CN111216110A

CN111216110A - Buckle fastening assembly and robot

Info

Publication number: CN111216110A
Application number: CN202010017092.XA
Authority: CN
Inventors: 杨健勃; 周超; 魏云科; 曹临杰; 拱伟
Original assignee: Beijing Keyi Technology Co Ltd
Current assignee: Beijing Keyi Technology Co Ltd
Priority date: 2020-01-07
Filing date: 2020-01-07
Publication date: 2020-06-02

Abstract

The invention relates to the field of electronic products, in particular to a buckle fastening component and a robot, wherein the buckle fastening component comprises a buckle component and a surface buckle matched with the buckle component; the face buckle comprises a buckle connecting face, a first connecting block is formed on the buckle connecting face, a gap is formed between the first connecting block and the buckle connecting face, the buckle assembly comprises at least one buckling part, the buckling part comprises a second connecting block and a locking part surrounding the second connecting block, the face buckle is connected with the buckle assembly in a rotating mode, the first connecting block is in contact with the second connecting block, the locking part is arranged in the gap, the robot is provided, and the robot comprises a plurality of functional assemblies and at least one buckle fastening assembly. The buckle fastening assembly and the robot provided by the invention have the advantages of stable connection and the like.

Description

Buckle fastening assembly and robot

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of electronic products, in particular to a buckle fastening assembly and a robot.

[ background of the invention ]

The connection between the mechanical structure can be indirectly connected through the buckle to form the whole mechanical motion mechanism, the two mechanical structures transmit the rotation torque through the buckle, the existing buckle is simple in structure, when the buckle is installed, the buckle only needs to be directly connected with the two mechanical structures, the buckle of the design is simple in structure, short in service life and insufficient in rigidity, and the buckle can not be suitable for a high-speed and high-frequency rotating mechanism. There is a need in the market for a buckle that can achieve stable connection between mechanical structures.

[ summary of the invention ]

In order to overcome the defect that the buckle connection between the existing mechanical structures is unstable, the invention provides a buckle fastening assembly and a robot. The buckle fastening component comprises a buckle component and a surface buckle matched with the buckle component; the face buckle comprises a buckle connecting face, a first connecting block is formed on the buckle connecting face, a gap is formed between the first connecting block and the buckle connecting face, the buckle assembly comprises at least one buckling part, the buckling part comprises a second connecting block and a locking part surrounding the second connecting block, the face buckle is connected with the buckle assembly in a rotating mode, the first connecting block is in contact with the second connecting block, and the locking part is arranged in the gap.

Preferably, the buckle assembly further comprises a rotary connecting portion, the buckling portion is connected with the rotary connecting portion, the rotary connecting portion comprises a connecting shell and a fixing core arranged in the connecting shell, a locking member is arranged on the fixing core, the locking member faces towards the buckling portion, the buckling portion corresponds to a rotary limiting hole formed in the position of the locking member, the locking member is exposed through the rotary limiting hole, and the locking member faces towards the buckling portion to form a hook-shaped structure.

Preferably, the buckle assembly comprises two buckling parts, the two buckling parts are respectively arranged on two opposite sides of the rotary connecting part, the two buckling parts are arranged oppositely, mirror symmetry is formed between the two buckling parts, the buckling parts face towards the two connecting shells, clamping grooves are further formed in the inner walls of the buckling parts, limiting protrusions are arranged on the clamping grooves, clamping positions corresponding to the limiting protrusions are arranged on one sides of the rotary connecting part, and the clamping positions slide to the limiting protrusions in a butting mode on the clamping grooves.

Preferably, rotatory spacing hole includes interconnect's holding end and joint end, holds the end and is greater than the size of retaining member is in order to hold the retaining member, the retaining member with joint end interference fit, the retaining member by hold the end put into and through revolve twist relative position extremely the joint end is in order to fix.

Preferably, the clamping part further comprises at least two clamping plates, the clamping plates surround the second connecting block, the clamping plates face the second connecting block to protrude to form a third clamping block, and when the clamping part is connected with the rotary connecting part, the locking part correspondingly penetrates through the accommodating end of the rotary limiting hole to enable the clamping part to rotate relative to the rotary part, so that the locking part abuts against the third clamping block to be clamped.

Preferably, at least two second electric connecting pieces are arranged on the rotary connecting part, the center of the buckle part protrudes to one side far away from the rotary connecting part to form a second connecting block, at least two containing holes are formed in the second connecting block, and the second electric connecting pieces penetrate through the second connecting block through the containing holes.

Preferably, at least two first buckling blocks and at least two second buckling blocks are further formed on the buckle connecting surface, the first buckling blocks and the second buckling blocks are arranged around the first connecting block, and two first clamping blocks and a connecting bump arranged between the two first clamping blocks are formed on one side of the first buckling block away from the first connecting block; two second clamping blocks are formed on one side, close to the first connecting block, of the second buckling block;

the buckling part further comprises at least two buckling pieces arranged around the second connecting block, the buckling pieces are identical to the second buckling block in structure, concave holes are further formed in one side, facing the second connecting block, of each buckling piece, and when the surface buckle is rotatably connected with the buckle assembly, the concave holes are abutted to the connecting convex blocks.

Preferably, the first connecting block is provided with at least two accommodating holes, the surface fastener comprises a first PCB and at least two first electrical connectors arranged on the first PCB, and the first electrical connectors are exposed out of the fastener connecting surface through the accommodating holes; when the first connecting block is in contact with the second connecting block, the first electric connecting piece is in contact with the second electric connecting piece and is electrically conducted.

Preferably, the first connecting block extends towards the first fastening block and the second fastening block to form four first protruding blocks, the number of the locking members is four, the first protruding blocks are matched with the locking members, and the gap is formed between the first protruding blocks and the buckle connecting surface.

In order to solve the above technical problem, the present invention provides a robot, which includes a plurality of functional components and at least one fastening component as described above for connecting any two functional components.

Compared with the prior art, the buckle fastening component and the robot provided by the invention have the following beneficial effects:

1. the buckle fastening component comprises a buckle component and a surface buckle matched with the buckle component; the face buckle comprises a buckle connecting face, a first connecting block is formed on the buckle connecting face, a gap is formed between the first connecting block and the buckle connecting face, the buckle component comprises at least one buckling part, the buckling part comprises a second connecting block and a locking part surrounding the second connecting block, the face buckle is connected with the buckle component in a rotating mode, the first connecting block is in contact with the second connecting block, and the locking part is arranged in the gap. Put into the clearance of face buckle through the retaining member in, realize the stability of being connected between buckle subassembly and the face buckle, just can realize the installation or dismantle after the certain angle of rotation each other between buckle subassembly and the face buckle.

2. Through designing retaining member into hook-shaped and rotatory spacing hole cooperation, further strengthen the buckle subassembly and the cooperation of being connected between the face buckle, the buckle subassembly structure rigidity that adopts this design is strong.

3. The buckle component comprises two buckle parts, the buckle component is not divided into a male buckle and a female buckle based on the specific structural arrangement of the two mirror-symmetrical buckle parts, and when the buckle component is arranged on various electronic equipment such as module units, wheels or mechanical arms, the buckle component can be randomly spliced with a surface buckle without considering the male/female matching relation. The connecting shell of the buckling part faces two clamping grooves are further formed in the inner wall of the buckling part, limiting protrusions are arranged on the clamping grooves, clamping positions corresponding to the limiting protrusions are arranged on one side of the rotating connecting part facing the buckling part, the clamping positions slide to the limiting protrusions in a contact mode on the clamping grooves, and therefore the buckling part is connected with the rotating connecting part in a buckling mode. Adopt this design to make things convenient for buckle portion to be connected with the lock of swivelling joint portion more, can also play the effect that machinery prevented slow-witted.

4. Retaining member with joint end interference fit, the retaining member by hold the end and put into and through revolving wrong relative position extremely the joint end is in order fixed. By adopting the design, the buckling part is more stably connected with the rotary connecting part and is not easy to fall off from the rotary connecting part.

5. When the locking piece abuts against the third clamping block to clamp, the fixing of the clamping part on the rotary connecting part can be completed, and the stability of the connection of the clamping part on the rotary connecting part is further improved.

6. The second electric connector penetrates through the second connecting block through the accommodating hole. When the surface fastener is connected with the fastener component, power supply and instruction transmission among the mechanisms can be realized through the first electric connection and the contact among the second connecting pieces.

7. Through the arrangement of the buckling pieces, the first buckling pieces can generate certain deformation in the surface buckling splicing or separating process, and the adjusting screws driven into the first buckling pieces can move along with the first buckling pieces, so that the buckling strength of the buckles of the first buckling pieces is enhanced. Furthermore, the matched arc surface design between the contact surfaces of the first clamping block and the second clamping block can enable the surface fastener to have the effect of easy assembly and difficult disassembly.

8. The buckle fastening component is used for connecting any two functional components and can be applied to any two functional components to transmit the rotating moment between the two functional components and play a connecting role, so that the buckle fastening component is applied to various use scenes and has rich functions.

[ description of the drawings ]

Fig. 1 is a schematic perspective view of a modular robot according to a first embodiment of the present invention;

FIG. 2-A is a front view of a modular unit according to a first embodiment of the present invention;

FIG. 2-B is a schematic view of the connection of two modular units according to the first embodiment of the present invention;

FIG. 2-C is another schematic connection diagram of two modular units according to the first embodiment of the present invention;

FIG. 3 is an exploded view of a modular unit according to a first embodiment of the present invention;

fig. 4 is an exploded view of the first rotating member in the first embodiment of the present invention;

FIG. 5 is a perspective view of a connector according to a first embodiment of the present invention;

FIG. 6 is a schematic view of the exploded structure of the face clip in the first embodiment of the present invention;

FIG. 7-A is a schematic perspective view of a snap connection according to a first embodiment of the present invention;

FIG. 7-B is a schematic view of another perspective structure of the snap connection in the first embodiment of the present invention;

FIG. 8 is a front view of the snap connection in the first embodiment of the present invention;

FIG. 9-A is a rear view of the connection of two snap connectors in the first embodiment of the present invention;

FIG. 9-B is a cross-sectional view taken along A-A of FIG. 9-A;

FIG. 10-A is a rear view of the connection of two snap connectors in the first embodiment of the present invention;

FIG. 10-B is a cross-sectional view taken along line C-C of FIG. 10-A;

FIG. 11 is an exploded view of the transmission assembly of the first embodiment of the present invention;

FIG. 12 is an exploded view of the rotating assembly of the first embodiment of the present invention;

fig. 13 is a schematic perspective view of a magnetic member according to a first embodiment of the present invention;

figure 14 is a schematic exploded view of a connecting assembly according to a first embodiment of the present invention;

FIG. 15 is a top view of the connecting assembly of the first embodiment of the present invention;

FIG. 16 is a cross-sectional view taken along line B-B of FIG. 15;

fig. 17 is a schematic perspective view of a modular robot according to a second embodiment of the present invention;

FIG. 18 is an exploded view of the buckle assembly of the second embodiment of the present invention;

FIG. 19 is a perspective view of a rotary joint according to a second embodiment of the present invention;

FIG. 20 is a schematic perspective view of a first locking portion according to a second embodiment of the present invention;

FIG. 21 is a schematic diagram of another three-dimensional structure of the first locking portion in the second embodiment of the present invention;

FIG. 22 is a perspective view of a second embodiment of the present invention showing the connection between a module unit and a latch assembly;

FIG. 23 is a schematic diagram of an explosion structure of a modular unit position servo system in a third embodiment of the present invention;

FIG. 24 is a flowchart illustrating a method for controlling the modular unit position servo system according to a fourth embodiment of the present invention.

Description of reference numerals:

01. a modular robot; 10. a module unit; 20. a first rotating section; 22. a transmission assembly; 23. a protective cover; 24. a transmission member; 241. a drive motor; 242. a bevel gear; 243. A magnetic member; 244. a speed sensor; 245. mounting a plate; 25. a rotating assembly; 251. a connecting plate; 252. a gear ring; 253. a mounting frame; 254. a rotating frame; 255. a ball bearing; 30. A second rotating part; 32. a connecting assembly; 321. a second PCB board; 322. a conducting ring seat; 323. a slip ring; 324. a magnetic ring; 325. a position sensor; 40. a first rotating member; 41. A housing; 411. a first through hole; 42. surface buckling; 421. a first PCB board; 4211. an LED light source; 4212. a first electrical connection; 4213. a middle through hole; 422. a snap connection; 4221. a first connection block; 4222. a first accommodation hole; 4223. a first bump; 423. a shielding sheet; 424. a first fastening block; 4241. a connection bump; 4242. a first clamping block; 425. A second fastening block; 4251. a groove; 4252. a second clamping block; 426. a snap connection surface; 427. a buckle mounting surface; 428. a fastener; 429. a side hole; 430. the fastener is connected with the hole; 43. a connecting member; 431. a second through hole; 432. a receiving member; 4321. an accommodating groove; 433. a holding member; 50. a second rotating member; 100. a buckle assembly; 101. a first snap-fit portion; 102. a second fastening part; 103. a rotation connection part; 104. connecting the shell; 105. fixing the core; 106. rotating the hole; 107. a second accommodation hole; 108. a card slot; 109. a limiting bulge; 110. a second connecting block; 111. a second electrical connection; 112. a locking member; 113. a housing hole; 114. rotating the limiting hole; 1141. a receiving end; 1142. a clamping end; 115. a clamping and connecting plate; 116. a third clamping block; 117. a fastener; 118. clamping; 119. a recessed hole; 120. an accommodating space; 130. a clamping piece; 141. a first connecting shaft; 142. a second connecting shaft; 200. a modular unit position servo system; 201. a rotating part; 202. a position sensor; 203. a magnetic ring; 204. a controller; 210. a kinematic pair; 211. a transmission assembly; 212. a connecting assembly is provided.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Referring to fig. 1 and 2-a, the present invention provides a modular robot 01, where the modular robot 01 includes at least one module unit 10, any two module units 10 may be directly or indirectly connected to form a motion mechanism, and different connection modes between the

module units

10 and 10 may reconfigure the modular robot 01 in different configurations. The modular unit 10 includes a first rotating portion 20 and a second rotating portion 30 rotatably connected to the first rotating portion 20, the first rotating portion 20 and the second rotating portion 30 can rotate relatively to realize different motion states of the modular robot 01, the modular unit 10 is a sphere, the first rotating portion 20 and the second rotating portion 30 are hemispheric, and can drive at least one servo device (not shown) for rotating the rotating portions, the rotating portions can be any one of the first rotating portion 20 or the second rotating portion 30, the servo device includes a controller and at least two sensors, the sensors are used for sensing the relative positions, the speeds and the moments of the first rotating portion 20 and the second rotating portion 30, and the controller is used for controlling the positions, the speeds and the moments.

Referring to fig. 3, the first rotating portion 20 includes a first rotating member 40, and the transmission assembly 22 is accommodated in the first rotating member 40, and the first rotating member 40 is a hemispherical structure. The second rotating part 30 includes a second rotating member 50, and a coupling member 32 received in the second rotating member 50. The first rotating member 40 is identical in structure to the second rotating member 50. The transmission assembly 22 is connected with the connection assembly 32, and the first rotating member 40 is connected with the second rotating member 50 to form an accommodating space for accommodating the transmission assembly 22 and the connection assembly 32.

Referring to fig. 4 and 5, the first rotating member 40 includes a hollow housing 41, a connecting member 43 accommodated in the housing 41, and at least one latch 42 connected to the connecting member 43. The casing 41 is of a hemispherical structure, the casing 41 is provided with first through holes 411 for the surface fasteners 42 to penetrate through, the number of the first through holes 411 corresponds to the number of the surface fasteners 42, the surface fasteners 42 penetrate through the first through holes 411 and are connected with the connecting piece 43, and the connecting piece 43 is accommodated in the casing 41.

The connecting piece 43 corresponds to the shape and structure of the housing 41, a second through hole 431 is provided at a position of the connecting piece 43 corresponding to the first through hole 411, and the surface fastener 42 sequentially penetrates through the first through hole 411 and the second through hole 431. The inner wall of the second through hole 431 extends to form an annular accommodating part 432, a plurality of accommodating grooves 4321 are formed in the accommodating part 432, and the accommodating grooves 4321 are annularly distributed and connected with the surface fastener 42.

A supporting member 433 is disposed between the two second through holes 431, the supporting member 433 is formed to protrude toward the connecting member 32, and when the connecting member 32 is accommodated in the connecting member 43, the supporting member 433 is connected to the connecting member 32 in a supporting manner.

Referring to fig. 6, the surface fastener 42 includes a fastener connecting surface 426 and a fastener mounting surface 427 disposed opposite to the fastener connecting surface 426, the surface fastener 42 includes a first PCB 421 connected to the receiving groove 4321, a fastener connecting member 422 connected to the first PCB 421, and a shielding piece 423 disposed between the fastener connecting member 422 and the first PCB 421, and the fastener connecting member 422 is connected to another fastener connecting member 422. First PCB 421 one end with buckle connecting piece 422 can dismantle the connection, the other end with coupling assembling 32 electric connection, first PCB 421 court the annular is provided with a plurality of LED light sources 4211 on one side of buckle connecting piece 422, and when face buckle 42 is connected with connecting piece 43, a plurality of LED light sources 4211 correspond and hold in the holding tank 4321. The plurality of LED light sources 4211 provide a light source display for the module unit 10 to visually display the operating state of the module unit 10 to a user in real time. The shielding piece 423 is a hollow structure for the buckle connector 422 and the first PCB 421 to penetrate through, and the shielding piece 423 is placed on the LED light source 4211 to contact with the LED light source 4211 to prevent light leakage of the LED light source 4211.

At least two edge holes 429 are formed in the edge of the fastening installation surface 427, and a fastener is driven between the first PCB 421 and the fastening installation surface 427 through the edge holes 429 to realize fixation. Be provided with two at least first electric connector 4212 on the central point of first PCB board 421, the one end of first electric connector 4212 is worn to establish in proper order first PCB board 421, shielding piece 423 and with buckle connecting piece 422 is connected, the other end of first electric connector 4212 with coupling assembling 32 electric connection, first electric connector 4212 is used for providing the transmission of signal between the modular unit 10 of a plurality of concatenations, can be through the corresponding electric connector contact of first electric connector 4212 with external module, can realize signal communication. The first electrical connector 4212 is a copper pillar and functions as an electrical conduction transmission, and in the embodiment, the first electrical connector 4212 is an electrical connector. Still be provided with two middle through-holes 4213 on the first PCB board 421, middle through-hole 4213 with buckle connecting piece 422 is corresponding, and accessible fastener (not mark) wears to establish middle through-hole 4213 in order to realize first PCB board 421 with buckle connecting piece 422's connection, through adjusting the fastener and then adjust the elasticity degree that first PCB board 421 and buckle connecting piece 422 are connected, can also adjust the lock dynamics between two buckle connecting pieces 422. In this embodiment, the number of the first electrical connectors 4212 is three.

Referring to fig. 6, 7-a and 7-B, a center of the snap connector 422 extends to a side away from the first PCB 421 to form a first cylindrical connector block 4221, the first connector block 4221 is provided with at least two first accommodating holes 4222, the number of the first accommodating holes 4222 corresponds to the number of the first electrical connectors 4212 and accommodates the first electrical connectors 4212, and the first electrical connectors 4212 are exposed out of the snap connector surface 426 through the first accommodating holes 4222. The outer wall of the first link 4221 extends in a cross direction to form four first protrusions 4223, and a gap is left between the first protrusions 4223 and the snap-fit link 422 to form a space. Preferably, the number of the first accommodation holes 4222 is three.

Referring to fig. 7-a, 7-B and 8, a first fastening block 424 and a second fastening block 425 are respectively disposed on two opposite sides of the fastening connector 422 corresponding to the extending direction of the first bump 4223, the first fastening block 424, the second fastening block 425 and the first connecting block 4221 are formed on the fastening connecting surface 426, the first fastening block 424 and the second fastening block 425 are disposed around the first connecting block 4221, the first fastening block 424 and the second fastening block 425 can deform after being stressed, the middle through hole 4213 corresponds to the first fastening block 424, and the first fastening block 424 is accommodated in the middle through hole 4213. The first fastening block 424 and the second fastening block 425 respectively extend away from the first PCB 421, and a clearance space is left between the first fastening block 424 and the first bump 4223 and between the second fastening block 425 and the first bump 4223, and the first fastening block 424 and the second fastening block 425 are disposed around the first connecting block 4221. The first fastening block 424 is extended along a side away from the first connecting block 4221 to form a connecting protrusion 4241, a side of the second fastening block 425 close to the first connecting block 4221 is recessed to form a groove 4251, the connecting protrusion 4241 corresponds to the groove 4251 and is arc-shaped, and a connecting line between the corresponding connecting protrusion 4241 and the groove 4251 is arranged in a cross direction. When the two module units 10 are connected, the first fastening block 424 and the second fastening block 425 are correspondingly matched and connected, the connection protrusion 4241 is abutted against the groove 4251, a plane is defined among the first connection block 4221, the first fastening block 424 and the second fastening block 425, and a gap is formed between the first protrusion 4223 and the plane so as to allow the peripheral fastening assembly (not shown) to be placed in.

The buckle mounting surface 427 is provided with two buckle connection holes 430, the buckle connection holes 430 are matched with the first buckling block 424, the buckle connection holes 430 are correspondingly arranged at the positions of the connection bumps 4241, the buckle connection holes 430 extend into the first buckling block 424, and a fastener can be driven into the buckle connection holes 430 to control the buckling strength between the two surface buckles 42 according to the driving depth of the fastener.

Referring to fig. 7-a, one side of the first fastening block 424, which is away from the first connecting block 4221, protrudes to form a first clamping block 4242, one side of the second fastening block 425, which is close to the first connecting block 4221, is recessed to form a second clamping block 4252, the first clamping block 4242 and the second clamping block 4252 are disposed on one side, which is away from the first PCB, the first clamping block 4242 and the second clamping block 4252 respectively form a T shape with the connecting protrusion 4241 and the groove 4251, and the first clamping block 4242 and the second clamping block 4252 are disposed in an arc shape. Referring to fig. 8, 9-a and 9-B, taking the two snap connectors as an example of the matching connection, when the connecting protrusion 4241 is in interference fit with the corresponding groove 4251, the first clamping block 4242 is elastically abutted against the second clamping block 4252, so as to realize the matching connection between the two module units 10.

Referring to fig. 10-a and 10-B in combination with fig. 7-a and 7-B, a fastener 428 is inserted into the middle through hole 4213 and the buckle connection hole 430 to connect the first PCB 421 and the buckle connection member 422, the fastener 428 is inserted into the middle through hole 4213 and is accommodated in the buckle connection hole 430, and during the buckling process of the surface buckle 42, the first buckling block 424, which is driven into the fastener 428, deforms toward the first connection block 4221 to buckle the first buckling block 4242 and the second buckling block 4252; when the two surface fasteners 42 need to be separated, the first fastening block 424 driven into the fastener 428 is deformed to the side away from the first connecting block 4221 again due to the matched arc surface between the first fastening block 4242 and the second fastening block 4252. When the fastener 428 is driven to be tight, the first fastening block 424 is difficult to deform, and the two surface fasteners 42 are difficult to separate, and when the fastener 428 is driven to be loose, the first fastening block 424 is easy to deform, and the two surface fasteners 42 are easy to separate. By adopting the design, the mutually connected surface buckles 42 are easy to install and connect, the mutually connected surface buckles 42 are difficult to disassemble, and the effect that the surface buckles 42 are easy to assemble and difficult to disassemble is realized. When modular units 10 are spliced together, first electrical connections 4212 between modular units 10 contact each other to enable signal transmission.

Referring to fig. 11, the transmission assembly 22 includes a transmission member 24, a rotation assembly 25, and a protection cover 23 connected to the rotation assembly 25, the protection cover 23 is connected to the connecting member 43 of the first rotation member 40, and the rotation assembly 25 is connected to the protection cover 23 to form an accommodating space capable of accommodating the transmission member 24. The protective cover 23 corresponds to the transmission member 24, and when the protective cover 23 is connected to the transmission member 24, the transmission member 24 is accommodated in the protective cover 23.

As shown in fig. 11, the transmission member 24 further comprises a driving motor 241, a bevel gear 242 coaxially connected with one end of the driving motor 241, and a cylindrical magnetic member 243 coaxially connected with the other end of the driving motor 241, wherein the bevel gear 242 is rotatably connected with the rotating component 25, and the bevel gear 242 drives the rotating component 25 to rotate. That is, the servo device further includes a driving motor 241, and the driving motor 241 is disposed between any one of the rotating portions.

The transmission member 24 further includes a mounting plate 245, and at least one speed sensor 244 connected to the mounting plate 245, as shown in fig. 11, the mounting plate 245 is fixedly connected to one end of the driving motor 241, the speed sensor 244 is disposed in a circumferential direction of the magnetic member 243, and the speed sensor 244 is electrically connected to the connecting assembly 32 (shown in fig. 3). In some specific embodiments, the speed sensors 244 are hall sensors and are two in number, two speed sensors 244 are disposed opposite to the magnetic member 243 and inclined at an angle, and the angle between the two speed sensors 244 is 100-120 °; and/or the distance separation between the speed sensor 244 and the magnetic member 243 is 1-2 mm. The speed sensor 244 may calculate a rotation speed of the driving motor 241 according to a change of the magnetic pole of the magnetic member 243 and determine whether the driving motor 241 rotates normally or reversely. Preferably, the angle of inclination is 100 ° to 120 °, in particular, the angle of inclination may also be 100 °, 110 °, 115 °, etc. At this time, the projected areas of the two speed sensors 244 on the magnetic member 243 are the largest, so that the magnetic pole change on the magnetic member 243 can be measured more accurately.

Referring to fig. 12, in order to make the bevel gear 242 better drive the rotating assembly 25 to rotate, in some specific embodiments, the rotating assembly 25 includes a hollow connecting plate 251, and a gear ring 252 fixedly connected to the connecting plate 251, the gear ring 252 is disposed on a side of the connecting plate 251 close to the transmission member 24, a ring surface of the gear ring 252 without gears is connected to the connecting plate 251, and a ring surface of the gear ring 252 with gears is rotatably connected to the bevel gear 242. The gear ring 252 is correspondingly coupled with the bevel gear 242 to enable the driving motor 241 to drive the rotating assembly 25 to rotate, and the connecting plate 251 is connected with the connecting member 43 on the second rotating member 50.

Referring to fig. 12 in conjunction with fig. 11, the rotating assembly 25 further includes a mounting frame 253 fixedly connected to the driving motor 241, and a rotating frame 254 rotatably connected to the mounting frame 253. The mounting bracket 253 is connected to the connecting assembly 32, and the mounting bracket 253 and the rotating bracket 254 are accommodated in the connecting plate 251. The rotating frame 254 is an annular structure, and specifically, a plurality of balls 255 are arranged on the rotating frame 254, and the plurality of balls 255 are circumferentially distributed. The rotating frame 254 is sleeved on the mounting frame 253, and the mounting frame 253 is connected with the connecting plate 251 through the balls 255 and rotates relatively. The protection cover 23 corresponds to the driving motor 241, the speed sensor 244, the magnetic member 243, and the mounting bracket 253, and the protection cover 23 accommodates the driving motor 241, the speed sensor 244, the magnetic member 243, and the mounting bracket 253. The size of the transmission assembly 22 can be reduced by adopting the design, so that the size of the whole module unit 10 is reduced, and the design is small.

With this design, when the bevel gear 242 and the gear ring 252 rotate relatively, the mounting frame 253, the driving motor 241, the protection cover 23, the gear ring 252 and the connecting plate 251 rotate relatively, the mounting frame 253 drives the connecting assembly 32 to rotate, and the protection cover 23 drives the first rotating member 40 to rotate, so as to realize the relative rotation of the first rotating member 40 and the second rotating member 50.

Referring to fig. 13, the magnetic member 243 has a plurality of magnetic poles, each of which includes an N pole and an S pole, wherein the N pole and the S pole may be distributed at intervals. When the driving motor 241 rotates to drive the magnetic member 243 and the bevel gear 242 to rotate, the bevel gear 242 drives the rotating assembly 25 to rotate, and at this time, the speed sensor 244 senses the change of the plurality of magnetic poles on the magnetic member 243 to calculate the rotating speed of the driving motor 241 and determine the positive and negative rotation of the driving motor 241.

Referring to fig. 14, 15 and 16, the connecting assembly 32 further includes a second PCB 321 connected to a mounting frame (not shown), a conductive ring seat 322 connected to the second PCB 321, a slip ring 323 partially accommodated in the conductive ring seat 322, and a magnetic ring 324 accommodated in the slip ring 323, wherein the slip ring 323 is sleeved on the periphery of the magnetic ring 324, the magnetic ring 324 abuts against the abutting member 433, and the second PCB 321 is a controller. The second PCB 321 is electrically connected to the speed sensor 244 and the driving motor 241. A position sensor 325 is arranged at a position of the second PCB 321 corresponding to the magnetic ring 324, the position sensor 325 and the slip ring 323 rotate synchronously, and the distance between the magnetic ring 324 and the position sensor 325 is 1mm-2 mm. The first rotating member 40 drives the slip ring 323 and the position sensor 325 to rotate relative to the magnetic ring 324. The position sensor 325 is configured to detect a position change signal of the magnetic ring 324 to obtain a rotation angle of the magnetic ring 324, detect a rotation angle between the two rotation portions by detecting a rotation angle between the magnetic ring 324 and the position sensor 325, and transmit the rotation information to the second PCB 321, and the controller is disposed on the second PCB 321, and controls the driving motor 241 to operate at a set rotation speed based on the rotation angle information detected by the position sensor 325 and a target angle command.

When the first rotating member 40 and the second rotating member 50 need to rotate with each other, the driving motor 241 may drive the connecting plate 251 to rotate, and then the connecting plate 251 drives the second PCB 321 fixedly connected thereto to rotate, because the conductive ring seat 322 and the slip ring 323 are sequentially fixed on the second PCB 321, the corresponding conductive ring seat 322 and the corresponding slip ring 323 also rotate, that is, the driving motor 241 drives the first rotating member 40 to rotate synchronously, and the conductive ring seat 322 drives the slip ring 323 to rotate relative to the magnetic ring 324.

Meanwhile, since the magnetic ring 324 is connected to the second rotating member 50, and since the magnetic ring 324 is connected to the abutting member 433 in an abutting manner, the magnetic ring 324 and the second rotating member 50 do not rotate along with the second PCB 321.

Therefore, based on the above-mentioned connection structure and linkage relationship, the first rotating member 40 and the second rotating member 50 can rotate relatively, and the relative rotation between the position sensor 325 and the magnetic ring 324 is achieved, so as to detect and obtain the relative rotation angle between the first rotating member 40 and the second rotating member 50 through the position sensor 325.

With reference to fig. 2-a, the module unit 10 includes two first rotating portions 20 and second rotating portions 30 capable of rotating relatively, where the first rotating portions 20 and the second rotating portions 30 are of a hemispherical structure, and both rotating portions rotate along a perpendicular bisector f of a hemispherical cross section; at least one buckle connecting piece 422 is arranged on one rotating part, the positions of the buckle connecting pieces 422 on the two rotating parts are in mirror symmetry by taking the hemispherical section as a reference, namely the positions of the buckle connecting pieces 422 of the two rotating parts are in mirror symmetry by taking the interface of the two rotating parts as a reference; the module units 10 are connected with each other by a group of snap connectors 422.

The snap connection piece 422 is circular, a perpendicular line e passing through the center of the snap connection piece 422 and perpendicular to the plane where the snap connection piece 422 is located intersects with the rotation perpendicular bisector f of the rotation part, and the intersection included angle is D and is 30-60 degrees. The module unit 10 is provided with an even number of snap connections 422. Optionally, in some specific embodiments, the included angle D is 45 °, please refer to fig. 2-B and fig. 2-C, in this case, when the middle rotating shafts of two module units 10 are either parallel or perpendicular, the splicing can be realized, and the coupling of the degrees of freedom between the module units 10 spliced with each other can be reduced.

Referring to fig. 17, a modular robot 01 according to a second embodiment of the present invention includes at least two module units 10, a buckle assembly 100 for connecting the module units 10, any two module units 10 can be connected by the buckle assembly 100 to form a movement mechanism, and the module units 10 can be assembled to form the modular robot 01 with different structures by different connection methods of the buckle assembly 100.

The buckle assembly 100 includes a rotation connection portion 103, a first buckle portion 101 and a second buckle portion 102 detachably connected to two opposite sides of the rotation connection portion 103, and at least two second electrical connectors 111 respectively passing through the first buckle portion 101, the second buckle portion 102, and the rotation connection portion 103. The second electrical connector 111 may be any one of an electrical connector that performs an electrical conduction transmission function, such as a copper pillar, an alloy pillar, and the like, and in this embodiment, the second electrical connector 111 is an electrical connector. The first buckling part 101 and the second buckling part 102 are in mirror image correspondence. Any one of the snap-in connectors 422 of the two module units 10 is respectively screwed and fixedly connected with the first snap-in portion 101 and the second snap-in portion 102.

The two module units 10 are spliced by the fastening assembly 100, wherein one module unit is connected to the first fastening portion 101, and the other module unit is connected to the second fastening portion 102.

Referring to fig. 18 and 19, the rotary connecting portion 103 includes a connecting housing 104 and a fixing core 105 disposed in the connecting housing 104, and the fixing core 105 is a circular plate-shaped structure disposed in the connecting housing 104. The fixed core 105 is recessed towards two opposite sides of the end faces of the first buckling part 101 and the second buckling part 102 to form a space for accommodating the first buckling part 101 and the second buckling part 102, and the outer peripheral walls of the first buckling part 101 and the second buckling part 102 are respectively sleeved with the inner wall of the connecting shell 104.

Any two mutually perpendicular diameter directions on the fixed core 105 are provided with a rotary hole 106, the rotary hole 106 is a waist-shaped hole, and the rotary hole 106 is arranged on the inner walls of the fixed core 105 and the connecting shell 104. A second receiving hole 107 is disposed in the center of the fixed core 105, the second receiving hole 107 receives the first locking portion 101 and the second locking portion 102, and a second electrical connector 111 penetrates through the second receiving hole 107, in this embodiment, the number of the second electrical connectors 111 is three.

With continued reference to fig. 19, the fixing core 105 is further provided with at least one locking member 112, and the locking member 112 is disposed between the rotating hole 106 and the second receiving hole 107. The locking member 112 extends toward the first locking portion 101 and the second locking portion 102, respectively, one end of the locking member 112 close to the first locking portion 101 and the second locking portion 102 protrudes along the central axis of the second receiving hole 107 to form a hook shape, and the locking member 112 is of an elastic structure. The locking piece 112 is rotatably matched with the first buckling part 101 and the second buckling part 102 to realize detachable connection of the first buckling part 101, the second buckling part 102 and the rotary connecting part 103. In this embodiment, the number of the locking members 112 is four and the locking members 112 are distributed on two diameters perpendicular to each other. The inner walls of the connecting shell 104 facing the first buckling part 101 and the second buckling part 102 are also provided with a clamping groove 108, the clamping groove 108 is provided with a limiting bulge 109, and the limiting bulge 109 is connected with the first buckling part 101 and the second buckling part 102.

Referring to fig. 20, the center of the first fastening portion 101 extends toward a side close to and away from the rotary connecting portion 103 to form a cylindrical second connecting block 110, the second connecting block 110 is provided with accommodating holes 113 for accommodating the second electrical connectors 111, the number of the accommodating holes 113 corresponds to the number of the second electrical connectors 111, and the second electrical connectors 111 are exposed from the accommodating holes 113. First buckle portion 101 corresponds be provided with rotatory spacing hole 114 on retaining member 112's the position, the end 1141 and the joint end 1142 of holding that includes interconnect of rotatory spacing hole 114 hold, hold the end and be greater than retaining member 112's size is in order to hold retaining member 112, joint end 1142 is connected with the cooperation of retaining member 112 with the corresponding locking member 112 of size of retaining member 112, retaining member 112 with joint end 1142 is interference fit, retaining member 112 passes through rotatory spacing hole 114 exposes, rotatory spacing hole 114 is circular-arc setting, please combine figure 18, rotatory hole 106 supplies first buckle portion 101, the second connecting block 110 of second buckle portion 102 wear to establish.

Referring to fig. 20, a clamping plate 115 is further disposed in the first fastening portion 101 along a diameter direction, the clamping plate 115 is disposed around the second connecting block 110, and the clamping plate 115 extends toward a side away from the rotating connection portion 103. The clamping plate 115 is close to the clamping end 1142 of the rotation limiting hole 114, the clamping plate 115 protrudes towards the second connecting block 110 to form a third clamping block 116, and the third clamping block 116 protrudes and extends to the clamping end 1142. When first buckle portion 101 is connected with rotation connecting portion 103, retaining member 112 corresponds the end 1141 that holds of wearing to establish rotatory spacing hole 114, realizes through rotatory first buckle portion 101 or rotation connecting portion 103 that retaining member 112 corresponds and removes to the joint end 1142 of rotatory spacing hole 114, locking member 112 this moment with third joint piece 116 supports holds the joint to realize being connected of first buckle portion 101 and rotation connecting portion 103.

Referring to fig. 20, a buckling member 117 is further disposed in the diameter direction of the first fastening portion 101, the buckling member 117 protrudes toward a side away from the rotating connection portion 103, and the diameter direction of the two buckling members 117 is perpendicular to the diameter direction of the connection of the clamping plate 115. The fastening member 117 has an elastic structure, and the fastening member 117 has the same structure as the second fastening block 425 of the module unit 10, that is, the fastening member 117 corresponds to the first fastening block 424 of the module unit 10, a recess hole 119 is formed by a recess on one side of the fastening member 117 close to the second connecting block 110, and the recess hole 119 is arranged in an arc shape.

Referring to fig. 21, a position-limiting protrusion 109 is disposed on a side of the first locking portion 101 facing the rotating connection portion 103, the position-limiting protrusion 109 corresponds to the position-limiting protrusion 118, and the position-limiting protrusion 109 is abutted against the position-limiting protrusion 118 by sliding the position-limiting protrusion 118 on the slot 108, so as to lock and connect the first locking portion 101 and the rotating connection portion 103.

The first fastening part 101 protrudes toward one side of the rotary connecting part 103 to form a first connecting shaft 141 and a second connecting shaft 142, the first connecting shaft 141 and the second connecting shaft 142 of the first fastening part 101 are respectively and correspondingly connected with the second connecting shaft 142 and the first connecting shaft 141 of the second fastening part 102 and are accommodated in the rotary hole 106, and the rotary hole 106 plays a role in guiding the first fastening part 101 and the second fastening part 102 when being connected and rotated.

During assembly and use, the second electric connector 111 penetrates through the second accommodating hole 107 and is connected with the first buckling part 101 and the second buckling part 102 in a clamping manner, the locking member 112 penetrates through and is accommodated in the accommodating end 1141 of the rotation limiting hole 114 of the first buckling part 101 and the second buckling part 102 respectively, the rotation connecting part 103 or the first buckling part 101 and the second buckling part 102 are rotated to enable the first buckling part 101 and the second buckling part 102 to rotate relative to the rotation connecting part 103, at the moment, the locking member 112 rotates from the accommodating end 1141 to the clamping end 1142, the locking member 112 abuts against the third clamping block 116 of the clamping plate 115, and the clamping part 118 slides on the clamping groove 108 to the abutting limiting protrusion 109 to form a locking structure among the rotation connecting part 103, the first buckling part 101 and the second buckling part 102.

The order of the assembly and use can also be adjusted, that is, the first fastening part 101 can be connected to the rotary connecting part 103, the second fastening part 102 can be connected to the rotary connecting part 103, the locking parts 112 of the first fastening part 101 and the second fastening part 102 are all accommodated in the accommodating end 1141, and at this time, the rotary connecting part 103 is rotated, so that the locking part 112 is rotationally moved to the fastening end 1142, and the clip 118 slides on the clip groove 108 to the abutting limiting protrusion 109.

By adopting the design of the buckle assembly 100, the buckle assembly is simple and convenient, the stability of buckle connection can be improved with lower cost, the rigidity of the connection of the buckle assembly 100 is improved, the external large stress can be borne, and meanwhile, the mode of mutual connection between the buckles before is not changed.

Referring to fig. 22, a snap fastener assembly (not labeled) is provided, which includes the surface snap 42 and a snap assembly 100 cooperating with the surface snap 42. A gap is left between the first protrusion 4223 of the surface fastener 42 and the fastener connector 422 to form a receiving space 120, and the receiving space 120 receives the locking member 112. The first fastening block 424 protrudes toward the first protrusion 4223 to form a fastening member 130, and the fastening member 130 is used for abutting against the locking member 112 to limit the movement of the locking member 112, so as to realize the matching connection between the fastening assembly 100 and the module unit 10.

When the buckle assembly 100 is connected with the module unit 10 in a matching manner, the locking member 112 correspondingly extends into the first connecting block 4221, and the relative rotation between the buckle assembly 100 and the module unit 10 is realized by rotating the locking member 112 and/or the buckle assembly 100. At this time, the locking member 112 rotates into the accommodating space 120 and abuts against the first protrusion 4223 and the fastening member 130 with the locking member 112, and the recess hole 119 on the fastening member 117 rotates to abut against the connection protrusion 4241, so that the fastening between the fastening assembly 100 and the module unit 10 can be realized. At this time, the first connecting block 4221 is in contact with the second connecting block 110, and the first electric connector 4212 is in contact with the second electric connector 111 to realize the transmission of signals.

The present invention further provides a modular robot, which is formed by splicing at least two module units 10, and includes the above-mentioned buckle fastening assembly, which can be specifically described with reference to the above-mentioned buckle fastening assembly, and will not be described herein. The snap fastening assembly may be used to connect any two or more of the modular unit 10, a wheel, a robotic arm, or a base.

The present invention further provides a robot comprising a plurality of functional components including at least one surface fastener 42 as described above and at least one fastener fastening component as described above, the fastener fastening component being included in a fastener component 100. The buckle fastening component is used for connecting any two functional components, and the two functional components are indirectly connected through the buckle fastening component, namely, the two functional components are indirectly connected through the connection of the surface buckle 42 and the buckle component 100.

The modular robot 01 comprises any one or a combination of a position servo system, a speed servo system and a moment servo system.

Referring to fig. 23, a third embodiment of the present invention provides a modular unit position servo system 200, a modular unit 10 in the first embodiment of the present invention includes the modular unit position servo system 200, the modular unit position servo system 200 is used for detecting a position change between two rotating portions 201 in the modular unit 10, the two rotating portions 201 can rotate relatively, the modular unit position servo system 200 includes the position sensor 202 disposed in any one of the rotating portions 201 and a pair of kinematic pairs 210 capable of rotating circumferentially, the modular unit position servo system 200 further includes a transmission assembly 211 and a connection assembly 212 connecting the two rotating portions 201, wherein the transmission assembly 211 and the connection assembly 212 constitute the kinematic pair 210. The position sensor 202 senses the rotation angle information between the kinematic pairs 210 and controls the rotation of the transmission assembly 211 in combination with the target angle command.

The connection assembly 212 further includes a magnetic ring 203 corresponding to the position sensor 202, when the two rotating portions 201 rotate relatively, the magnetic ring 203 can rotate relative to the position sensor 202, and the rotation angle information between the two rotating portions 201 can be detected by detecting the rotation angle between the magnetic ring 203 and the position sensor 202.

The connecting assembly 212 further includes a controller 204, the controller 204 is electrically connected to the position sensor 202, the rotation angle information detected by the position sensor 202 is transmitted to the controller 204, and the controller 204 transmits the corresponding control information to the transmission assembly 211.

The transmission assembly 211 includes a driving motor 241, the driving motor 241 is disposed in any one of the rotating portions 201, and the controller 204 controls a rotating speed of the driving motor 241 based on the rotation angle information detected by the position sensor 202 and a target angle command.

Referring to fig. 11 and 13, the transmission assembly 211 further includes at least two speed sensors 244 and a magnetic member 243 coaxially connected to the driving motor 241, the speed sensors 244 are disposed in a circumferential direction of the magnetic member 243, and the speed sensors 244 detect a change in magnetic poles of the magnetic member 243 to calculate a rotation speed of the driving motor 241 and determine whether the driving motor 241 is rotating forward or backward.

Referring to fig. 24, a fourth embodiment of the present invention provides a method 300 for controlling a modular unit position servo system, which includes the following steps:

s1: providing a driving motor, a pair of kinematic pairs capable of rotating in the circumferential direction and a position sensor;

s2: detecting the rotation angle information of the kinematic pair based on the position sensor and transmitting the rotation angle information to a controller;

s3: and the controller is used for controlling the driving motor by combining the current rotation angle information and the target angle instruction so as to set the rotation speed of the driving motor to move.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit of the present invention are intended to be included within the scope of the present invention.

Claims

1. A snap fastener assembly, comprising: the device comprises a buckle component and a surface buckle matched with the buckle component; the face buckle comprises a buckle connecting face, a first connecting block is formed on the buckle connecting face, a gap is formed between the first connecting block and the buckle connecting face, the buckle assembly comprises at least one buckling portion, the buckling portion comprises a second connecting block and a locking piece surrounding the second connecting block, the face buckle is connected with the buckle assembly in a rotating mode, the first connecting block is in contact with the second connecting block, and the locking piece is arranged in the gap.

2. The snap fastener assembly of claim 1, wherein: the buckle assembly further comprises a rotary connecting portion, the buckling portion is connected with the rotary connecting portion, the rotary connecting portion comprises a connecting shell and a fixed core arranged in the connecting shell, a locking piece is arranged on the fixed core, the locking piece faces towards the buckling portion, the buckling portion corresponds to a rotary limiting hole formed in the position of the locking piece, the locking piece passes through the rotary limiting hole and is exposed, and the locking piece faces towards the buckling portion to form a hook-shaped structure.

3. The snap fastener assembly of claim 2, wherein: the buckle assembly comprises two buckling parts, the two buckling parts are respectively arranged on two opposite sides of the rotary connecting part and are arranged oppositely, mirror symmetry is formed between the two buckling parts, the buckling parts face towards the two connecting shells, clamping grooves are further formed in the inner walls of the buckling parts, limiting protrusions are arranged on the clamping grooves, clamping positions corresponding to the limiting protrusions are arranged on one sides of the rotary connecting parts, and the clamping positions are located on the clamping grooves and slide to the limiting protrusions in a collision mode.

4. The snap fastener assembly of claim 3, wherein: rotatory spacing hole includes interconnect's the end of holding and joint end, it is greater than to hold the end the size of retaining member is in order to hold the retaining member, the retaining member with joint end interference fit, the retaining member by hold the end and put into and through revolving wrong relative position extremely the joint end is in order to fix.

5. The snap fastener assembly of claim 4, wherein: the clamping part further comprises at least two clamping plates, the clamping plates encircle the second connecting block, the clamping plates face the second connecting block to protrude to form a third clamping block, when the clamping part is connected with the rotary connecting part, the locking part correspondingly penetrates through the accommodating end of the rotary limiting hole, the clamping part and the rotating part rotate relatively, and therefore the locking part and the third clamping block are abutted to clamp the clamping.

6. The snap fastener assembly of claim 2, wherein: the rotary connecting part is provided with at least two second electric connecting pieces, the center of the buckle part protrudes to one side far away from the rotary connecting part to form a second connecting block, the second connecting block is provided with at least two containing holes, and the second electric connecting pieces penetrate through the second connecting block through the containing holes.

7. The snap fastener assembly of claim 6, wherein: the buckle connecting surface is also provided with at least two first buckling blocks and at least two second buckling blocks, the first buckling blocks and the second buckling blocks are arranged around the first connecting blocks, and one side of each first buckling block, which is far away from the first connecting blocks, is provided with two first clamping blocks and a connecting convex block arranged between the two first clamping blocks; two second clamping blocks are formed on one side, close to the first connecting block, of the second buckling block;

8. The snap fastener assembly of claim 7, wherein: the first connecting block is provided with at least two accommodating holes, the surface fastener comprises a first PCB and at least two first electric connecting pieces arranged on the first PCB, and the first electric connecting pieces are exposed out of the fastener connecting surface through the accommodating holes; when the first connecting block is in contact with the second connecting block, the first electric connecting piece is in contact with the second electric connecting piece and is electrically conducted.

9. The snap fastener assembly of claim 7, wherein: the first connecting block extends towards the first buckling block and the second buckling block to form four first protruding blocks, the number of the locking pieces is four, the first protruding blocks are matched with the locking pieces, and the gaps are formed between the first protruding blocks and the buckle connecting surfaces.

10. A robot, characterized by: the robot comprises a plurality of functional components and at least one snap fastening component according to any one of claims 1-9 for connecting any two functional components.