CN111038616B - Spring type robot leg assembly connecting structure - Google Patents
Spring type robot leg assembly connecting structure Download PDFInfo
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- CN111038616B CN111038616B CN201911409942.4A CN201911409942A CN111038616B CN 111038616 B CN111038616 B CN 111038616B CN 201911409942 A CN201911409942 A CN 201911409942A CN 111038616 B CN111038616 B CN 111038616B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention belongs to the technical field of robots. The invention discloses a spring type robot leg component connecting structure, which aims to solve the problem that a leg component of an existing multi-legged robot cannot be rapidly disassembled and assembled. The base body of the robot is provided with a first connecting hole, the first connecting hole is internally provided with a quick-release key and a first elastic piece, the leg portion is provided with a first mounting hole, the first mounting hole is internally provided with a locking piece and a second elastic piece, the quick-release key is positioned in the first connecting hole under the action of the first elastic piece, and one end of the locking piece extends out of the first mounting hole under the action of the second elastic piece. The locking piece is inserted into the first connecting hole by means of the acting force of the second elastic piece on the locking piece, connection of the leg and the base body is achieved, the acting force of the first elastic piece is overcome by reversely pressing the quick-release button, so that the acting force of the second elastic piece on the locking piece is overcome, the locking piece is pushed out to the outside of the first connecting hole, the insertion connection of the locking piece and the first connecting hole is removed, and the leg and the base body are quickly detached.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a spring type robot leg component connecting structure for a multi-legged robot.
Background
A walking robot is a ground moving device propelled by a computer-controlled foot mechanism, and a walking robot with more than or equal to four feet is generally called a multi-legged walking robot. In view of the multi-legged walking motion characteristics, multi-legged walking robots have the absolute advantage over wheeled robots to work in unstructured, uncertain environments.
However, in the existing consumer-type multi-legged robot, the leg assembly of the robot is usually connected to the base of the robot in a non-detachable manner. Like this, not only can lead to whole robot's packing and transportation bulky, be unfavorable for transportation and storage, moreover to polypod robot, the shank subassembly is the part that damages in its motion process the easiest, and non-detachable connection structure leads to can't realizing quick assembly disassembly to it and changing, increases its maintenance use cost, influences the result of use of whole polypod robot greatly.
Disclosure of Invention
In order to solve the problems caused by the fact that the leg component of the existing multi-legged robot cannot be detached quickly, the invention provides a spring type robot leg component connecting structure. The spring type robot leg component connecting structure is used for connecting a base body and a leg in a robot and comprises a quick release key, a first elastic piece, a locking piece and a second elastic piece;
the base body is provided with a first connecting hole, the quick release button is positioned in the first connecting hole, and the first elastic piece is positioned between the base body and the quick release button; when the first elastic piece is in a natural state, the first elastic piece presses the quick release button to a connecting end face far away from the base body; when acting force is applied to the quick release button along the axial direction of the first connecting hole, the quick release button can be pressed to the connecting end surface of the base body by overcoming the first elastic piece;
a first mounting hole is formed in the leg, the locking piece is located in the first mounting hole, and the second elastic piece is located between the leg and the locking piece; when the second elastic piece is in a natural state, the second elastic piece presses the end part of the locking piece out of the first mounting hole; when acting force is applied to the locking piece along the axial direction of the first mounting hole, the locking piece can be pressed into the first mounting hole by overcoming the second elastic piece;
the locking piece can extend into the first connecting hole under the action of the second elastic piece, and the quick release key can press the locking piece back into the first mounting hole when overcoming the situation that the first elastic piece moves to the hole opening of the first connecting hole.
Preferably, a fixing column is arranged on the base body; the fixing column and the first connecting hole are arranged in parallel and used for sleeving and installing the first elastic piece.
Preferably, the quick release button is a cross structure and comprises a vertical end and a horizontal end; the horizontal end is provided with a guide hole which is formed along the axial direction, and the horizontal end is sleeved on the fixed column through the guide hole and is in contact with the first elastic piece.
Preferably, a limiting groove is formed in the base body, and the limiting groove is formed in the axial direction of the first connecting hole; the quick release key is provided with a limit table along the radial direction of the first connecting hole; the limiting table is located in the limiting groove and used for limiting the position of the quick release button in reciprocating motion along the connecting hole.
Preferably, the limit table is movably connected with the quick release button.
Preferably, a positioning column is arranged in the first mounting hole; the positioning column and the first mounting hole are coaxially arranged and used for sleeving and mounting the second elastic piece and the locking piece.
Preferably, the quick release button and the locking piece are respectively provided with an electric connector; when the locking piece is connected with the first connecting hole, the quick-release key and the electric connecting piece on the locking piece are in contact connection.
Preferably, a positioning rail is arranged on the base body, a positioning table is arranged on the leg portion, the positioning rail is located around the first connecting hole, and the first mounting hole is located on the positioning table; the positioning table can slide back and forth along the positioning track to form quick alignment of the first mounting hole and the first connecting hole.
Preferably, the first connection hole is in a through hole structure.
Preferably, the base body is further provided with a second connecting hole, and the leg part is further provided with a second mounting hole; the second connecting hole and the first connecting hole are respectively positioned at the upper connecting end and the lower connecting end of the base body, and a quick release button and a first elastic piece which have the same structure and installation relation with the first connecting hole are arranged in the second connecting hole; the second mounting hole and the first mounting hole are respectively positioned on the upper mounting surface and the lower mounting surface of the leg part, and a locking piece and a second elastic piece which have the same structure and mounting relation with the first mounting hole are arranged in the second mounting hole.
According to the quick release button and the quick release method, the first connecting hole is formed in the base body part of the robot, the quick release button and the first elastic piece are arranged in the first connecting hole, the first mounting hole is formed in the leg part, the locking piece and the second elastic piece are arranged in the first mounting hole, meanwhile, the quick release button is located in the first connecting hole under the action of the first elastic piece, and the locking piece is located at a position extending out of the first mounting hole under the action of the second elastic piece. At this moment, after aligning first connecting hole and first mounting hole, with the help of the effort of second elastic component to locking piece under the natural state, just can make locking piece and first connecting hole keep normal state cartridge connected relation, realize the high-speed joint of shank and base member, simultaneously, press the effort of quick detach button and overcome first elastic component through first connecting hole reversal, thereby contact and overcome the effort of second elastic component with the locking piece, release the locking piece to first connecting hole outside, remove the cartridge between locking piece and the first connecting hole and be connected, realize the quick separation to shank and base member. Like this, not only can reduce the packing size of whole robot greatly, improve the convenience of transportation and storage, but also can carry out quick assembly disassembly to the shank and change in the use, guarantee reliability and the result of use of robot.
Drawings
FIG. 1 is an exploded view of a base coupled to a leg assembly in an embodiment of a robot;
FIG. 2 is a schematic view of the outline structure of a base in the robot according to the embodiment;
FIG. 3 is a schematic view of a partial cross-sectional structure of a base in an embodiment robot;
FIG. 4 is a schematic view of a partial profile of a leg assembly in an embodiment robot;
fig. 5 is a partial sectional structural view of a leg assembly in an embodiment robot.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
Referring to fig. 1 to 5, the connecting structure for a leg assembly of a connected robot in this embodiment is used for connecting a base 1 and a leg 2 in a robot, and includes a quick release button 3, a first elastic member 4, a locking member 5, and a second elastic member 6.
The base body 1 is provided with a plurality of upper connection ends 11 and a plurality of lower connection ends 12. The plurality of upper connecting ends 11 and the plurality of lower connecting ends 12 are uniformly distributed in the circumferential direction and are in one-to-one correspondence in the axial direction. Therefore, the base body and the leg parts can be fixedly connected by virtue of the plurality of groups of upper connecting ends and lower connecting ends which are in one-to-one correspondence along the axial direction.
The upper connection end 11 is provided with a first connection hole 111 and penetrates the upper connection end 11 in an axial direction. The quick release button 3 is located in the first connection hole 111 and can perform axial reciprocating movement along the first connection hole 111. The first elastic member 4 is located between the body of the upper connection end 11 and the quick release button 3, so as to form an upward acting force on the quick release button 3, i.e. the quick release button 3 is held in the first connection hole 111.
The lower connection end 12 is provided with a second connection hole 121 and penetrates the lower connection end 12 in the axial direction. The second connection hole 121 is also provided with a quick release button 3 and a first elastic member 4, wherein the quick release button 3 can axially reciprocate along the second connection hole 121, and the first elastic member 4 is located between the body of the lower connection end 12 and the quick release button 3 to form a downward acting force on the quick release button 3, i.e. the quick release button 3 is held in the second connection hole 121.
The leg portion 2 is provided with an upper attachment surface 21 and a lower attachment surface 22. The upper connecting surface 21 and the lower connecting surface 22 are located on the same axis and maintained in a parallel relationship.
The upper attachment surface 21 is provided with a first attachment hole 211, and the second elastic member 6 and the locking member 5 are located in the first attachment hole 211. The locking member 5 can axially reciprocate along the first mounting hole 211, one end of the second elastic member 6 is in contact with the bottom of the first mounting hole 211, and the other end of the second elastic member is in contact with the locking member 5, so as to form an axial acting force on the locking member 5, so that one end of the locking member 5 is located in the first mounting hole 211, and the other end of the locking member is located outside the first mounting hole 211.
The lower attachment surface 22 is provided with a second attachment hole 221, and the second elastic member 6 and the locking member 5 are also provided in the second attachment hole 221. The locking member 5 can axially reciprocate along the second mounting hole 221, one end of the second elastic member 6 contacts with the bottom of the second mounting hole 221, and the other end contacts with the locking member 5, so as to form an axial acting force on the locking member 5, thereby enabling one end of the locking member 5 to be located in the second mounting hole 221 and the other end to be located outside the second mounting hole 221.
Meanwhile, the aperture sizes of the first and second connection holes 111 and 121 correspond to the outer diameter size of the locking member 5, i.e., the locking member 5 can be axially inserted into the first and second connection holes 111 and 121.
Referring to fig. 2 to 5, the specific process of the base and the leg assembly of the robot in this embodiment to perform the dismounting operation includes:
the first elastic element 4 and the second elastic element 6 are in a natural state before the base 1 is attached to the leg 2. At this time, the two first elastic members 4 respectively press the quick release button 3 located at the upper connection end 11 into the first connection hole 111 and the quick release button 3 located at the lower connection end 12 into the second connection hole 121, and the two second elastic members 6 respectively push the locking members 5 of the upper connection surface 21 and the lower connection surface 22 out of the first mounting hole 211 and the second mounting hole 221.
When the base body 1 and the leg portion 2 are connected, firstly, the leg portion 2 is placed between the upper connecting end 11 and the lower connecting end 12, at this time, the locking pieces 5 located on the upper connecting surface 21 and the lower connecting surface 22 are respectively recovered to the first mounting hole 211 and the second mounting hole 221 after overcoming the acting force corresponding to the second spring piece 6 under the axial pressing action of the upper connecting end 11 and the lower connecting end 12, then, the leg portion is pushed towards the base body direction along the horizontal direction, when the two locking pieces 5 are respectively aligned with the first connecting hole 111 and the second connecting hole 121 along the axial direction, the two locking pieces 5 respectively extend out of the first mounting hole 211 to the first connecting hole 111 and extend out of the second mounting hole 221 to the second connecting hole 121 under the action of the respective corresponding second elastic pieces 6, and therefore the rapid inserting and fixing connection of the leg portion 2 and the base body 1 is realized.
When carrying out the dismantlement between base member 1 and the shank 2, carry out the axial through first connecting hole 111 and second connecting hole 121 respectively and bulldoze two quick detach buttons 3, make two quick detach buttons 3 overcome respectively and correspond behind the effort of first elastic component 4, produce axial thrust and overcome the effort of second elastic component 6 to locking piece 5, thereby release locking piece 5 to the outside of first connecting hole 111 and second connecting hole 121, it is fixed to remove the connection of locking piece 5 between base member 1 and shank 2, accomplish the quick dismantlement to the shank.
Wherein, in the present embodiment, the first elastic member 4 and the second elastic member 6 take the form of a coil spring structure. Similarly, in other embodiments, the first elastic member 4 and the second elastic member 6 may also adopt other structural forms of elastic members to pre-stress the quick release button 3 and the locking member 5 according to design requirements. For example, a belleville spring is selected.
In the present embodiment, as shown in fig. 2 and fig. 3, two fixing posts 7 are provided at the upper connecting end 11 of the base body 1. The two fixing posts 7 are distributed on two sides of the first connecting hole 111, and are parallel to the first connecting hole 111 for mounting the first elastic element 4. Therefore, the position and the compression direction of the first elastic piece can be fixed by the fixing column, so that the situation that the deviation is generated and stable and accurate pre-pressure cannot be formed on the quick release key is avoided, and the accuracy of the position of the quick release key is ensured. Similarly, two fixing columns 7 are also arranged at the position of the lower connecting end 12 of the base body 1 and used for sleeving and installing the corresponding first elastic piece 4 and fixing the position and the compression direction of the first elastic piece.
Further, as shown in fig. 1 and fig. 3, in this embodiment, the quick release button 3 is a cross structure, and includes a vertical end and a horizontal end, and a guide hole is axially formed on the horizontal end. At the moment, the horizontal end is sleeved on the fixed column through the guide hole, reciprocates along the fixed column and contacts with the first elastic piece. Like this, with the help of the guide effect between fixed column and the horizontal end, can improve the vertical end and carry out axial reciprocating motion's precision, avoid quick detach button removal process to take place to block, guarantee that quick detach button can produce timely accurate thrust to locking piece, improve reliability and the flexibility to quick detach button operation.
As shown in fig. 3, in the present embodiment, a limiting groove 122 is further provided at the lower connection end 12 of the base body 1, and is opened along the axial direction of the second connection hole 121. Meanwhile, a limiting table 31 along the radial direction of the second connecting hole is arranged on the quick release key 3. At the moment, the limiting table is arranged in the limiting groove, so that the connection between the quick release button and the base body can be realized, the reciprocating position of the quick release button relative to the base body can be limited, and the precision and the rapidness of the reciprocating movement control of the quick release button are improved. For example, just can directly push the quick detach button to the end just in time push out first connecting hole with the locking piece with the help of the spacing groove, and can not lead to the quick detach button to get into the first mounting hole of shank, avoid quick detach button and first mounting hole to take place cartridge once more to be connected to reach and remove the locking piece and be connected with first connecting hole fast. Similarly, the upper connecting end of the base body is also provided with a limiting groove for guiding and positioning the quick-release key positioned at the upper connecting end.
Furthermore, the limiting table is movably connected with the body of the quick release button, for example, an umbrella buckle type structure or a bolt type structure is adopted. Therefore, the quick connection between the limiting table and the limiting groove can be realized, the quick disassembly and assembly of the quick-disassembly key can be realized, and the convenience of assembly and maintenance is improved.
Referring to fig. 5, in the present embodiment, a positioning column 8 is disposed in the first mounting hole 211, and the positioning column 8 is disposed coaxially with the first mounting hole 211 and is used for mounting the second elastic element 6 and the locking element 5 in a sleeved manner. Like this, with the help of the direction fixed action of reference column to second elastic component and locking piece, can improve the position precision of locking piece reciprocating motion in first mounting hole, and then guarantee the flexibility of dismouting between base member and the shank. Similarly, a positioning column is also arranged in the second mounting hole and used for sleeving and mounting the corresponding second elastic part and the corresponding locking part, so that the flexibility of dismounting and mounting between the base body and the leg part is ensured.
Referring to fig. 1 to 5, an electrical connector 9, such as a pogopin core, is further disposed on the quick release button 3 and the locking member 5 of the present embodiment, and when the locking member 5 is connected to the first connection hole 111, the electrical connector 9 on the quick release button 3 and the locking member 5 are in contact connection. At this moment, just can replace the circuit with the help of electric connector and carry out the conveying of signal of telecommunication and control signal between base member and the shank, realize the control to the shank action, not only can avoid like this to laying of extra circuit and using, optimize the circuit structure of robot, but also can directly accomplish the break-make connection of signal transmission circuit along with being connected between shank and the base member and breaking off, save the extra operation of connecting the circuit break-make, improve the convenience of operation.
As shown in fig. 2 to 5, the positioning rail 13 is provided on the upper connection end 11 of the base body 1 of the present embodiment, and the positioning table 23 is provided on the upper connection surface 21 of the leg portion 2. Wherein, the positioning rail 13 is a three-side positioning structure and is located around the first connection hole 111, and the first mounting hole 211 is located on the positioning table 23. At this moment, when the leg 2 is connected with the base body 1, the positioning table 23 can slide along the positioning rail 13 in a reciprocating manner, so that the first mounting hole 211 and the first connecting hole 111 can be positioned and aligned quickly, and the quick convenience of mounting is improved. Similarly, a positioning guide rail and a positioning table are respectively arranged on the lower connecting end of the base body and the lower connecting surface of the leg portion, and rapid positioning and installation between the lower connecting end of the base body and the lower connecting surface of the leg portion are assisted.
In addition, in this embodiment, the first connecting hole and the second connecting hole are both in a through hole structure form, so that an operator can directly push the quick button to move axially through the first connecting hole and the second connecting hole, and the removal of the plug-in connection of the locking piece with the first connecting hole and the second connecting hole is completed. Similarly, in other embodiments, according to the structural form and design requirements of the robot base body, the first connecting hole and the second connecting hole may also adopt other structural forms, for example, axial sliding grooves are formed in the side edges of the first connecting hole and the second connecting hole, a connecting rod connected with the quick button is installed through the sliding grooves, and the insertion connection between the locking piece and the first connecting hole and the second connecting hole can also be released by driving the connecting rod along the sliding grooves.
Furthermore, in this embodiment, to the robot that is equipped with link and lower link, through last link and the lower link at the base member set up connecting hole and quick detach button respectively, connect the face simultaneously on corresponding shank and also set up mounting hole and locking piece respectively with connecting the face down to quick assembly disassembly when the face is connected with the face down with the last of shank respectively to link in the realization base member and lower link. Similarly, in other embodiments, the quick assembly and disassembly connection in the above structural form may be performed only on the lower connection surface of the lower connection end and the lower connection surface of the leg portion of the base body, and the insertion connection in the pin shaft structural form is employed between the upper connection surface of the leg portion and the upper connection surface of the base body.
Claims (8)
1. A spring type robot leg component connecting structure is used for connecting a base body and a leg in a robot and is characterized by comprising a quick release key, a first elastic piece, a locking piece and a second elastic piece;
the base body is provided with a first connecting hole, the quick release button is positioned in the first connecting hole, and the first elastic piece is positioned between the base body and the quick release button; when the first elastic piece is in an initial state, the first elastic piece presses the quick release button to a connecting end face far away from the base body; when acting force is applied to the quick release button along the axial direction of the first connecting hole, the quick release button can be pressed to the connecting end surface of the base body by overcoming the elasticity of the first elastic piece;
a first mounting hole is formed in the leg, the locking piece is located in the first mounting hole, and the second elastic piece is located between the leg and the locking piece; when the second elastic piece is in an initial state, the second elastic piece presses the end part of the locking piece to the outside of the first mounting hole; when acting force is applied to the locking piece along the axial direction of the first mounting hole, the locking piece can be pressed into the first mounting hole by overcoming the elastic force of the second elastic piece;
the locking piece extends into the first connecting hole under the action of the second elastic piece, and the quick release key can press the locking piece back into the first mounting hole when overcoming the elasticity of the first elastic piece and moving to the hole opening of the first connecting hole;
the quick release key and the locking piece are respectively provided with an electric connector; when the locking piece is connected with the first connecting hole, the electric connecting piece on the quick-release key and the locking piece are in contact connection;
the first connecting hole is in a through hole structure form.
2. The spring robot leg assembly connection structure of claim 1, wherein the base has a fixation post thereon; the fixing column and the first connecting hole are arranged in parallel and used for sleeving and installing the first elastic piece.
3. The spring type robot leg assembly connection structure of claim 2, wherein the quick release button is a cross-shaped structure including a vertical end and a horizontal end; the horizontal end is provided with a guide hole which is formed along the axial direction, and the horizontal end is sleeved on the fixed column through the guide hole and is in contact with the first elastic piece.
4. The spring type robot leg assembly connecting structure according to claim 1, wherein a limiting groove is formed in the base, and the limiting groove is formed along an axial direction of the first connecting hole; the quick release key is provided with a limiting table extending along the radial direction of the first connecting hole; the limiting table is located in the limiting groove and used for limiting the position of the quick release button in reciprocating motion along the first connecting hole.
5. The spring robot leg assembly attachment structure of claim 4, wherein the stop block is removably attached to the quick release button.
6. The spring type robot leg assembly connecting structure of claim 1, wherein a locating post is disposed within the first mounting hole; the positioning column and the first mounting hole are coaxially arranged and used for sleeving and mounting the second elastic piece and the locking piece.
7. The spring robot leg assembly connection structure of any of claims 1-6, wherein a locating track is provided on the base, a locating table is provided on the leg, and the locating track is positioned around the first connection hole, the first mounting hole being positioned on the locating table; the positioning table can slide back and forth along the positioning track to form quick alignment of the first mounting hole and the first connecting hole.
8. The spring type robot leg assembly connecting structure according to any one of claims 1-6, wherein the base is further provided with a second connecting hole, and the leg is further provided with a second mounting hole; the second connecting hole and the first connecting hole are respectively positioned at the upper connecting end and the lower connecting end of the base body, and a quick release button and a first elastic piece which have the same structure and installation relation with the first connecting hole are arranged in the second connecting hole; the second mounting hole and the first mounting hole are respectively positioned on the upper mounting surface and the lower mounting surface of the leg part, and a locking piece and a second elastic piece which have the same structure and mounting relation with the first mounting hole are arranged in the second mounting hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911409942.4A CN111038616B (en) | 2019-12-31 | 2019-12-31 | Spring type robot leg assembly connecting structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911409942.4A CN111038616B (en) | 2019-12-31 | 2019-12-31 | Spring type robot leg assembly connecting structure |
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| CN111038616A CN111038616A (en) | 2020-04-21 |
| CN111038616B true CN111038616B (en) | 2020-12-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113290575A (en) * | 2021-06-07 | 2021-08-24 | 潍坊新松机器人自动化有限公司 | Intelligent robot quick locking device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201494418U (en) * | 2009-02-26 | 2010-06-02 | 徐州海伦哲专用车辆股份有限公司 | Support leg device used for movable construction device with self loading and unloading function |
| US8657042B2 (en) * | 2010-10-04 | 2014-02-25 | China Industries Limited | Walking machine |
| CN102582715B (en) * | 2012-03-15 | 2013-04-24 | 北京航空航天大学 | Mechanical foot device imitating cattle foot |
| CN206243293U (en) * | 2016-10-13 | 2017-06-13 | 西南科技大学 | A kind of high speed four-leg bionic robot and its bionic leg |
| CN208439336U (en) * | 2018-06-27 | 2019-01-29 | 宁夏奇豆科技有限公司 | Hexapod robot are used in teaching |
| CN209529617U (en) * | 2018-10-09 | 2019-10-25 | 重庆科创职业学院 | A kind of leg mechanism of robot |
| CN211308786U (en) * | 2019-12-31 | 2020-08-21 | 奇弩(中国)有限公司 | Spring type robot leg assembly connecting structure |
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