TWI498202B - Robot with connection member - Google Patents

Description

Robot with assembled structure

The present invention relates to a robot, and more particularly to a robot having a combined structure in which a second component of a robot can be detachably assembled to a first component by magnetic attraction.

With the rapid development of technology, robots have extended from early manufacturing and scientific-use robots to home-operated robots that assist humans in handling household chores, followed by toy robots that entertain the public.

Most of the robot's construction is often designed with reference to human movements, so the pivotal joints between certain components on the robot, such as between the head and the body, between the upper and lower arms, and the upper legs. Between the legs, etc., it is usually designed to have a function similar to a human joint, thereby allowing relative rotation between the components.

Taking the upper arm and the lower arm of the robot as an example, the lower arm of the robot is not only designed to rotate in the coaxial direction with respect to the upper arm, but in order to enable the lower arm of the robot to lift the object, the lower arm can be designed to be relatively movable. The arm rotates in a non-coaxial direction.

However, most of the robots under the current arm are designed to be unable to be disengaged from the upper arm, so they cannot be replaced for the lower arm, and the storage of the robot is also inconvenient. In addition, the lower arm is subjected to a specific external force, such as improper When applying force or carrying excessive weight, it may also cause the lower arm to be directly disconnected from the upper arm. Causes damage to components inside the lower arm, upper arm and lower arm, and upper arm. While a small number of robots use a snap-fit or lock-up assembly structure to allow the lower arm to be detachably attached to the upper arm, it is obvious that the robot is also between the upper arm and the lower arm. The combination of snapping or locking can not solve the lack of the above-mentioned lower arm when subjected to improper force or overweight, and an additional one is set in the lower arm and the lower arm of the robot. The cushioning device can automatically lower the lower arm from the upper arm when subjected to improper force or heavy weight, but because of the space limited to the inside of the upper arm and the lower arm, the cushioning device is not designed and relatively The cost is also higher.

In view of this, how to develop a robot having a combined structure that can improve the above-mentioned conventional techniques is an urgent problem to be solved.

The purpose of the present invention is to provide a robot having a combined structure, wherein the assembly of the first component and the second component for assembling the robot is composed of a metal member and a magnetic member, whereby the second component can be made of metal The magnetic attraction between the member and the magnetic element can be detachably assembled to the first component, and the lower arm of the conventional robot can be directly applied by the upper arm when subjected to improper force or excessive weight. The arm is broken, which causes damage to the internal components of the lower arm, upper arm and lower arm and upper arm. To additionally provide a buffer device in the upper arm and lower arm of the conventional robot, it is limited to the upper arm and The space inside the lower arm is too small, resulting in the buffer device not being designed, and the cost of the conventional robot is relatively high.

In order to achieve the above object, one of the broader aspects of the present invention provides a robot comprising at least: a first component; a second component; and a grouping structure, respectively, and the first group And the second component is assembled, and the second component is detachably disposed on the first component, and includes: a metal component disposed on the first component; and a magnetic component disposed corresponding to the metal component The second component is configured to be affixed to the metal component such that the second component is assembled to the first component and the second component is detached from the first component when subjected to a specific external force.

1‧‧‧Robot

2‧‧‧Upper arm

20‧‧‧ drive

21‧‧‧ Gear Set

22‧‧‧Axis

23‧‧‧Support

230‧‧‧Setting Department

231‧‧‧Connecting Department

24‧‧‧Limited

240‧‧‧First limit slot

25‧‧‧ Coverage

250‧‧‧second limit slot

3‧‧‧ Lower arm

32‧‧‧ positioning ribs

33‧‧‧ positioning slot

34‧‧‧Fixed plates

35‧‧‧ accommodating space

4‧‧‧Connection structure

40‧‧‧Metal components

41‧‧‧Magnetic components

5‧‧‧Hand palm

A, B‧‧ direction

Fig. 1 is a schematic view showing the external structure of the robot of the preferred embodiment of the present invention.

Fig. 2 is a schematic view showing the internal structure of the robot shown in Fig. 1.

Fig. 3 is a schematic view showing the structure of the magnetic element and the lower arm of the view from the A direction shown in Fig. 2.

Fig. 4 is a schematic view showing the structure of a metal member and a part of the upper hand viewed from the B direction shown in Fig. 2.

Fig. 5 is a schematic view showing the structure of the magnetic component shown in Fig. 3 and a part of the lower arm in another viewing angle.

Fig. 6 is a schematic view showing the structure of the robot shown in Fig. 1 when the robot is assembled to the upper arm in the downward direction of the palm portion.

Fig. 7 is a partial structural view of the robot shown in Fig. 1 when the lower arm is separated from the upper arm.

Figure 8: This is a schematic view of the side view of the upper arm as shown in Figure 7 when the cover element is removed.

Fig. 9 is a schematic view showing the structure of the robot shown in Fig. 1 when the lower arm and the upper arm are perpendicular.

Some exemplary embodiments embodying the features and advantages of the present invention are described in detail in the following description. It is to be understood that the present invention is capable of various modifications in the various aspects of the present invention, and the description and illustration are in the nature of

Please refer to FIG. 1 and FIG. 2 , wherein FIG. 1 is a schematic diagram of the external structure of the robot of the preferred embodiment of the present invention, and FIG. 2 is a schematic diagram of the internal structure of the robot shown in FIG. 1 . As shown in the first and second figures, the robot 1 of the present embodiment may be a robot for manufacturing and scientific use, a home self-propelled robot for assisting humans in handling household chores, or a toy robot for entertainment, but not limited thereto. The robot 1 includes at least a first component, a second component, and a set of connection structures 4, wherein the second component is detachably assembled to the first component by using the assembly structure 4, and for the convenience of understanding the present technology, the following The first component is the upper arm 2 of the robot 1, and the second component is the lower arm 3 of the robot 1, that is, as shown in Fig. 1, to exemplarily illustrate the technology of the present case, it should be noted that The first component and the second component are not limited to being constructed only by the upper arm 2 and the lower arm 3 of the robot 1, respectively, and there is a need for disengagement and assembly between the components of the robot, such as the head and the body. The leg and the lower leg, etc., respectively constitute the first component and the second component of the present case.

In the present embodiment, the assembly structure 4 is configured to detachably assemble the lower arm 3 to the upper arm 2 and includes at least a metal member 40 and a magnetic member 41. The metal member 40 is disposed outside the first end of the upper arm 2 and may be, but not limited to, constructed of a sheet metal member. The magnetic element 41 is fixed to the inside of the first end of the lower arm 3 corresponding to the metal member 40, and the magnetic element 41 can be, but not limited to, a magnet, and the magnetic element 41 is adsorbed and assembled by magnetic force. On the metal member 40, so the next The arm 3 can be detachably assembled to the upper arm 2 by the assembly structure 4.

As can be seen from the above, since the robot 1 of the present invention can utilize the magnetic attraction between the metal member 40 of the assembly structure 4 and the magnetic member 41, the lower arm 3 can be detachably assembled to the upper arm 2, so that the lower arm 3 is not only the lower arm 3 but also the lower arm 3 It can be simply connected to the upper arm 2 or detached from the upper arm 2. Moreover, the robot 1 of the present case can be used without the need to additionally provide a buffer device that is not easy to design and expensive. When the arm 3 is attached to the upper arm 2 and the lower arm 3 is subjected to a specific external force, such as improper force application or weight bearing, improper application of force or load bearing weight exceeds the magnetic force between the magnetic member 41 and the metal member 40. The magnetic element 41 is disengaged from the metal member 40, so that the lower arm 3 can be automatically detached from the upper arm 2, so that the upper arm 2, the lower arm 3, and the components inside the upper arm 2 and the lower arm 3 can be protected, such as a driving device ( As described below), etc. are not destroyed, and the cost of the robot 1 of the present case is relatively cheap.

In the above embodiment, the second end of the arm 2 opposite the first end of the upper arm 2 can be assembled with one body (not shown) of the robot 1 and the first end of the lower arm 3 The second end of one of the arms 3 is connected to the palm 5 of the hand. In addition, the upper arm 2 and the lower arm 3 are each composed of an upper casing and a lower casing.

Please refer to Fig. 3 and Fig. 4, together with Fig. 2, wherein Fig. 3 is a structural diagram of the magnetic element and part of the lower arm from the A direction of view shown in Fig. 2, and Fig. 4 is the second figure. The structure of the metal member and part of the upper hand viewed from the B direction is shown in the figure. As shown in FIGS. 2-4, in some embodiments, the lower arm 3 further has a plurality of positioning ribs 32 disposed in the first end of the lower arm 3 and adjacent to the magnetic member 41, and a plurality of positioning ribs 32. Relatively protruding from the magnetic element 41, in other words, the plurality of positioning ribs 32 are relatively higher than the magnetic element 41 and adjacent to the outside of the lower arm 3 (as shown in FIG. 5), and in addition, a plurality of positioning ribs 32 Defining a positioning slot 33, the positioning groove 33 is disposed opposite to the metal member 40, and the positioning groove 33 is sized to correspond to the size of the metal member 40. The positioning groove 33 is for accommodating and positioning the metal member 40, and the lower arm 3 is to be assembled. In the case of the arm 2, the metal member 40 is firstly placed in the positioning groove 33 and abuts against the plurality of positioning ribs 32, and is then adsorbed and assembled with the magnetic member 41. However, by the arrangement of the plurality of positioning ribs 32, not only can be guided And positioning the lower arm 3 group is connected to the upper arm 2, and can strengthen the grouping relationship between the lower arm 3 and the upper arm 2, so as to avoid the situation that the lower arm 3 group is swayed when the upper arm 2 is connected.

In the above embodiment, the shape of the metal member 40 may be vertically symmetrical and bilaterally symmetric. Therefore, since the size of the positioning groove 33 defined between the plurality of positioning ribs 32 corresponds to the size of the metal member 40, the metal The member 40 can be accommodated in the positioning groove 33 so as to be vertically up and down, whereby the lower arm 3 can be assembled to the upper arm 2 in the direction in which the palm portion 5 is upward as shown in FIG. 1 . As shown in Fig. 6, the upper arm 2 is assembled in a direction in which the palm portion 5 is directed downward. Of course, the shape of the metal member 40 may not be vertically symmetrical or bilaterally symmetrical. Therefore, since the metal member 40 can only be accommodated in the positioning groove 33 in a specific direction, the lower arm 3 can be assembled to the upper arm 2 when assembled. Provides a foolproof feature.

Referring to FIG. 2 again, the lower arm 3 may further have a fixing portion disposed corresponding to the magnetic member 41 for fixing the magnetic member 41 in the lower arm 3. Further, in some embodiments, The fixing portion may be composed of a plurality of fixing plates 34, and a plurality of fixing plates 34 are staggered in the lower arm 3, and define a receiving space corresponding to the position and size of the magnetic member 41. 35, the magnetic element 41 can be accommodated in the accommodating space 35 while being fixed in the lower arm 3 by abutting against the plurality of fixing plates 34.

Please refer to Figures 7 and 8 together with Figures 1 and 2, where Figure 7 is shown in Figure 1. A schematic diagram of a part of the structure of the robot when the lower arm is disengaged from the upper arm, and FIG. 8 is a schematic view of the side view of the upper arm when the cover member is removed as shown in FIG. 7, as shown in Figures 1, 2, 7, and 8. In some embodiments, in order to position the lower arm 3 relative to the upper arm 2 in a first position, such as between the lower arm 3 and the upper arm 2 (as shown in Figure 9), and the second position, For example, the lower arm 3 and the upper arm 2 are parallel (as shown in FIG. 1), and rotate between them. In other words, even if the lower arm 3 can rotate in a non-coaxial direction with respect to the upper arm 2, the upper arm 2 can be further The driving device is partially connected to the metal member 40 for driving the metal member 40 to rotate, so that when the magnetic member 41 in the lower arm 2 is adsorbed and assembled on the metal member 40, the magnetic member 41 can be adapted to the metal. The rotation of the member 40 causes the lower arm 3 to rotate relative to the upper arm 2 between the first position and the second position.

In the above embodiment, the driving device may include a driver 20, a gear set 21, a shaft portion 22, and a support portion 23. The driver 20 is disposed in the upper arm 2 and may be, but not limited to, a motor or a solenoid valve. The gear set 21 is also disposed within the upper arm 2 and may be, but is not limited to, comprised of a plurality of bevel gears that are rotated by actuation of the driver 20. The shaft portion 22 is rotatably disposed in the upper arm 2 and is coupled to the gear set 21, and the opposite end portions of the shaft portion 22 respectively protrude from the upper arm 2, and further, the opposite ends of the shaft portion 22 are At least one end portion has a D-axis structure, and when the gear set 21 rotates, the shaft portion 22 is driven to rotate synchronously.

The support portion 23 is disposed outside the upper arm 2 and has a plurality of sleeve portions 230 and a connecting portion 231 connected between the plurality of sleeve portions 230 and perpendicular to the plurality of sleeve portions 230, wherein the plurality of sleeves The setting portion 230 is sleeved on the corresponding end portion of the shaft portion 22 protruding from the outer arm 2 and located outside the upper arm 2, and the connecting portion 231 is provided for the metal member 40. When the shaft portion 22 is rotated, the plurality of portions are rotated. The sleeve portion 230 and the connecting portion 231 are The shaft portion 22 is driven to rotate synchronously, thereby driving the metal member 40 to rotate. Thus, when the magnetic member 41 in the lower arm 2 is adsorbed and assembled on the metal member 40, the lower arm 3 can be opposite to the upper arm 2 Rotating between a position and a second position.

In some embodiments, as shown in FIG. 8 , the driving device further has at least one limiting portion 24 disposed outside the upper arm 2 and surrounding the periphery of the sleeve portion 230 of the corresponding supporting portion 23 . The position portion 24 limits the rotation range of the metal member 40 by means of the abutting sleeve portion 230. Further, the limiting portion 24 can be, but not limited to, a circular arc-shaped strip structure and has a first limit position. The slot 240, the first limiting slot 240 can accommodate the partial sleeve portion 230. When the plurality of sleeve portions 230 and the connecting portion 231 are synchronously rotated by the shaft portion 22, they are received in the first limiting slot 240. The range that can be moved by the sleeve 230 corresponds to the opening size of the first limiting slot 240. Therefore, by designing the opening size of the first limiting slot 240 of the limiting portion 24, the plurality of sleeves can be limited. The range of rotation of the metal member 40 driven by the portion 230 and the connecting portion 231 further limits the range in which the lower arm 3 can rotate relative to the upper arm 2. In the above embodiment, the arc angle of the first limiting slot 240 is 90 degrees, whereby the lower arm 3 can be opposite to the upper arm 2 in the first position shown in FIG. 9 and the first one shown in FIG. Rotate between the two positions.

In addition, as shown in FIGS. 2 and 7, the upper arm 2 further has at least one covering portion 25 which is sleeved on the corresponding end portion of the shaft portion 22 which protrudes from the upper arm 2, and is rotatable when the shaft portion 22 is rotated. The shaft portion 22 is driven to rotate synchronously, and the covering portion 25 is configured to cover the sleeve portion 230 and the limiting portion 24 of the support portion 23. Moreover, in some embodiments, the cover portion 25 further has a second limiting slot 250 for receiving the partial sleeve portion 230. When the plurality of sleeve portions 230 and the connecting portion 231 are driven by the shaft portion 22 When the synchronous rotation is performed, the range that can be moved by the sleeve 230 accommodated in the second limiting slot 250 corresponds to the opening size of the second limiting slot 250, so the second limit of the covering portion 25 is designed. Opening of the bit slot 250 The size of the mouth can be used to limit the range in which the lower arm 3 can be rotated relative to the upper arm 2.

In summary, the robot having the assembled structure of the present invention has the metal component of the assembled structure disposed on the first component, and the magnetic component of the assembled structure is disposed on the second component, thereby utilizing the metal component and the magnetic component The magnetic attraction enables the second component to be detachably assembled to the first component, so that the second component can be simply assembled or detached from the first component, and the second component can be easily replaced and stored. The robot, and more preferably, when the second component is connected to the first component and the second component is subjected to improper force or load weight, the improper force or load bearing weight exceeds the magnetic force between the magnetic component and the metal component Separating the magnetic element from the metal member such that the second component can be automatically disengaged from the first component, such that the first component, the second component, and components within the first component and the second component, such as a drive device, are protected from being Destruction, at the same time, the robot of the present case protects the first component, the second component, and the first component and the second group without additionally having a buffering device that is difficult to design and costly. Within the element, and therefore the cost of the robot in this case is also relatively inexpensive.

The present invention has been described in detail by the above-described embodiments, and may be modified by those skilled in the art, without departing from the scope of the appended claims.

2‧‧‧Upper arm

20‧‧‧ drive

21‧‧‧ Gear Set

22‧‧‧Axis

25‧‧‧ Coverage

3‧‧‧ Lower arm

34‧‧‧Fixed plates

35‧‧‧ accommodating space

4‧‧‧Connection structure

40‧‧‧Metal components

41‧‧‧Magnetic components

5‧‧‧Hand palm

A, B‧‧ direction

Claims (15)

A robot having a combined structure, comprising: a first component; a second component; and a set of joint structures respectively associated with the first component and the second component, and the second component is detachable Disposed on the first component, and comprising: a metal component disposed on the first component; and a magnetic component disposed in the second component corresponding to the metal component for The metal component is adsorbed such that the second component is coupled to the first component by a magnetic force of the magnetic component and the metal component, and when the specific external force exceeds the magnetic force, the second component is caused by the first component A component is detached. The robot having the assembled structure according to claim 1, wherein the magnetic component is a magnet. The robot having the assembled structure according to claim 1, wherein the first component is an upper arm and the second component is a lower arm. The robot having the assembled structure according to claim 1, wherein the second component further has a fixing portion for fixing the magnetic component in the second component. The robot having the assembled structure according to claim 4, wherein the fixed portion is composed of a plurality of fixed plates, and the plurality of fixed plates are alternately disposed in the second component and defined Out of position with the magnetic component And a size corresponding to one of the accommodating spaces for accommodating the magnetic component, and the magnetic component is fixed in the second component by abutting against the plurality of fixing plates. The robot having the assembled structure according to claim 1, wherein the second component further has a plurality of positioning ribs disposed in the second component and adjacent to the magnetic component, and is relatively convex The magnetic component, wherein the plurality of positioning ribs define a positioning slot, the positioning slot being sized and positioned opposite the metal component for receiving and positioning the metal component. The robot having the assembled structure according to claim 6, wherein the metal member has a shape that is vertically symmetrical and bilaterally symmetrical. The robot having the assembled structure according to claim 1, wherein the first component further has a driving device for driving the metal member to rotate, and the metal member is attracted to the metal member. The magnetic component rotates synchronously to rotate the second component relative to the first component. The robot having the assembled structure according to claim 8, wherein the driving device comprises at least: a gear set disposed in the first component; a driver disposed in the first component, and Driving the gear set to rotate; a shaft portion is rotatably disposed in the first component and coupled to the gear set, and opposite ends of the shaft portion respectively protrude outside the first component, when the gear When the group rotates, the shaft portion rotates synchronously; and a support portion is disposed outside the first component, and is partially sleeved on opposite ends of the shaft portion protruding from the first component, the The support portion is configured to be disposed on the metal member, and when the shaft portion rotates, the support portion is driven by the shaft portion to rotate synchronously, and the metal member rotates. The robot having the assembled structure according to claim 9, wherein the driver is composed of a motor or a solenoid valve. The robot having the assembled structure according to claim 9, wherein at least one of the ends of the shaft portion has a D-shaped structure. The robot having the assembled structure according to claim 9 , wherein the supporting portion comprises: a plurality of sleeve portions respectively disposed on corresponding ends of the shaft portion protruding from the first group The upper portion is located outside the first component; a connecting portion is connected between the plurality of sleeve portions and perpendicular to the plurality of sleeve portions for the metal member to be disposed. The robot having the assembled structure according to claim 12, wherein the robot further has at least one limiting portion disposed outside the first component and surrounding the corresponding periphery of the sleeve, and having a The first limiting slot receives a portion of the sleeve portion, and the range of movement of the sleeve portion corresponds to the size of the first limiting slot, so that the limiting portion limits the rotation range of the metal member, and further Limiting the range of rotation of the second component relative to the first component. The robot having the assembled structure according to claim 13 , wherein the second component further has at least one covering portion disposed on a corresponding end of the shaft portion protruding from the first component And synchronously rotating due to the rotation of the shaft portion for covering the sleeve portion and the limiting portion. The robot of the assembly structure of claim 14, wherein the cover portion further has a second limiting slot for receiving a portion of the sleeve portion, so that the range of movement of the sleeve portion corresponds to In the size of the second limiting slot, the covering portion limits the range of rotation of the metal member, and the reinforced portion limits the range in which the second component is rotatable relative to the first component.