to distinguish one component from another, or one signal from another. Furthermore, the term "or" as used herein should, as appropriate, include any combination of one or more of the associated listed items.

[0031] Please see Figures 1 to 11 As shown, this embodiment discloses a mechanical dog 1000, which is powered by a battery (not shown in the figure) to achieve its functions (such as walking). Figure 1 As shown, the mechanical dog 1000 includes a body 200 and a plurality of walking mechanisms 100 mounted in pairs on both sides of the body 200.

[0032] It should be noted that although the aforementioned body 200 and multiple walking mechanisms 100 are collectively defined as the mechanical dog 1000 in this embodiment, the present invention is not limited thereto. For example, in other embodiments of the present invention not shown, each of the walking mechanisms 100 may be used independently (e.g., implemented, manufactured, sold, etc.) or in combination with other components.

[0033] In this embodiment, the number of the plurality of traveling mechanisms 100 is four, and the four traveling mechanisms 100 adopt a generally identical structure and are arranged in a pairwise mirror symmetrical configuration with respect to the body 200. For ease of understanding, the following mainly describes the structure and connection relationship of one of the traveling mechanisms 100, but this utility model is not limited thereto. For example, in other embodiments of this utility model not shown, the structure of the plurality of traveling mechanisms 100 may be slightly different or not arranged in a mirror symmetrical configuration.

[0034] Furthermore, the traveling mechanism 100 may be implemented in at least one of a variety of feasible methods according to actual needs. For ease of understanding, the traveling mechanism 100 will be described in the following description using several of these methods, but this utility model is not limited thereto.

[0035] [First Implementation Method] like Figures 1 to 3 As shown, the walking mechanism 100 includes an upper limb arm 1 mounted on the body 200 and a lower limb arm 2 connected to the upper limb arm 1. The upper limb arm 1 includes a first driving member 11 disposed on the body 200, at least one first walking member 12 mounted at one end to the first driving member 11, and a first pivot shaft 13 fixed to the other end of the at least one first walking member 12.

[0036] Furthermore, the first driving member 11 includes a first fixed part 111 and a first movable part 112 mounted on the first fixed part 111. The first movable part 112 is mounted on a first motor 1111 of the first fixed part 111, and the first movable part 112 can rotate relative to the first fixed part 111 via the first motor 1111. Specifically, the first motor 1111 is powered by the battery.

[0037] Furthermore, at least one of the first walking components 12 is elongated, and one end of it is disposed on the first movable part 112 and can rotate relative to the first fixed part 111. In other words, the upper limb arm 1 is driven by the first motor 1111 to rotate at least one of the first walking components 12 relative to the body 200. It should be further noted that when the first motor 1111 drives at least one of the first walking components 12 to rotate, the upper limb arm 1 can move synchronously with the lower limb arm 2 relative to the body 200.

[0038] like Figure 2 and Figure 3 As shown, the first pivot shaft 13 has a protruding first friction part 131, and the first pivot shaft 13 is fixed vertically to at least one first traveling member 12 along its long axis direction D13a. However, the configuration relationship between them can be adjusted and changed according to actual needs, and this utility model is not limited thereto.

[0039] Re-reference Figures 1 to 3 As shown, the lower limb arm 2 includes a second driving member 21 and a second walking member 22 that is elongated and mounted on the second driving member 21. The second driving member 21 further includes a second electric motor 211 and a linkage assembly 212 with one end mounted to the second electric motor 211, and the other end of the linkage assembly 212 fixed to the second walking member 22. In this embodiment, the second driving member 21 is disposed adjacent to the first driving member 11, and the second electric motor 211 is disposed on the first movable part 112, but their positions can be adjusted according to actual needs, and this invention is not limited thereto.

[0040] Specifically, the second motor 211 is powered by the battery, and the linkage assembly 212 can drive the second walking member 22 to rotate relative to at least one of the first walking members 12 via the second motor 211. Alternatively, the lower limb arm 2 can drive the second walking member 22 to rotate relative to the upper limb arm 1 via the second motor 211. According to the above configuration, the upper limb arm 1 and the lower limb arm 2 can respectively drive at least one of the first walking members 12 and the second walking member 22 to rotate via the first motor 1111 and the second motor 211, respectively, so that the mechanical dog 1000 can generate actions such as leg lifting, support, and forward movement through each of the walking mechanisms 100, thereby achieving a movement effect.

[0041] like Figures 2 to 4 As shown, one end of the second walking member 22 is formed with a second through hole 221 and a second friction part 222 located on the hole wall of the second through hole 221. The second friction part 222 is an arc-shaped protrusion with a central angle θ222 between 10° and 20°, but it can be adjusted and changed according to actual needs (such as shape). This utility model is not limited to this.

[0042] The above is a structural description of each component in the traveling mechanism 100 described in this embodiment. The following will explain their matching relationships. Specifically, [further details omitted]. Figure 3 and Figure 4 As shown, the upper limb arm 1 is inserted into the second through hole 221 via the first pivot shaft 13, and the second walking member 22 can rotate relative to at least one of the first walking members 12 along the first pivot shaft 13 via the second driving member 21, so that the second friction part 222 rubs against the first friction part 131.

[0043] Furthermore, when at least one of the first traveling members 12 and the second traveling member 22 forms an angle σ1 between 110° and 125°, the second friction part 222 can rub against the first friction part 131. It is worth mentioning that when at least one of the first traveling members 12 and the second traveling member 22 forms the angle σ1, the corresponding traveling mechanism 100 bears a larger load force (that is, a heavier load).

[0044] According to the above configuration, when each of the walking mechanisms 100 bears a large load, the combination of the first friction part 131 and the second friction part 222 can generate additional resistance (such as friction) when the lower limb arm 2 rotates relative to the upper limb arm 1, so as to share part of the load and reduce the load on the first motor 1111 and the second motor 211.

[0045] Therefore, the mechanical dog 1000 can save energy and extend its operating time, thereby reducing the frequency of battery replacement or charging. From another perspective, the mechanical dog 1000 can use a smaller motor (such as the first motor 1111 or the second motor 211) to achieve its functions. Furthermore, with reduced load on the first motor 1111 and the second motor 211, the mechanical dog 1000 can also be used for tasks requiring greater weight (such as material handling).

[0046] In this embodiment, the reference is repeated. Figure 3 As shown, the number of at least one first traveling member 12 is two, but the present invention is not limited thereto. For example, in other embodiments of the present invention not shown, the number of at least one first traveling member 12 may also be a single one.

[0047] Furthermore, one end of the second traveling member 22 is located between the two first traveling members 12. Moreover, both ends of the first pivot shaft 13 are respectively fixed vertically to the two first traveling members 12 along their major axis direction D13a and pass through the second through hole 221, so that the first friction part 131 abuts against the second friction part 222 in a radial direction D13r of the first pivot shaft 13.

[0048] [Second Implementation] Please see Figure 1 ,and Figures 5 to 7 As shown, this is the second embodiment of the present invention. Since this embodiment is similar to the first embodiment described above, the similarities between the two embodiments will not be repeated. The difference between this embodiment and the first embodiment lies in the connection method between the upper limb arm 1 and the lower limb arm 2, which is roughly described below: It should be noted that, in this embodiment, the upper limb arm 1 does not include the first pivot shaft 13, and the second walking member 22 does not have the second through hole 221 and the second friction part 222. Wherein, as Figure 1 As shown, the upper limb arm 1 includes the first driving member 11 and at least one first walking member 12, and one end of at least one first walking member 12 is disposed on the first movable part 112 and can rotate relative to the first fixed part 111.

[0049] like Figure 5 and Figure 6 As shown, at least one of the first traveling members 12 has a first through hole 121 formed at its other end, and a first friction portion 122 located on the wall of the first through hole 121. Further, as... Figure 7As shown, the first friction part 122 is an arc-shaped protrusion with a central angle θ122 between 10° and 20°, but it can be adjusted and changed according to actual needs, and this utility model is not limited thereto.

[0050] Re-reference Figure 1 and Figure 6 As shown, the lower limb arm 2 includes the second drive member 21, the second walking member 22 mounted on the second drive member 21, and a second pivot shaft 23 fixed to the second walking member 22.

[0051] Furthermore, such as Figure 5 and Figure 6 As shown, the second pivot shaft 23 passes through the first through hole 121, and the second pivot shaft 23 forms a protruding second friction part 231 corresponding to the first friction part 122. It is worth mentioning that the second pivot shaft 23 is vertically fixed to the second traveling member 22 along its long axis direction D23a and passes through the first through hole 121, so that the second friction part 222 abuts against the first friction part 122 in a radial direction D23r of the second pivot shaft 23. However, the configuration relationship between them can be adjusted and changed according to actual needs, and this utility model is not limited thereto.

[0052] Specifically, the second traveling member 22 can rotate relative to at least one first traveling member 12 about the second pivot shaft 23 via the second driving member 21, so that the second friction part 231 rubs against the first friction part 122. Further, as... Figure 7 As shown, when at least one of the first walking members 12 and the second walking member 22 are separated by an angle σ2 between 110° and 125°, the second friction part 231 can rub against the first friction part 122.

[0053] In this embodiment, the number of at least one first traveling member 12 is two, but the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the number of at least one first traveling member 12 may also be a single one.

[0054] Re-reference Figure 1 , Figure 5 ,and Figure 6As shown, in this embodiment, one end of each of the first walking members 12 is disposed on the first movable part 112 and can rotate relative to the first fixed part 111, and the other end of each of the first walking members 12 is formed with the first through hole 121 and the first friction part 122, but the present invention is not limited thereto. For example, in other embodiments of the present invention not shown, the first friction part 122 may be formed in only one of the first walking members 12 in the upper limb arm 1.

[0055] Furthermore, the two ends of the second pivot shaft 23 are respectively provided with the first through holes 121 of the two first walking members 12, and each end of the second pivot shaft 23 is provided with a second friction part 231 corresponding to the first friction part 122 of one of the first walking members 12. However, the present invention is not limited to this. For example, in other embodiments of the present invention not shown, the lower limb arm 2 may also have the second friction part 231 formed only at one end of the second pivot shaft 23.

[0056] According to the above configuration, the second traveling member 22 can rotate relative to each of the first traveling members 12 with the second pivot shaft 23 as the center via the second driving member 21, so that the second friction part 231 at both ends of the second traveling member 22 rubs against the first friction part 122 of the two first traveling members 12 respectively.

[0057] [Third Implementation Method] Please see Figure 1 ,and Figures 8 to 10 As shown, this is the third embodiment of the present invention. Since this embodiment is similar to the first embodiment described above, the similarities between the two embodiments will not be repeated. The difference between this embodiment and the first embodiment lies in the connection method between the upper limb arm 1 and the lower limb arm 2, which is roughly described below: It should be noted that the upper limb arm 1 in this embodiment does not include the first pivot shaft 13, and the second walking member 22 does not have the second perforation 221 and the second friction part 222.

[0058] Among them, such as Figure 1 and Figure 8 As shown, the upper limb arm 1 includes the first driving member 11 and at least one first walking member 12, and one end of at least one first walking member 12 is disposed on the first movable part 112 and can rotate relative to the first fixed part 111.

[0059] like Figure 9 and Figure 10As shown, at least one side (e.g., the inner side) of the first walking member 12 is formed with a first friction portion 122'. Furthermore, the lower limb arm 2 includes the second drive member 21 and the second walking member 22 mounted on the second drive member, and a second friction portion 222' corresponding to the first friction portion 122' is formed on one side of the second walking member 22.

[0060] Furthermore, the second traveling member 22 is pivotally connected to the other end of at least one of the first traveling members 12, and at least one of the first traveling members 12 and the second traveling member 22 are pivotally connected to each other along an axial direction D1, and the second friction part 222' can abut against the first friction part 122' in the axial direction D1.

[0061] In this embodiment, at least one of the first traveling members 12 and the second traveling member 22 is pivotally connected to each other via a pivot shaft 3, but the connection method can be adjusted and varied according to actual needs, and this utility model is not limited thereto. It is worth mentioning that, as... Figure 10 As shown, the first friction part 122' and the second friction part 222' are each arc-shaped protrusions. The first friction part 122' has a central angle θ122' between 2° and 7° relative to a center line C1 of the pivot shaft 3, and the second friction part 222' has a central angle θ222' between 10° and 20° relative to the center line C1 of the pivot shaft 3. However, the present invention is not limited to this.

[0062] Specifically, the second traveling member 22 can rotate via the second driving member 21, causing the second friction part 222' to rub against the first friction part 122'. Further, [the text abruptly ends here]. Figure 9 As shown, when at least one of the first walking members 12 and the second walking member 22 are separated by an angle σ3 between 110° and 125°, the second friction part 222' can rub against the first friction part 122'.

[0063] In this embodiment, the number of at least one first traveling member 12 is two, but the present invention is not limited thereto. For example, in other embodiments not shown in the present invention, the number of at least one first traveling member 12 may also be a single one.

[0064] like Figure 9As shown, the first friction portion 122' is formed on one side (e.g., the inner side) of each of the first walking members 12, and the first friction portions 122' of the two first walking members 12 face each other, but the present invention is not limited thereto. For example, in other embodiments of the present invention not shown, the upper limb arm 1 may also have the first friction portion 122' formed on only one side (e.g., the inner side) of one of the first walking members 12.

[0065] Furthermore, the second walking member 22 has second friction portions 222' formed on each of its opposite sides, corresponding to the first friction portions 122' of the two first walking members 12 (that is, the second walking member 22 has two second friction portions 222'), but the present invention is not limited thereto. For example, in other embodiments of the present invention not shown, the lower limb arm 2 may also have the second friction portion 222' formed only on one side of the second walking member 22.

[0066] According to the above configuration, the second traveling member 22 can rotate relative to each of the first traveling members 12 with the pivot shaft 3 as the center via the second driving member 21, so that the second friction parts 222' on opposite sides of the second traveling member 22 can rub against the first friction parts 122' of the two first traveling members 12 respectively.

[0067] [Fourth Implementation Method] Please see Figure 1 and Figure 11 As shown, this is the fourth embodiment of the present invention. Since this embodiment is similar to the first embodiment described above, the similarities between the two embodiments will not be repeated. The main differences between this embodiment and the first embodiment are explained below: In this embodiment, a first friction region 1112 is further formed on one side of the first fixed part 111, and a first protrusion 1121 corresponding to the first friction region 1112 is formed on one side of the first movable part 112. Further, the first friction region 1112 is an arc-shaped protrusion with a central angle between 2° and 7°, but its shape can be adjusted and varied according to actual needs; this invention is not limited thereto.

[0068] Specifically, the first movable part 112 is rotatable relative to the first fixed part 111, so that the first protrusion 1121 rubs against the first friction area 1112. Further, when at least one of the first traveling members 12 and the body 200 are positioned at an angle σ4 between 45° and 85°, the first protrusion 1121 can rub against the first friction area 1112.

[0069] Therefore, each of the walking mechanisms 100 can further generate additional resistance (such as friction) when the upper limb arm 1 rotates relative to the body 200 through the combination of the first protrusion 1121 and the first friction area 1112, so as to share part of the load, thereby further reducing the load on the first motor 1111 and the second motor 211.

[0070] [Technical Effects of the Embodiments of this Utility Model] In summary, the mechanical dog disclosed in this utility model embodiment can generate additional resistance (such as friction) when the lower limb arm rotates relative to the upper limb arm through the combination of the first friction part and the second friction part. This allows the walking mechanism to reduce the load on the motor (such as the first motor) when bearing a large load, thereby achieving the effect of energy saving and extending its working time.

[0071] Furthermore, the mechanical dog disclosed in this embodiment of the present invention can further employ a smaller motor (such as the first motor or the second motor) to achieve its function (such as walking); or, when the motor load is reduced, the mechanical dog can also be used for related operations that require carrying greater weight (such as handling operations).

[0072] Furthermore, the mechanical dog disclosed in this embodiment of the present invention can further reduce the load on the first motor and the second motor by using the combination of the first protrusion and the first friction area to generate additional resistance (such as friction) when the upper limb arm rotates relative to the body.

[0073] The above-disclosed content is only a preferred and feasible embodiment of the present utility model, and is not intended to limit the patent scope of the present utility model. Therefore, all equivalent technical changes made based on the contents of the present utility model specification and drawings are included in the patent scope of the present utility model.

Claims

1. A mechanical dog, characterized in that, The mechanical dog includes: One entity; and Multiple traveling mechanisms are mounted in pairs on both sides of the main body, and each traveling mechanism includes: An upper limb arm is mounted on the body, the upper limb arm comprising: A first driving element is disposed on the body, the first driving element comprising: A first fixed part, comprising a first electric motor; and A first movable part is mounted on the first motor, and the first movable part can rotate relative to the first fixed part by means of the first motor; At least one first traveling member, one end of which is disposed on the first movable part and is rotatable relative to the first fixed part; and A first pivot shaft is fixed to the other end of at least one of the first traveling members, and the first pivot shaft forms a first friction portion; and A lower limb arm, connected to the upper limb arm, the lower limb arm comprising: A second driving member is disposed adjacent to the first driving member; and A second traveling member is mounted on the second driving member; wherein, one end of the second traveling member has a second through hole and a second friction portion located on the hole wall of the second through hole, and the first pivot shaft passes through the second through hole; wherein, the second traveling member can rotate relative to at least one first traveling member along the first pivot shaft by the second driving member, so that the second friction portion rubs against the first friction portion.

2. The mechanical dog according to claim 1, characterized in that, When at least one of the first traveling members and the second traveling member form an angle between 110° and 125°, the second friction part can rub against the first friction part.

3. The mechanical dog according to claim 1, characterized in that, The second friction part is an arc-shaped protrusion with a central angle between 10° and 20°.

4. The mechanical dog according to claim 1, characterized in that, The first pivot shaft is fixed vertically to at least one of the first traveling members along its long axis and passes through the second through hole, so that the first friction part abuts against the second friction part in a radial direction of the first pivot shaft.

5. The mechanical dog according to claim 1, characterized in that, The number of at least one first traveling member is further limited to two, with both ends of the first pivot shaft respectively fixed to the two first traveling members, and one end of the second traveling member disposed between the two first traveling members.

6. The mechanical dog according to claim 1, characterized in that, The second driving element further includes: A second electric motor is disposed within the first movable part; and A linkage assembly, one end of which is mounted to the second motor, and the other end of which is fixed to the second traveling member; The linkage assembly can drive the second traveling member to rotate relative to at least one of the first traveling members via the second motor.

7. A mechanical dog, characterized in that, The mechanical dog includes: One entity; and Multiple traveling mechanisms are mounted in pairs on both sides of the main body, and each traveling mechanism includes: An upper limb arm is mounted on the body, the upper limb arm comprising: A first driving element is disposed on the body, the first driving element comprising: A first fixed part, comprising a first electric motor; and A first movable part is mounted on the first motor, and the first movable part is rotatable relative to the first fixed part by means of the first motor; and At least one first traveling member, one end of which is disposed on the first movable part and is rotatable relative to the first fixed part; wherein, the other end of at least one first traveling member forms a first through hole and a first friction part located on the wall of the first through hole; and A lower limb arm, connected to the upper limb arm, the lower limb arm comprising: A second driving component is disposed adjacent to the first driving component; A second traveling component is mounted on the second driving component; and A second pivot shaft is fixed to the second traveling member and passes through the first through hole, and the second pivot shaft forms a second friction portion corresponding to the first friction portion; wherein the second traveling member can rotate relative to at least one first traveling member about the second pivot shaft by the second driving member, so that the second friction portion rubs against the first friction portion.

8. The mechanical dog according to claim 7, characterized in that, When at least one of the first traveling members and the second traveling member form an angle between 110° and 125°, the second friction part can rub against the first friction part.

9. The mechanical dog according to claim 7, characterized in that, The first friction part is an arc-shaped protrusion with a central angle between 10° and 20°.

10. The mechanical dog according to claim 7, characterized in that, The second pivot shaft is fixed vertically to the second traveling member along its long axis and passes through the first through hole, so that the second friction part abuts against the first friction part in a radial direction of the second pivot shaft.

11. The mechanical dog according to claim 7, characterized in that, The number of at least one first traveling member is further limited to two, each first traveling member having the first through hole, and one of the first traveling members having the first friction portion located on the hole wall of the first through hole; wherein, the two ends of the second pivot shaft are respectively provided through the first through holes of the two first traveling members, and one end of the second pivot shaft has a second friction portion corresponding to the first friction portion.

12. The mechanical dog according to claim 7, characterized in that, The number of at least one first traveling member is further limited to two; each of the first traveling members has a first perforation and a first friction portion located on the wall of the first perforation; each end of the second pivot shaft has a second friction portion corresponding to the first friction portion of one of the first traveling members, so that the second friction portions formed at both ends of the second pivot shaft rub against the first friction portions of the two first traveling members respectively.

13. The mechanical dog according to claim 7, characterized in that, The second driving element further includes: A second electric motor is disposed within the first movable part; and A linkage assembly, one end of which is mounted to the second motor, and the other end of which is fixed to the second traveling member; The linkage assembly can drive the second traveling member to rotate relative to at least one of the first traveling members via the second motor.

14. A mechanical dog, characterized in that, The mechanical dog includes: One entity; and Multiple traveling mechanisms are mounted in pairs on both sides of the main body, and each traveling mechanism includes: An upper limb arm is mounted on the body, the upper limb arm comprising: A first driving element is disposed on the body, the first driving element comprising: A first fixed part, comprising a first electric motor; and A first movable part is mounted on the first motor, and the first movable part is rotatable relative to the first fixed part; and At least one first traveling member, one end of which is disposed on the first movable part and is rotatable relative to the first fixed part; a first friction part is formed on one side of at least one first traveling member; and A lower limb arm, connected to the upper limb arm, the lower limb arm comprising: A second driving member is disposed adjacent to the first driving member; and A second traveling member is mounted on the second driving member and pivotally connected to the other end of at least one of the first traveling members, and a second friction portion corresponding to the first friction portion is formed on one side of the second traveling member; In this configuration, at least one of the first traveling members and the second traveling member are pivotally connected to each other along an axial direction, and the second friction part is capable of abutting against the first friction part in the axial direction; wherein the second traveling member is capable of rotating via the second driving member to cause the second friction part to rub against the first friction part.

15. The mechanical dog according to claim 14, characterized in that, When at least one of the first traveling members and the second traveling member form an angle between 110° and 125°, the second friction part can rub against the first friction part.

16. The mechanical dog according to claim 14, characterized in that, At least one of the first traveling members and the second traveling member are pivotally connected to each other via a pivot shaft; the first friction portion has a central angle between 2° and 7° relative to a center line of the pivot shaft, and the second friction portion has a central angle between 10° and 20° relative to the center line of the pivot shaft.

17. The mechanical dog according to claim 14, characterized in that, The number of at least one first traveling member is further limited to two, wherein one of the first traveling members has the first friction portion formed thereon, and one side of the second traveling member has a second friction portion corresponding to the first friction portion formed thereon.

18. The mechanical dog according to claim 14, characterized in that, The number of at least one first traveling member is further limited to two, with a first friction portion formed on one side of each first traveling member, and the first friction portions of the two first traveling members facing each other; a second friction portion is formed on each of the opposite sides of the second traveling member, so that the second friction portions on the opposite sides of the second traveling member rub against the first friction portions of the two first traveling members respectively.

19. The mechanical dog according to claim 14, characterized in that, The second driving element further includes: A second electric motor is disposed within the first movable part; and A linkage assembly, one end of which is mounted to the second motor, and the other end of which is fixed to the second traveling member; The linkage assembly can drive the second traveling member to rotate relative to at least one of the first traveling members via the second motor.

20. A mechanical dog, characterized in that, The mechanical dog includes: One entity; and Multiple traveling mechanisms are mounted in pairs on both sides of the main body, and each traveling mechanism includes: An upper limb arm is mounted on the body, the upper limb arm comprising: A first driving element is disposed on the body, the first driving element comprising: A first fixing part includes a first electric motor, and a first friction area is formed on one side of the first fixing part; and A first movable part is mounted on the first motor; a first protrusion corresponding to the first friction area is formed on one side of the first movable part; wherein the first movable part is rotatable relative to the first fixed part, so that the first protrusion rubs against the first friction area; and At least one first traveling member, one end of which is disposed on the first movable part and is rotatable relative to the first fixed part; and A lower limb arm, connected to the upper limb arm, the lower limb arm comprising: A second driving member is disposed adjacent to the first driving member; and A second traveling member is mounted on the second driving member and pivotally connected to the other end of at least one of the first traveling members; wherein the second traveling member is rotatable relative to at least one of the first traveling members via the second driving member.

21. The mechanical dog according to claim 20, characterized in that, When at least one of the first walking components is positioned at an angle between 45° and 85° with the body, the first protrusion can rub against the first friction area.

22. The mechanical dog according to claim 20, characterized in that, The second driving element further includes: A second electric motor is disposed within the first movable part; and A linkage assembly, one end of which is mounted to the second motor, and the other end of which is fixed to the second traveling member; The linkage assembly can drive the second traveling member to rotate relative to at least one of the first traveling members via the second motor.

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