A foot-type robot

Abstract

The application relates to the technical field of robots, in particular to a foot-type robot, which comprises a robot body, a plurality of first coupling parts rotatably connected to the robot body, a plurality of leg modules, second coupling parts connected to the leg modules, and magnet coupling channels formed after the first coupling parts and the second coupling parts are connected through magnetic attraction, a plurality of multi-needle spring ejector pin electrical connectors installed on the robot body and capable of penetrating the first coupling parts and the second coupling parts, and the multi-needle spring ejector pin electrical connectors being used for realizing electrical connection between the robot body and the leg modules. The application has the effects of realizing quick disassembly of the leg mechanism under the premise of reliable connection, guaranteeing the stability of signal transmission, simplifying a sensor power supply system, and improving energy utilization efficiency.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a legged robot. Background Technology

[0002] Legged robots have broad application prospects in complex environments due to their excellent terrain adaptability. Currently, the design of leg mechanisms for legged robots mainly focuses on improving mobility, load capacity, and energy efficiency. With the diversification of robotic tasks, modular design has become a research hotspot, allowing for rapid leg replacement to adapt to different task requirements.

[0003] However, there is still considerable room for improvement in the electrical connection, heat dissipation efficiency, and drive integration of the leg mechanism in the existing technology. Existing legged robots usually adopt the following approach: the mechanical connection between the leg and the body is achieved through bolts or buckles, in conjunction with pluggable electrical interfaces.

[0004] Regarding the aforementioned technologies, bolted connections offer high reliability but are inconvenient to disassemble, leading to maintenance difficulties due to the inconvenience of leg disassembly. Clip-on connections, while easy to disassemble, are prone to loosening. Plug-in electrical interfaces are susceptible to wear and poor contact, and the electrical connection is easily affected by vibrations during leg movement, resulting in unstable signals. Utility Model Content

[0005] In order to achieve rapid disassembly of the leg mechanism while ensuring reliable connection and stable signal transmission, this application provides a legged robot.

[0006] This application provides a legged robot using the following technical solution:

[0007] A legged robot, comprising:

[0008] A robot body, on which multiple first coupling parts are rotatably connected;

[0009] Multiple leg modules, each leg module is connected to a second coupling part, and the first coupling part and the second coupling part are magnetically connected to form a magnetic coupling channel;

[0010] Multiple multi-pin spring-loaded electrical connectors are mounted on the robot body and can pass through the first coupling part and the second coupling part. The multi-pin spring-loaded electrical connectors are used to realize the electrical connection between the robot body and the leg module.

[0011] By adopting the above technical solution, the designed legged robot uses the robot body as an energy source and control center, the leg modules to realize the position movement of the robot body, the cooperation of the first coupling part and the second coupling part to realize the quick disassembly of the leg modules under the premise of reliable connection, and the use of multi-pin spring pin electrical connectors to realize the electrical connection between the robot body and the leg modules can ensure the stability of signal transmission.

[0012] In one specific implementation, the leg module includes:

[0013] A connecting portion, wherein the second coupling portion is mounted on the connecting portion, and the connecting portion has an electrical interface adapted to the multi-pin spring ejector electrical connector;

[0014] The action part is connected to the connecting part by a motion joint.

[0015] By adopting the above technical solution, the designed leg module can be connected to the robot body through the connecting part, and the position of the robot body can be moved by the motion part in conjunction with the motion joint.

[0016] In one specific implementation, the kinematic joint includes:

[0017] A joint body, which is connected to the connecting part, and an intermediate shaft is rotatably connected to the joint body and connected to the moving part;

[0018] The main winding drive motor is connected to the joint body and electrically connected to the multi-pin spring ejector electrical connector. The output shaft of the main winding drive motor is coaxially connected to one end of the intermediate shaft.

[0019] A secondary winding generator is connected to the joint body, and the input shaft of the secondary winding generator is coaxially connected to the end of the intermediate shaft away from the main winding drive motor. The power output terminal of the secondary winding generator is electrically connected to the sensors on the connecting part and the actuating part.

[0020] By adopting the above technical solution, the designed motion joint can restrict the degree of freedom between the connecting part and the moving part through the joint body and the intermediate shaft. The intermediate shaft can be driven to rotate by the main winding drive motor, thereby realizing the posture change of the moving part. The kinetic energy can be recovered when the moving part brakes through the auxiliary winding generator. At this time, the intermediate shaft drives the input shaft of the auxiliary winding generator to rotate to generate electricity. The electrical energy generated by the auxiliary winding generator supplies the sensors on the connecting part and the moving part, thereby simplifying the sensor power supply system. Furthermore, the kinetic energy recovery during braking improves the energy utilization efficiency.

[0021] In one specific implementation, multiple heat-conducting pipes are installed on the connecting part, one end of each heat-conducting pipe is connected to the main winding drive motor and / or the auxiliary winding generator, and the other end is connected to the second coupling part.

[0022] By adopting the above technical solution, the designed heat pipe can transfer the heat generated by the main winding drive motor and the auxiliary winding generator during operation to the robot body through the magnetic coupling channel formed by the first coupling part and the second coupling part, thereby avoiding the need to install an external heat dissipation unit on the outside of the joint body.

[0023] In one specific implementation, a heat dissipation module is installed on the robot body.

[0024] By adopting the above technical solutions, heat dissipation capacity can be further improved.

[0025] In one specific implementation, the heat pipe is a copper heat pipe.

[0026] By adopting the above technical solutions, heat transfer efficiency can be improved.

[0027] In one specific implementation, the first coupling part and the second coupling part are made of neodymium iron boron permanent magnets.

[0028] By adopting the above technical solution, reliable connection and torque transmission between the robot body and the leg module can be achieved.

[0029] In one specific implementation, all contacts in the multi-pin spring-loaded electrical connector are gold-plated.

[0030] By adopting the above technical solution, the multi-pin spring ejector connector with gold-plated contacts can improve the conductivity and corrosion resistance of the contacts.

[0031] In summary, this application includes at least one of the following beneficial technical effects:

[0032] 1. The designed legged robot uses the robot body as an energy source and control center, and the leg modules enable the robot body to move. The cooperation of the first and second coupling parts allows for the rapid disassembly of the leg modules while ensuring a reliable connection. The use of multi-pin spring-loaded electrical connectors to achieve electrical connection between the robot body and the leg modules ensures the stability of signal transmission.

[0033] 2. The designed legged robot can restrict the degrees of freedom between the connecting part and the moving part through the joint body and the intermediate axis. The intermediate axis can be driven to rotate by the main winding drive motor, thereby realizing the posture change of the moving part. The kinetic energy can be recovered when the moving part brakes through the auxiliary winding generator. At this time, the intermediate axis drives the input shaft of the auxiliary winding generator to rotate to generate electricity. The electrical energy generated by the auxiliary winding generator supplies the sensors on the connecting part and the moving part, thereby simplifying the sensor power supply system. Moreover, the kinetic energy recovery during braking improves the energy utilization efficiency.

[0034] 3. The designed legged robot uses heat pipes to transfer the heat generated by the main winding drive motor and the auxiliary winding generator during operation to the robot body through the magnetic coupling channel formed by the first coupling part and the second coupling part, thus avoiding the need to install external heat dissipation units on the outside of the joint body. Attached Figure Description

[0035] Figure 1 This is a structural schematic diagram of a legged robot according to an embodiment of this application.

[0036] Figure 2 yes Figure 1 The partial structural diagram is mainly used to show the leg module and coupling structure.

[0037] Figure 3 yes Figure 2 The first sectional view in the diagram is mainly used to show the relative positional relationship between the multi-pin spring ejector connector and the coupling structure.

[0038] Figure 4 yes Figure 2 The second sectional view is mainly used to show the connection relationship between the heat pipe and the main winding drive motor and the auxiliary winding generator.

[0039] Figure 5 yes Figure 4 Enlarged view of part A in the image.

[0040] Explanation of reference numerals in the attached drawings: 1. Robot body; 2. First coupling part; 3. Leg module; 31. Connecting part; 32. Motion part; 33. Motion joint; 331. Joint body; 332. Intermediate shaft; 333. Main winding drive motor; 334. Secondary winding generator; 4. Second coupling part; 5. Multi-pin spring ejector electrical connector; 6. Heat pipe; 7. Heat dissipation module. Detailed Implementation

[0041] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0042] This application discloses a legged robot.

[0043] Reference Figure 1 and Figure 2 A legged robot includes a robot body 1 and multiple leg modules 3. Multiple first coupling parts 2 are rotatably connected to the robot body 1, and second coupling parts 4 are fixedly connected to the leg modules 3. The first coupling parts 2 and the second coupling parts 4 are magnetically connected to form a magnetic coupling channel. In this application, the number of first coupling parts 2 is the same as the number of leg modules 3, which can be three, four, or other numbers, as long as it can meet the purpose of moving the robot body 1. In this embodiment, the number of first coupling parts 2 is ten. The robot body 1 can serve as an energy source and control center. The position of the robot body 1 can be moved through the leg modules 3. The cooperation of the first coupling parts 2 and the second coupling parts 4 can enable the rapid disassembly of the leg modules 3 under the premise of reliable connection. Specifically, the first coupling parts 2 and the second coupling parts 4 are made of neodymium iron boron permanent magnets.

[0044] Reference Figure 1 and Figure 2 In order to facilitate heat dissipation on the robot body 1, a heat dissipation module 7 is installed on the robot body 1. In this application, the heat dissipation module 7 can be built into the robot body 1 or connected to the outside of the robot body 1. In this embodiment, the heat dissipation module 7 is installed on the outer wall of the robot body 1.

[0045] Reference Figure 2 and Figure 3 Furthermore, in order to achieve a stable electrical connection between the robot body 1 and the leg module 3, the legged robot also includes multiple multi-pin spring-loaded electrical connectors 5. The multi-pin spring-loaded electrical connectors 5 are installed on the robot body 1. After the first coupling part 2 and the second coupling part 4 are magnetically fixed, the multi-pin spring-loaded electrical connectors 5 can be inserted into the first coupling part 2 and the second coupling part 4, thereby realizing the electrical connection between the robot body 1 and the leg module 3. Furthermore, in order to improve the conductivity and corrosion resistance of the contacts, the contacts in the multi-pin spring-loaded electrical connectors 5 are all gold-plated.

[0046] Reference Figure 2 and Figure 3 Furthermore, the leg module 3 includes a connecting part 31, an action part 32, and a motion joint 33. The second coupling part 4 is fixed to the connecting part 31, and the connecting part 31 has an electrical interface adapted to the multi-pin spring ejector electrical connector 5. After the first coupling part 2 and the second coupling part 4 are magnetically fixed, the multi-pin spring ejector electrical connector 5 is inserted into the electrical interface on the connecting part 31. The action part 32 and the end of the connecting part 31 away from the robot body 1 are connected through the motion joint 33, and the relative angle between the action part 32 and the connecting part 31 is adjusted by the motion joint 33.

[0047] Reference Figure 4 and Figure 5 Specifically, the motion joint 33 includes a joint body 331, an intermediate shaft 332, a main winding drive motor 333, and an auxiliary winding generator 334. The joint body 331 is screwed to the connecting part 31. The intermediate shaft 332 is rotatably connected to the joint body 331 and passes through one end of the motion part 32 and is fixedly connected. The main winding drive motor 333 and the auxiliary winding generator 334 are located at the two ends of the axial direction of the intermediate shaft 332, respectively. The main winding drive motor 333 is embedded in the joint body 331 and is electrically connected to the multi-pin spring ejector electrical connector 5. The output shaft of the main winding drive motor 333 is coaxially connected to one end of the intermediate shaft 332.

[0048] Reference Figure 4 and Figure 5 The auxiliary winding generator 334 is embedded and fixed in the joint body 331, and the input shaft of the auxiliary winding generator 334 is coaxially connected to the end of the intermediate shaft 332 away from the main winding drive motor 333. The power output end of the auxiliary winding generator 334 is electrically connected to the sensor on the connection and motion part 32. The joint body 331 and the intermediate shaft 332 can restrict the degree of freedom between the connection part 31 and the motion part. The main winding drive motor 333 can drive the intermediate shaft 332 to rotate, thereby realizing the attitude change of the motion part. The auxiliary winding generator 334 can recover kinetic energy when the motion part brakes. At this time, the intermediate shaft 332 drives the input shaft of the auxiliary winding generator 334 to rotate to generate electricity. The power generated by the auxiliary winding generator 334 supplies the sensor on the connection part 31 and the motion part, thereby simplifying the sensor power supply system, and the kinetic energy recovery during braking improves the energy utilization efficiency.

[0049] Reference Figure 4 Furthermore, to facilitate the heat transfer and dissipation of the main winding drive motor 333 and the auxiliary winding generator 334 during operation, multiple heat pipes 6 are installed on the connecting part 31. One end of the heat pipe 6 extends into the motion joint 33 and is connected to the main winding drive motor 333 and the auxiliary winding generator 334, while the other end is connected to the second coupling part 4. The heat is transferred to the robot body 1 through the magnetic coupling channel formed by the first coupling part 2 and the second coupling part 4, and the heat is dissipated through the external heat dissipation module 7 on the robot body 1. In this application, one heat pipe 6 can be connected to both the main winding drive motor 333 and the auxiliary winding generator 334 simultaneously, or one heat pipe 6 can be connected to the main winding drive motor 333 and the other heat pipe 6 can be connected to the auxiliary winding generator 334. In this embodiment, one heat pipe 6 is connected to both the main winding drive motor 333 and the auxiliary winding generator 334 simultaneously, and the heat pipe 6 is made of copper to improve heat conduction efficiency.

[0050] The implementation principle of a legged robot according to an embodiment of this application is as follows: the second coupling part 4 on the leg module 3 is aligned with the first coupling part 2 of the robot body 1, and a mechanical connection is completed by magnetic adsorption; the multi-pin spring-loaded electrical connector 5 is fully inserted to achieve electrical connection; the robot is started, and the controller sends instructions to the leg module 3 through the electrical connector; the main winding drive motor 333 drives the motion joint 33 to move according to the instructions, and when braking, the auxiliary winding generator 334 generates electricity to supply the sensor; the magnetic coupling channel formed by the heat pipe 6, the first coupling part 2, and the second coupling part 4 continuously conducts the heat of the main winding drive motor 333 and the auxiliary winding generator 334 to ensure heat dissipation efficiency; the robot body 1 can serve as an energy source and control center, the leg module 3 can realize the position movement of the robot body 1, and the cooperation of the first coupling part 2 and the second coupling part 4 can realize the quick disassembly of the leg module 3 under the premise of reliable connection; by using the multi-pin spring-loaded electrical connector 5 to realize the electrical connection between the robot body 1 and the leg module 3, the stability of signal transmission can be guaranteed.

[0051] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A legged robot, characterized in that: include: A robot body (1) is rotatably connected to a plurality of first coupling parts (2); Multiple leg modules (3), each leg module (3) is connected to a second coupling part (4), and the first coupling part (2) and the second coupling part (4) are connected by magnetic attraction to form a magnetic coupling channel; Multiple multi-pin spring-loaded electrical connectors (5) are mounted on the robot body (1) and can be inserted into the first coupling part (2) and the second coupling part (4). The multi-pin spring-loaded electrical connectors (5) are used to realize the electrical connection between the robot body (1) and the leg module (3).

2. The legged robot according to claim 1, characterized in that: The leg module (3) includes: The connecting part (31) is mounted on the second coupling part (4), and the connecting part (31) has an electrical interface adapted to the multi-pin spring ejector electrical connector (5); The action part (32) is connected to the connecting part (31) via a motion joint (33).

3. The legged robot according to claim 2, characterized in that: The motion joint (33) includes: The joint body (331) is connected to the connecting part (31), and an intermediate shaft (332) is rotatably connected to the joint body (331), and the intermediate shaft (332) is connected to the moving part (32). The main winding drive motor (333) is connected to the joint body (331), the main winding drive motor (333) is electrically connected to the multi-pin spring pin electrical connector (5), and the output shaft of the main winding drive motor (333) is coaxially connected to one end of the intermediate shaft (332). A secondary winding generator (334) is connected to the joint body (331), and the input shaft of the secondary winding generator (334) is coaxially connected to the end of the intermediate shaft (332) away from the main winding drive motor (333). The power output end of the secondary winding generator (334) is electrically connected to the sensors on the connecting part (31) and the actuating part (32).

4. The legged robot according to claim 3, characterized in that: Multiple heat pipes (6) are installed on the connecting part (31). One end of the heat pipe (6) is connected to the main winding drive motor (333) and / or the auxiliary winding generator (334), and the other end is connected to the second coupling part (4).

5. The legged robot according to claim 4, characterized in that: A heat dissipation module (7) is installed on the robot body (1).

6. The legged robot according to claim 4, characterized in that: The heat pipe (6) is made of copper.

7. The legged robot according to claim 1, characterized in that: The first coupling part (2) and the second coupling part (4) are made of neodymium iron boron permanent magnets.

8. The legged robot according to claim 1, characterized in that: All contacts in the multi-pin spring-loaded electrical connector (5) are gold-plated.

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