CN113021317B

CN113021317B - Robot head quick-release mechanism and robot with head and body capable of being quickly detached

Info

Publication number: CN113021317B
Application number: CN202110267070.3A
Authority: CN
Inventors: 李学生; 李敏; 马凡钟
Original assignee: Delu Power Technology Chengdu Co ltd
Current assignee: Delu Power Technology Chengdu Co ltd
Priority date: 2021-03-11
Filing date: 2021-03-11
Publication date: 2022-09-09
Anticipated expiration: 2041-03-11
Also published as: CN113021317A

Abstract

The invention relates to a quick-release mechanism for a robot head and a robot with a quickly-detachable head and a quickly-detachable body, wherein the quick-release mechanism for the robot head comprises a first connecting part, a second connecting part and a buckle structure for realizing quick connection of the first connecting part and the second connecting part; the first connecting part is provided with a conductive contact pin, and the second connecting part is provided with a contact pin hole matched with the conductive contact pin; the robot comprises a robot head, a robot body and a robot head quick-release mechanism, wherein the first connecting part is connected with the robot head, and the second connecting part is connected with the robot body. The invention can realize the quick connection and quick separation of the head and the trunk of the robot, and has simple structure and convenient use; in the transportation process, the head and the trunk of the robot are conveniently and separately sealed and packaged, so that the head of the robot is prevented from being damaged in the transportation process; the head and the trunk of the robot are in butt joint and are conductive through a pin type structure, so that the wiring mode can be simplified, and the disassembly and the assembly are more convenient and faster.

Description

Robot head quick-release mechanism and robot with head and body capable of being quickly detached

Technical Field

The invention relates to the technical field of robots, in particular to a quick head detaching mechanism of a robot and a robot with a quickly detachable head and a quickly detachable body.

Background

Robotics is a leading-edge subject with rapid development and high comprehensiveness, and the subject is wide in related field, integrates latest scientific research achievements of various subjects such as mechanical engineering, electrical and electronic engineering, computer engineering, automatic control engineering, bioscience, artificial intelligence and the like, and represents the latest achievement of electromechanical integration. The robot fully embodies the respective characteristics of the human body and the machine, and has greater flexibility and wider application range than the traditional machine. The advent and application of robots is a need for human production and social progress, and is a necessity for scientific and technological development and production tool evolution. At present, the robot and the automatic complete equipment thereof become high and new technology application fields which are highly valued at home and abroad, and at the same time, the robot permeates into various fields such as ocean, aviation, aerospace, military, agriculture, service, entertainment and the like at an incredible speed.

Compared with the traditional four-wheel type and crawler type, the foot type robot has the advantages of inexpedient ratio, has higher maneuverability in a complex environment, and can play a larger role in military tasks and emergency tasks than the traditional wheel type.

A legged robot typically includes a head, a torso, and legs. The existing foot robot has a lot of head cables and is difficult to assemble and disassemble, so that the head and the trunk are kept connected in the transportation process, the folding angle is limited, the possibility that the head is locally impacted by the outside is high when the head is packed, and the head is damaged at a high risk.

Disclosure of Invention

The invention provides a quick-release mechanism for a head of a robot and a robot with the head and a trunk capable of being quickly detached, aiming at solving the technical problems.

The invention is realized by the following technical scheme:

the robot head quick-release mechanism comprises a first connecting part, a second connecting part and a buckle structure for realizing quick connection of the first connecting part and the second connecting part;

the first connecting portion is provided with a conductive contact pin, and the second connecting portion is provided with a contact pin hole matched with the conductive contact pin.

Preferably, the catch formation is a spring catch.

Furthermore, the buckle structure comprises a limiting clamp arm, a spring and a fixing pin;

the second connecting part is provided with an accommodating groove for installing a limiting clamping arm, the limiting clamping arm is rotatably arranged in the accommodating groove through a fixing pin, and one side of one end of the limiting clamping arm is provided with a convex clamping part;

there is the tongue first connecting portion bottom, and the holding tank surface has the opening, and the opening link up with the holding tank, tongue lower extreme accessible the opening stretches into in the holding tank, the tongue lower extreme have with the notch of joint portion adaptation.

Further, the notch and the clamping portion are both V-shaped.

Furthermore, a positioning convex part is arranged at one end of the first connecting part, and a positioning groove matched with the positioning convex part is arranged at one end of the second connecting part.

Preferably, the positioning groove and the positioning convex part are circular rings, the conductive contact pin is located in the center of the inner periphery of the positioning convex part, and the contact pin hole is located in the center of the inner periphery of the positioning groove.

Furthermore, a raised line is arranged on the positioning convex part, a straight groove matched with the raised line is arranged on the groove wall of the positioning groove, and the straight groove is parallel to the pin inserting hole.

A robot with a head and a trunk capable of being rapidly disassembled comprises a robot head, a robot trunk and a robot head rapid disassembly mechanism,

the first connecting portion with the robot head is connected, the second connecting portion with the robot truck is connected.

Compared with the prior art, the invention has the following beneficial effects:

the invention can realize the quick connection and quick separation of the head and the trunk of the robot, and has simple structure and convenient use; in the transportation process, the head part and the trunk part of the robot are conveniently separated, the head part and the body part are conveniently and independently packaged, the sealing performance is better, the shock resistance is better, and the head part of the robot can be prevented from being damaged in the transportation process;

and 2, the head and the trunk of the robot are in butt joint conduction through a contact pin type structure, so that the wiring mode can be simplified, and the disassembly and assembly are more convenient and faster.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention.

FIG. 1 is a cross-sectional view of a robot head quick release mechanism coupled together;

FIG. 2 is an exploded view of the robot head quick release mechanism;

FIG. 3 is a schematic structural view of the first connecting portion;

FIG. 4 is a schematic structural view of a second connecting portion;

fig. 5 is a schematic structural view of the robot.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described in detail and completely with reference to the accompanying drawings. It is to be understood that the described embodiments are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "vertical", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or orientations or positional relationships that the products of the present invention are usually arranged in use, or orientations or positional relationships that are usually understood by those skilled in the art, and are used only for convenience of description and simplification of the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 4, the quick release mechanism for a robot head disclosed in the present invention includes a first connecting portion 1, a second connecting portion 2, and a buckle structure for realizing quick connection between the first connecting portion 1 and the second connecting portion 2.

The first connecting portion 1 is provided with a conductive pin 11, and the second connecting portion 2 is provided with a pin hole 21 adapted to the conductive pin 11.

Based on the robot head quick-release mechanism, the invention discloses 3 embodiments.

Example 1

As shown in fig. 1-4, the latching structure in this embodiment is a spring latch, and specifically includes a limiting latch arm 31, a spring 32, and a fixing pin 33.

The first connecting portion 1 and the second connecting portion 2 are vertically arranged.

The second connecting portion 2 is provided with a receiving groove 22 for mounting the limiting clamping arm 31, the limiting clamping arm 31 is rotatably mounted in the receiving groove 22 through a fixing pin 33, and one side of the upper end of the limiting clamping arm 31 is provided with a convex clamping portion 34.

The bottom of the first connecting part 1 is provided with a tongue 12, the top surface of the accommodating groove 22 is provided with an opening 23, the opening 23 is communicated with the accommodating groove 22, the lower end of the tongue 12 can extend into the accommodating groove 22 through the opening 23, and the lower end of the tongue 12 is provided with a notch 13 matched with the clamping part 34. The notch 13 and the catching portion 34 are V-shaped in this embodiment.

One end of the catching portion 34 of the stopper catching arm 31 tends to rotate directly below the opening 23 by the spring 32. In the embodiment, the spring 32 is a coil spring, and the spring 32 is located above the fixing pin 33. In another embodiment the spring 32 may be selected from a torsion spring or the like.

The first connecting part 1 is provided with a conductive pin 11, and the corresponding position of the top surface of the second connecting part 2 is provided with a pin hole 21.

In order to quickly realize the registration positioning of the conductive pin 11 and the pin hole 21 when connecting the first connecting part 1 and the second connecting part 2. The bottom surface of the first connecting part 1 is provided with a positioning convex part 14, and the top surface of the second connecting part 2 is provided with a positioning groove 24 matched with the positioning convex part 14. In this embodiment, the positioning groove 24 is circular, the corresponding positioning protrusion 14 is also circular, the pin hole 21 is located at the center of the inner periphery of the positioning groove 24, and the corresponding conductive pin 11 is located at the center of the inner periphery of the positioning protrusion 14.

As shown in fig. 3 and 4, a protruding strip 15 is vertically disposed on the positioning protrusion 14, and a straight groove 25 adapted to the protruding strip 15 is disposed on the groove wall of the positioning groove 24.

The assembly method of the invention comprises the following steps:

firstly, pressing the lower end of the limiting clamp arm 31, the limiting clamp arm 31 reversely rotates around the fixing pin 33 and resists the acting force of the spring 32, and one end of the clamping part 34 is moved away from the position right below the opening 23 through the lever principle so as to facilitate the insertion of the tongue part 12;

then, the positioning convex part 14 is opposite to the positioning groove 24, and the convex strip 15 is opposite to the straight groove 25;

subsequently, the positioning protrusion 14 is inserted into the positioning groove 24, the protruding strip 15 is also inserted into the straight groove 25, the conductive pin 11 is also inserted into the pin hole 21, and the tongue 12 is also inserted into the opening 23;

finally, the limiting clamping arm 31 is loosened, the limiting clamping arm 31 rotates around the fixing pin 33 in the positive direction under the action of the spring 32, the clamping portion 34 is clamped and kept in the notch 13 under the action of the spring 32, and the quick connection between the first connecting portion 1 and the second connecting portion 2 is realized, and meanwhile, the quick connection is also realized.

The disassembly method of the invention comprises the following steps:

firstly, the lower end of the limiting clamp arm 31 is pressed, the limiting clamp arm 31 reversely rotates around the fixing pin 33, and the clamping part 34 is withdrawn from the notch 13 by resisting the acting force of the spring 32;

then, the first connection portion 1 and the second connection portion 2 may be separated.

As shown in fig. 5, the robot with the quickly detachable head and the quickly detachable body disclosed by the invention comprises a robot head 4, a robot body 5 and a robot head quick-release mechanism, wherein a first connecting part 1 is provided with a connecting structure for connecting with the robot head 4, and a second connecting part 2 is provided with a connecting structure for connecting with the robot body 5. The first connecting part 1 is connected with the robot head 4, and the second connecting part 2 is connected with the robot trunk 5.

The invention can realize the quick connection and quick separation of the head and the trunk of the robot, has simple structure and convenient use, and can prevent the head of the robot from being damaged in the transportation process; the head and the trunk of the robot are connected with the head cable and the trunk master control module cable through the contact pins, so that the wiring mode can be simplified, and the disassembly and assembly are more convenient and faster.

Example 2

This example differs from example 1 in that: in the embodiment, the first connecting part 1 is connected with the robot trunk 5, and the second connecting part 2 is connected with the robot head 4.

Example 3

This embodiment differs from embodiment 1 or embodiment 2 in that: conductive pins 11 are instead provided on the second connection part 2 and pin holes 21 are instead provided on the first connection part 1.

The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. Robot head quick detach mechanism, its characterized in that: the quick connector comprises a first connecting part, a second connecting part and a buckle structure for realizing quick connection of the first connecting part and the second connecting part;

the first connecting part is provided with a conductive contact pin, and the second connecting part is provided with a contact pin hole matched with the conductive contact pin;

the buckle structure is a spring buckle and comprises a limiting clamp arm, a spring and a fixed pin;

the second connecting part is provided with a containing groove for installing a limiting clamp arm, the limiting clamp arm is rotatably arranged in the containing groove through a fixing pin, and one side of one end of the limiting clamp arm is provided with a convex clamping part;

the bottom of the first connecting part is provided with a tongue part, the surface of the accommodating groove is provided with an opening, the opening is communicated with the accommodating groove, the lower end of the tongue part can extend into the accommodating groove through the opening, and the lower end of the tongue part is provided with a notch matched with the clamping part;

the spring is a spiral spring, the spring is positioned above the fixed pin, one end of the clamping part of the clamping arm is limited under the action of the spring and tends to rotate under the opening, and the clamping part is clamped and kept in the notch under the action of the spring;

the notch and the clamping part are both V-shaped.

2. The robot head quick release mechanism of claim 1, further comprising: there is the location convex part at first connecting portion one end, and second connecting portion one end has the constant head tank with location convex part adaptation.

3. The robot head quick release mechanism of claim 2, further comprising: the locating groove and the locating convex part are circular, the conductive contact pin is located in the center of the inner periphery of the locating convex part, and the contact pin hole is located in the center of the inner periphery of the locating groove.

4. The robot head quick release mechanism of claim 3, further comprising: the convex part of the positioning groove is provided with a convex strip, the wall of the positioning groove is provided with a straight groove matched with the convex strip, and the straight groove is parallel to the pin inserting hole.

5. The utility model provides a head and trunk quick detachable's robot, includes robot head and robot trunk, its characterized in that: it further comprises a robot head quick release mechanism according to any of claims 1-4,