Buckle fastening assembly and robot

Abstract

The present invention relates to the field of electronic products, and in particular to a snap fastening assembly and a robot, comprising a snap assembly and a surface snap that cooperates with the snap assembly; the surface snap includes a snap connection surface, a first connection block is formed on the snap connection surface, a gap is formed between the first connection block and the snap connection surface, the snap assembly includes at least one snap portion, the snap portion includes a second connection block and a locking member disposed around the second connection block, when the surface snap is rotationally connected to the snap assembly, the first connection block contacts the second connection block, and the locking member is placed in the gap, and a robot is provided, comprising multiple functional components and at least one snap fastening assembly. The snap fastening assembly and robot provided by the present invention have advantages such as stable connection.

Description

Technical field

[0001] The present invention relates to the technical field of electronic products, and in particular to a snap fastening assembly and a robot. [Background Technology]

[0002] Mechanical structures can be indirectly connected via snap fasteners to form a complete mechanical motion mechanism. The two mechanical structures transmit rotational torque via the snap fasteners. Existing snap fasteners are simple in structure, requiring only direct connection between the two mechanical structures during installation. This design suffers from a simple structure, a short service life, and insufficient rigidity, making it unsuitable for high-speed, high-frequency rotational mechanisms. There is a need in the market for a snap fastener that can achieve a stable connection between mechanical structures. [Summary of the invention]

[0003] To overcome the unstable nature of existing snap-on connections between mechanical structures, the present invention provides a snap-on fastening assembly and a robot. The snap-on fastening assembly includes a snap assembly and a surface snap that mates with the snap assembly. The surface snap includes a snap-on connection surface with a first connecting block formed on the snap-on connection surface, forming a gap between the first connecting block and the snap-on connection surface. The snap assembly includes at least one snap portion, which includes a second connecting block and a locking member disposed around the second connecting block. When the surface snap is rotationally connected to the snap assembly, the first connecting block contacts the second connecting block, and the locking member is positioned within the gap.

[0004] Preferably, the snap assembly also includes a rotating connection part, the snap part is connected to the rotating connection part, the rotating connection part includes a connecting shell and a fixed core arranged in the connecting shell, a locking piece is provided on the fixed core, the locking piece extends toward the snap part, and a rotation limiting hole is provided at the position of the snap part corresponding to the locking piece, the locking piece is exposed through the rotation limiting hole, and the locking piece forms a hook-shaped structure toward the snap part.

[0005] Preferably, the snap assembly includes two snap parts, and the two snap parts are respectively arranged on opposite sides of the rotating connection part. The two oppositely arranged snap parts are mirror-symmetrical, and a slot is further provided on the inner wall of the connecting shell of the snap part facing the two snap parts, and a limiting protrusion is provided on the slot. A snap position corresponding to the limiting protrusion is provided on the side of the snap part facing the rotating connection part, and the snap position slides on the slot until it contacts the limiting protrusion.

[0006] Preferably, the rotation limiting hole includes an accommodating end and a clamping end that are connected to each other, the accommodating end is larger than the size of the locking member to accommodate the locking member, the locking member is interference fit with the clamping end, and the locking member is inserted from the accommodating end and fixed by screwing the relative position to the clamping end.

[0007] Preferably, the snap-fit portion further includes at least two snap-fit plates, which are arranged around the second connecting block, and the snap-fit plates protrude toward the second connecting block to form a third snap-fit block. When the snap-fit portion is connected to the rotating connecting portion, the locking piece passes through the accommodating end of the rotation limiting hole correspondingly, so that the snap-fit portion and the rotating portion rotate relative to each other, so that the locking piece is abutted and snap-fitted with the third snap-fit block.

[0008] Preferably, at least two second electrical connectors are provided on the rotating connection part, and the center of the snap portion protrudes toward the side away from the rotating connection part to form a second connection block. At least two accommodating holes are opened on the second connection block, and the second electrical connector passes through the accommodating holes to penetrate the second connection block.

[0009] Preferably, at least two first snap-fit blocks and at least two second snap-fit blocks are further formed on the snap-fit connection surface, the first snap-fit blocks and the second snap-fit blocks are arranged around the first connection block, and the first snap-fit block forms two first clamping blocks and a connecting protrusion arranged between the two first clamping blocks on a side away from the first connection block; and the second snap-fit block forms two second clamping blocks on a side close to the first connection block.

[0010] The buckle portion also includes at least two buckling parts arranged around the second connecting block. The buckling parts have the same structure as the second buckling block. The buckling parts are also provided with a recessed hole on the side facing the second connecting block. When the surface buckle is rotated and connected with the buckle assembly, the recessed hole is abutted against the connecting protrusion.

[0011] Preferably, at least two accommodating holes are provided on the first connecting block, and the surface clip includes a first PCB board and at least two first electrical connectors provided on the first PCB board, and the first electrical connector is exposed to the clip connecting surface through the accommodating holes; when the first connecting block contacts the second connecting block, the first electrical connector contacts the second electrical connector and is electrically conductive.

[0012] Preferably, the first connecting block extends toward the first snap-fit block and the second snap-fit block to form four first protrusions, the number of the locking members is four, the first protrusions match the locking members, and the gap is formed between the first protrusions and the snap-fit connection surface.

[0013] In order to solve the above technical problems, the present invention provides a robot, which includes multiple functional components and at least one snap-on fastening component as described above, wherein the snap-on fastening component is used to connect any two functional components.

[0014] Compared with the prior art, the buckle fastening assembly and robot provided by the present invention have the following beneficial effects:

[0015] 1. A snap fastening assembly, comprising a snap assembly and a surface snap that cooperates with the snap assembly; the surface snap includes a snap connection surface with a first connecting block formed thereon, a gap formed between the first connecting block and the snap connection surface; the snap assembly includes at least one snap portion, the snap portion including a second connecting block and a locking member disposed around the second connecting block; when the surface snap and the snap assembly are rotationally connected, the first connecting block contacts the second connecting block, and the locking member is positioned within the gap. The locking member positioned within the gap of the surface snap ensures a stable connection between the snap assembly and the surface snap; the snap assembly and the surface snap require rotation relative to a certain angle for installation or removal.

[0016] 2. By designing the locking piece into a hook shape to cooperate with the rotation limit hole, the connection between the buckle assembly and the surface buckle is further strengthened. The buckle assembly with this design has strong structural rigidity.

[0017] 3. The snap assembly includes two snap parts. Based on the specific structural arrangement of the two mirror-symmetrical snap parts of the present invention, the snap assembly has no distinction between male and female snaps. When the snap assembly is set on various module units, wheels, or electronic devices such as robotic arms, the snap assembly can be arbitrarily spliced with the surface snaps without considering the male / female matching relationship. A slot is further provided on the inner wall of the connecting shell of the snap part facing the two snap parts, and a limiting protrusion is provided on the slot. A snap position corresponding to the limiting protrusion is provided on the side of the snap part facing the rotating connection part, and the snap position slides on the slot until it contacts the limiting protrusion to achieve the snap connection between the snap part and the rotating connection part. This design makes it more convenient to snap the snap part and the rotating connection part together, and can also play a role in mechanical anti-fouling.

[0018] 4. The locking member is interference-fitted with the snap-on end. The locking member is inserted from the receiving end and screwed into the snap-on end to secure it. This design makes the connection between the snap-on portion and the rotating connection portion more stable, and the snap-on portion is less likely to fall off the rotating connection portion.

[0019] 5. When the locking member is in abutment and engagement with the third engaging block, the buckle portion is fixed to the rotating connecting portion, further increasing the stability of the connection of the buckle portion to the rotating connecting portion.

[0020] 6. The second electrical connector passes through the second connection block through the receiving hole. When the surface buckle is connected to the buckle assembly, power supply and command transmission between the mechanisms can be achieved through the contact between the first electrical connection and the second connector.

[0021] 7. By providing a fastening element, the first fastening block deforms during the assembly or separation of the surface buckle, causing the adjustment screw driven into the first fastening block to move accordingly, thereby enhancing the fastening force of the first fastening block. Furthermore, the matching curved surface design between the contact surfaces of the first and second fastening blocks can make the surface buckle "easy to assemble and difficult to disassemble."

[0022] 8. The snap fastening assembly is used to connect any two functional components. The snap fastening assembly can be applied between any two functional components to transfer the rotational torque between the two functional components and play a connecting role. It can be used in a variety of usage scenarios and has rich functions.

Brief Description of the Drawings

[0023] Figure 1 is a schematic diagram of the three-dimensional structure of the modular robot in the first embodiment of the present invention;

[0024] Figure 2-A is a front view of a module unit in a first embodiment of the present invention;

[0025] Figure 2-B is a schematic diagram of the connection between two module units in the first embodiment of the present invention;

[0026] Figure 2-C is another connection diagram of two module units in the first embodiment of the present invention;

[0027] Figure 3 1 is a schematic diagram of the exploded structure of the module unit in the first embodiment of the present invention;

[0028] Figure 4 1 is a schematic diagram of the exploded structure of the first rotating member in the first embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of the three-dimensional structure of the connecting member in the first embodiment of the present invention;

[0030] Figure 6 2. It is a schematic diagram of the exploded structure of the surface buckle in the first embodiment of the present invention;

[0031] Figure 7-A is a schematic diagram of the three-dimensional structure of the snap connector in the first embodiment of the present invention;

[0032] Figure 7-Bis another schematic diagram of the three-dimensional structure of the snap connector in the first embodiment of the present invention;

[0033] Figure 8 is a front view of the snap connector in the first embodiment of the present invention;

[0034] Figure 9-A is a rear view of the connection of two snap connectors in the first embodiment of the present invention;

[0035] Figure 9-B yes Figure 9-A Cross-sectional view along AA direction;

[0036] Figure 10-A is a rear view of the connection of two snap connectors in the first embodiment of the present invention;

[0037] Figure 10-B yes Figure 10-A Cross-sectional view along CC direction;

[0038] Figure 11 1 is a schematic diagram of the exploded structure of the transmission assembly in the first embodiment of the present invention;

[0039] Figure 12 1 is a schematic diagram of the exploded structure of the rotating assembly in the first embodiment of the present invention;

[0040] Figure 13 is a schematic diagram of the three-dimensional structure of the magnetic member in the first embodiment of the present invention;

[0041] Figure 14 is a schematic diagram of the exploded structure of the connecting assembly in the first embodiment of the present invention;

[0042] Figure 15 is a top view of the connecting assembly in the first embodiment of the present invention;

[0043] Figure 16 yes Figure 15 Cross-sectional view along direction BB;

[0044] Figure 17 is a schematic diagram of the three-dimensional structure of a modular robot in a second embodiment of the present invention;

[0045] Figure 18 1 is a schematic diagram of the exploded structure of the buckle assembly in the second embodiment of the present invention;

[0046] Figure 19 is a schematic diagram of the three-dimensional structure of the rotary connection portion in the second embodiment of the present invention;

[0047] Figure 20 is a schematic diagram of the three-dimensional structure of the first buckle portion in the second embodiment of the present invention;

[0048] Figure 21is another schematic diagram of the three-dimensional structure of the first buckle portion in the second embodiment of the present invention;

[0049] Figure 22 2 is a schematic diagram of the three-dimensional structure of the connection between the module unit and the buckle assembly in the second embodiment of the present invention;

[0050] Figure 23 2 is a schematic diagram of the exploded structure of the module unit position servo system according to the third embodiment of the present invention;

[0051] Figure 24 FIG. 4 is a flow chart of a control method of a module unit position servo system according to a fourth embodiment of the present invention.

[0052] Description of reference numerals:

[0053] 01. Modular robot; 10. Module unit; 20. First rotating part; 22. Transmission assembly; 23. Protective cover; 24. Transmission member; 241. Drive motor; 242. Bevel gear; 243. Magnetic member; 244. Speed sensor; 245. Mounting plate; 25. Rotating assembly; 251. Connecting plate; 252. Gear ring; 253. Mounting bracket; 254. Rotating bracket; 255. Ball bearing; 30. Second rotating part; 32. Connecting assembly; 321. Second PCB board; 322. Conductive ring seat; 323. Slip ring; 324. Magnetic ring; 325. Position sensor; 40. First rotating part; 41. Housing; 411. First through-hole; 42. Surface buckle; 421. First PCB board; 4211. LED light source; 4212. First electrical connector; 4213. Middle through-hole; 422. Buckle connector; 4221. First connecting block; 4222. First receiving hole; 4223. First protrusion; 423. Shielding sheet; 424. First snap-fit block; 4241. Connecting protrusion; 4242. First snap-fit block; 425, second buckle block; 4251, groove; 4252, second clamping block; 426, buckle connection surface; 427, buckle installation surface; 428, fastener; 429, side hole; 430, buckle connection hole; 43, connector; 431, second through hole; 432, accommodating member; 4321, accommodating groove; 433, holding member; 50, second rotating member; 100, buckle assembly; 101, first buckle portion; 102, second buckle portion; 103, rotating connection portion; 104, connecting shell; 105, fixed core; 106, rotating hole; 107, second accommodating hole; 108, clamping groove; 109, limiting protrusion; 110, second connecting block; 111, second electrical connector; 112, locking member; 113, Accommodating hole; 114, rotation limiting hole; 1141, accommodating end; 1142, clamping end; 115, clamping plate; 116, third clamping block; 117, fastening member; 118, clamping position; 119, recessed hole; 120, accommodating space; 130, clamping member; 141, first connecting shaft; 142, second connecting shaft; 200, module unit position servo system; 201, rotating part; 202, position sensor; 203, magnetic ring; 204, controller; 210, kinematic pair; 211, transmission assembly; 212, connecting assembly. [Specific implementation method]

[0054] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and implementation examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0055] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0056] See also Figure 1 and Figure 2-A The present invention provides a modular robot 01, comprising at least one modular unit 10. Any two modular units 10 can be directly or indirectly connected to form a motion mechanism. Different connection methods between modular units 10 can reconfigure the modular robot 01 into 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 relative to each other to achieve different motion states of the modular robot 01. The modular unit 10 is spherical, with the first rotating portion 20 and the second rotating portion 30 being hemispherical. A servo device (not shown) can drive at least one of the rotating portions to rotate. The rotating portion can be either 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 to sense the relative position, speed, and torque of the first rotating portion 20 and the second rotating portion 30. The controller controls the position, speed, and torque.

[0057] See also Figure 3 The first rotating portion 20 includes a first rotating member 40, which is housed in a transmission assembly 22. The first rotating member 40 has a hemispherical structure. The second rotating portion 30 includes a second rotating member 50, which is housed in a connecting assembly 32. The first rotating member 40 and the second rotating member 50 have the same structure. The transmission assembly 22 is connected to the connecting assembly 32. The first rotating member 40 and the second rotating member 50 are connected to form a storage space for accommodating the transmission assembly 22 and the connecting assembly 32.

[0058] See also Figure 4 and Figure 5The first rotating member 40 includes a hollow housing 41, a connecting member 43 accommodated in the housing 41, and at least one surface buckle 42 connected to the connecting member 43. The housing 41 has a hemispherical structure and is provided with first penetration holes 411 for the surface buckles 42 to pass through. The number of the first penetration holes 411 corresponds to the number of the surface buckles 42. The surface buckles 42 pass through the first penetration holes 411 and are connected to the connecting member 43, and the connecting member 43 is accommodated in the housing 41.

[0059] The connecting member 43 corresponds in shape and structure to the housing 41. A second hole 431 is provided on the connecting member 43 at the position corresponding to the first hole 411. The surface buckle 42 is sequentially formed through the first hole 411 and the second hole 431. An annular receiving member 432 is formed on the inner wall of the second hole 431. This receiving member 432 is provided with a plurality of receiving slots 4321 arranged in an annular pattern and connected to the surface buckle 42.

[0060] A supporting member 433 is provided between the two second through holes 431 . The supporting member 433 is formed to protrude toward the connecting assembly 32 . When the connecting assembly 32 is accommodated in the connecting member 43 , the supporting member 433 is connected to the connecting assembly 32 by abutting.

[0061] See also Figure 6 The surface clip 42 includes a snap connection surface 426 and a snap mounting surface 427 disposed opposite the snap connection surface 426. The surface clip 42 includes a first PCB board 421 connected to the receiving slot 4321, a snap connector 422 connected to the first PCB board 421, and a shielding sheet 423 disposed between the snap connector 422 and the first PCB board 421. The snap connector 422 is connected to another snap connector 422. One end of the first PCB board 421 is detachably connected to the snap connector 422, and the other end is electrically connected to the connecting assembly 32. A plurality of LED light sources 4211 are annularly arranged on one side of the first PCB board 421 facing the snap connector 422. When the surface clip 42 is connected to the connecting member 43, the plurality of LED light sources 4211 are correspondingly accommodated within the receiving slots 4321. Multiple LED light sources 4211 provide a light source display for the module unit 10, thereby visually displaying the operating status of the module unit 10 to the user in real time. The shielding sheet 423 is a hollow structure for the snap connector 422 and the first PCB board 421 to pass through. The shielding sheet 423 is placed on the LED light source 4211 to prevent light leakage from the LED light source 4211.

[0062] At least two side holes 429 are provided on the edge of the snap-on mounting surface 427. Fasteners are inserted through these side holes 429 to secure the first PCB 421 to the snap-on mounting surface 427. At least two first electrical connectors 4212 are provided at the center of the first PCB 421. One end of each first electrical connector 4212 passes through the first PCB 421 and the shielding sheet 423, and connects to the snap-on connector 422. The other end of each first electrical connector 4212 is electrically connected to the connection assembly 32. The first electrical connectors 4212 facilitate signal transmission between the multiple connected modular units 10. Specifically, the first electrical connectors 4212 contact the corresponding electrical connectors of the external modules, enabling signal communication. The first electrical connectors 4212 are copper pillars and function as electrical conductors. In this embodiment, the first electrical connectors 4212 are electrical connectors. The first PCB 421 is also provided with two central through holes 4213, corresponding to the snap connectors 422. Fasteners (not labeled) can be passed through the central through holes 4213 to connect the first PCB 421 to the snap connectors 422. Adjusting the fasteners adjusts the tightness of the connection between the first PCB 421 and the snap connectors 422, and also adjusts the snapping force between the two snap connectors 422. In this embodiment, there are three first electrical connectors 4212.

[0063] See also Figure 6 、 Figure 7-A and Figure 7-B The center of the snap connector 422 extends toward a side away from the first PCB board 421 to form a cylindrical first connecting block 4221. The first connecting block 4221 is provided with at least two first receiving holes 4222. The number of the first receiving holes 4222 corresponds to the number of the first electrical connectors 4212 and accommodates the first electrical connectors 4212. The first electrical connectors 4212 are exposed to the snap connector surface 426 through the first receiving holes 4222. The outer wall of the first connecting block 4221 extends in a cross direction to form four first protrusions 4223. A gap is left between the first protrusions 4223 and the snap connector 422 to form a space. Preferably, the number of the first receiving holes 4222 is three.

[0064] See also Figure 7-A 、 Figure 7-B and Figure 8The snap connector 422 is provided with a first snap block 424 and a second snap block 425 on opposite sides corresponding to the extension direction of the first protrusion 4223. The first snap block 424, the second snap block 425 and the first connection block 4221 are formed on the snap connection surface 426 and the first snap block 424 and the second snap block 425 are arranged around the first connection block 4221. The first snap block 424 and the second snap block 425 can be deformed to a certain extent after being subjected to force, and the middle through hole 4213 corresponds to the first snap block 424, and the first snap block 424 is accommodated in the middle through hole 4213. The first and second snap-fit blocks 424, 425 each extend away from the first PCB board 421, with clearances between them and the first protrusions 4223. The first and second snap-fit blocks 424, 425 are arranged around the first connecting block 4221. The first snap-fit block 424 extends away from the first connecting block 4221 to form a connecting protrusion 4241. The second snap-fit block 425 is recessed on a side closer to the first connecting block 4221 to form a groove 4251. The connecting protrusion 4241 and the groove 4251 correspond to each other and are both arc-shaped. The line connecting the opposing connecting protrusions 4241 and the groove 4251 forms a cross. When the two module units 10 are connected, the first snap-fit block 424 and the second snap-fit block 425 are correspondingly connected, the connecting protrusion 4241 contacts the groove 4251, and a plane is defined between the first connecting block 4221, the first snap-fit block 424 and the second snap-fit block 425. A gap is formed between the first protrusion 4223 and the plane for the external snap-fit assembly (not shown) to be placed in.

[0065] Two snap connection holes 430 are provided on the snap mounting surface 427. The snap connection holes 430 match the position of the first snap block 424. The snap connection holes 430 are correspondingly arranged at the position of the connecting protrusion 4241, and the snap connection holes 430 extend into the first snap block 424. Fasteners can be driven into the snap connection holes 430. The snapping force between the two surface snaps 42 can be controlled according to the depth of the fasteners.

[0066] Please continue reading Figure 7-AThe first snap-fitting block 424 protrudes on the side away from the first connecting block 4221 to form a first clamping block 4242, and the second snap-fitting block 425 is recessed on the side close to the first connecting block 4221 to form a second clamping block 4252. The first clamping block 4242 and the second clamping block 4252 are arranged on the side away from the first PCB board. The first clamping block 4242 and the second clamping block 4252 form a "T" shape with the connecting protrusion 4241 and the groove 4251 respectively. The first clamping block 4242 and the second clamping block 4252 are arranged in an arc shape. Figure 8 、 Figure 9-A and Figure 9-B Taking the mating connection of the two snap connectors as an example, when the connecting protrusion 4241 is in contact with the corresponding groove 4251, the first snap-connecting block 4242 elastically contacts the second snap-connecting block 4252 to achieve the mating connection between the two module units 10.

[0067] See also Figure 10-A and Figure 10-B Combined with Figure 7-A and Figure 7-B The fastener 428 is passed through the middle through hole 4213 and the snap connection hole 430 to realize the connection between the first PCB board 421 and the snap connection piece 422. The fastener 428 passes through the middle through hole 4213 and is accommodated in the snap connection hole 430. During the fastening process of the surface buckle 42, the first snapping block 424 driven into the fastener 428 is deformed toward the first connection block 4221 so that the first snapping block 4242 and the second snapping block 4252 are snapped together; when the two surface buckles 42 need to be separated, due to the matching arc surface between the first snapping block 4242 and the second snapping block 4252, the first snapping block 424 driven into the fastener 428 is deformed again toward the side away from the first connection block 4221. When the fasteners 428 are driven in tightly, the first snap-fitting block 424 is difficult to deform, making it difficult to separate the two surface buckles 42. When the fasteners 428 are driven in loosely, the first snap-fitting block 424 is easily deformed, making it easy to separate the two surface buckles 42. This design makes it easy to install and connect the interconnected surface buckles 42, but difficult to remove them, achieving the effect of easy installation and difficult removal of the surface buckles 42. When the modular units 10 are spliced together, the first electrical connectors 4212 between the modular units 10 contact each other to enable signal transmission.

[0068] See also Figure 11The transmission assembly 22 includes a transmission member 24, a rotating assembly 25, and a protective cover 23 connected to the rotating assembly 25. The protective cover 23 is connected to the connecting member 43 of the first rotating member 40. The rotating assembly 25 and the protective cover 23 are connected to form an accommodating space for the transmission member 24. The protective cover 23 corresponds to the transmission member 24. When the protective cover 23 and the transmission member 24 are connected, the transmission member 24 is accommodated within the protective cover 23.

[0069] Continue as Figure 11 As shown in , the transmission member 24 further includes a drive motor 241, a bevel gear 242 coaxially connected to one end of the drive motor 241, and a cylindrical magnetic member 243 coaxially connected to the other end of the drive motor 241. The bevel gear 242 is rotationally connected to the rotating assembly 25 and drives the rotating assembly 25 to rotate. In other words, the servo device further includes a drive motor 241, which is disposed between any of the rotating parts.

[0070] The transmission member 24 further includes a mounting plate 245, and at least one speed sensor 244 connected to the mounting plate 245, such as Figure 11 As shown in FIG, the mounting plate 245 is fixedly connected to one end of the drive motor 241, the speed sensor 244 is arranged in the circumferential direction of the magnetic member 243, and the speed sensor 244 is connected to the connecting assembly 32 (as shown in FIG. Figure 3 ) are electrically connected. In some specific embodiments, the speed sensor 244 is a Hall sensor and there are two of them. The two speed sensors 244 are opposite to the magnetic part 243 and are tilted at a certain angle. The tilt angle between the two speed sensors 244 is 100°-120°; and / or the distance between the speed sensor 244 and the magnetic part 243 is 1-2mm. The speed sensor 244 can calculate the rotation speed of the drive motor 241 and determine the forward and reverse rotation of the drive motor 241 based on the magnetic pole change of the magnetic part 243. The preferred tilt angle is 100°-120°. Specifically, the tilt angle can also be 100°, 110°, 115°, etc. At this time, the projection area of the two speed sensors 244 on the magnetic part 243 is the largest, and the magnetic pole change on the magnetic part 243 can be measured more accurately.

[0071] See also Figure 12Specifically, to enable the bevel gear 242 to better drive the rotation of the rotating assembly 25, 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 near the transmission member 24. The annular surface of the gear ring 252 without a gear is connected to the connecting plate 251, while the annular surface of the gear ring 252 with a gear is rotationally connected to the bevel gear 242. The gear ring 252 is correspondingly connected to the bevel gear 242 to enable the driving motor 241 to drive the rotation of the rotating assembly 25. The connecting plate 251 is connected to the connecting member 43 on the second rotating member 50.

[0072] See also Figure 12 Combined with Figure 11 The rotating assembly 25 further includes a mounting frame 253 fixedly connected to the drive motor 241 and a rotating frame 254 rotatably connected to the mounting frame 253. The mounting frame 253 is connected to the connecting assembly 32, and the mounting frame 253 and rotating frame 254 are housed within the connecting plate 251. The rotating frame 254 is an annular structure. Specifically, it is provided with a plurality of balls 255 distributed around the circumference. The rotating frame 254 is sleeved onto the mounting frame 253, and the mounting frame 253 is connected to and rotates relative to the connecting plate 251 via the balls 255. The protective cover 23 corresponds to the drive motor 241, speed sensor 244, magnetic member 243, and mounting frame 253, and the protective cover 23 houses the drive motor 241, speed sensor 244, magnetic member 243, and mounting frame 253. This design can reduce the volume of the transmission assembly 22, thereby reducing the volume of the entire module unit 10, resulting in a compact design.

[0073] With this design, when the bevel gear 242 and the gear ring 252 rotate relative to each other, the mounting bracket 253, the drive motor 241, the protective cover 23, the gear ring 252, and the connecting plate 251 rotate relative to each other, the mounting bracket 253 drives the connecting assembly 32 to rotate, and the protective cover 23 drives the first rotating member 40 to rotate, thereby realizing the relative rotation of the first rotating member 40 and the second rotating member 50.

[0074] See also Figure 13The magnetic member 243 is provided with multiple magnetic poles, including north and south poles, wherein the north and south poles may be arranged at intervals. When the drive motor 241 rotates to drive the rotation of the magnetic member 243 and the bevel gear 242, the bevel gear 242 drives the rotation of the rotating assembly 25. At this time, the speed sensor 244 senses the changes in the multiple magnetic poles on the magnetic member 243 to calculate the rotation speed of the drive motor 241 and determine the forward and reverse rotation of the drive motor 241.

[0075] See also Figure 14 、 Figure 15 and Figure 16 The connecting assembly 32 further includes a second PCB 321 connected to a mounting bracket (not shown), a conductive ring seat 322 connected to the second PCB 321, a slip ring 323 partially housed in the conductive ring seat 322, and a magnetic ring 324 housed in the slip ring 323. The slip ring 323 is sleeved around the outer periphery of the magnetic ring 324 and abuts against the abutment member 433. The second PCB 321 serves as a controller. The second PCB 321 is electrically connected to the speed sensor 244 and the drive motor 241. A position sensor 325 is mounted on the second PCB 321 at a position corresponding to the magnetic ring 324. The position sensor 325 rotates synchronously with the slip ring 323, with the distance between the magnetic ring 324 and the position sensor 325 being 1 mm to 2 mm. The first rotating member 40 drives the slip ring 323 and position sensor 325 to rotate relative to the magnetic ring 324. The position sensor 325 is used to detect the position change signal of the magnetic ring 324 to obtain the rotation angle of the magnetic ring 324. The rotation information between the two rotating parts is detected by detecting the rotation angle between the magnetic ring 324 and the position sensor 325 and transmitted to the second PCB board 321. The controller is set on the second PCB board 321. The controller controls the drive motor 241 to run at a set speed based on the rotation angle information detected by the position sensor 325 and the target angle instruction.

[0076] When the first rotating member 40 and the second rotating member 50 need to rotate relative to each other, the driving motor 241 can first drive the connecting plate 251 to rotate, and then the connecting plate 251 drives the second PCB board 321 fixedly connected thereto to rotate. Since the conductive ring seat 322 and the slip ring 323 are sequentially fixed on the second PCB board 321, the corresponding conductive ring seat 322 and slip ring 323 will also rotate. That is, the driving motor 241 can synchronously drive the first rotating member 40 to rotate, and the conductive ring seat 322 drives the slip ring 323 to rotate relative to the magnetic ring 324.

[0077] At the same time, since the magnetic ring 324 is connected to the second rotating member 50 and is in abutting connection with the abutting member 433 , the magnetic ring 324 and the second rotating member 50 do not rotate along with the second PCB board 321 .

[0078] Therefore, based on the above-mentioned connection structure and linkage relationship, the first rotating member 40 and the second rotating member 50 can rotate relative to each other, and the relative rotation between the position sensor 325 and the magnetic ring 324 can be detected and obtained by the position sensor 325 to obtain the relative rotation angle between the first rotating member 40 and the second rotating member 50.

[0079] Please continue reading Figure 2-A The module unit 10 includes two first rotating parts 20 and second rotating parts 30 that can rotate relative to each other. The first rotating part 20 and the second rotating part 30 are hemispherical structures, and both rotating parts rotate along the perpendicular bisector f of the hemispherical cross-section. At least one snap connector 422 is provided on one of the rotating parts, and the positions of the snap connectors 422 on the two rotating parts are mirror-symmetrical with respect to the hemispherical cross-section, that is, the positions of the snap connectors 422 of the two rotating parts are mirror-symmetrical with respect to the interface between the two rotating parts. The module units 10 are connected by a group of snap connectors 422 to achieve plug-in docking.

[0080] The snap connector 422 is circular, and a perpendicular line e passing through the center of the snap connector 422 and perpendicular to the plane where the snap connector 422 is located intersects with the rotational mid-perpendicular line f of the rotating portion, and the angle of intersection is D and is 30°-60°. The number of snap connectors 422 provided in the module unit 10 is an even number. Optionally, in some specific embodiments, the angle D is 45°, see Figure 2-B and Figure 2-C At this time, when the middle rotation axes of the two module units 10 are parallel or perpendicular, splicing can be achieved, and the coupling of the degrees of freedom between the spliced module units 10 can be reduced.

[0081] See also Figure 17 The second embodiment of the present invention provides a modular robot 01, which includes at least two module units 10, and a snap assembly 100 for interconnecting the module units 10. Any two module units 10 can be connected through the snap assembly 100 to form a motion mechanism. The module units 10 can be spliced and combined into modular robots 01 with different structures through different connection methods of the snap assembly 100.

[0082] The snap assembly 100 includes a rotating connection portion 103, a first snap portion 101 and a second snap portion 102 that are detachably connected to opposite sides of the rotating connection portion 103, and at least two second electrical connectors 111 that are respectively passed through the first snap portion 101, the second snap portion 102, and the rotating connection portion 103. The second electrical connector 111 can be any of a copper column, an alloy column, or other electrical connector that performs a conductive transmission function. In this embodiment, the second electrical connector 111 is an electrical connector. The structures of the first snap portion 101 and the second snap portion 102 are mirror images. Any snap connector 422 of the two module units 10 is screwed and fixedly connected to the first snap portion 101 and the second snap portion 102, respectively.

[0083] The two module units 10 are connected via the buckle assembly 100 , wherein one module unit is connected to the first buckle portion 101 , and the other module unit is connected to the second buckle portion 102 .

[0084] See also Figure 18 and Figure 19 The rotating connection portion 103 includes a connection housing 104 and a fixed core 105 disposed within the connection housing 104. The fixed core 105 is a circular plate-shaped structure disposed within the connection housing 104. The fixed core 105 is recessed toward opposite ends of the first and second snap-fit portions 101, 102 to form a space for accommodating the first and second snap-fit portions 101, 102. The outer peripheral walls of the first and second snap-fit portions 101, 102 are respectively engaged with the inner wall of the connection housing 104.

[0085] The fixed core 105 is provided with rotation holes 106 in any two mutually perpendicular diametrical directions. The rotation holes 106 are waist-shaped holes and are provided on the inner wall of the fixed core 105 and the connecting housing 104. A second receiving hole 107 is provided in the center of the fixed core 105. The second receiving hole 107 accommodates the first and second latching portions 101, 102, and a second electrical connector 111 is passed through the second receiving hole 107. In this embodiment, there are three second electrical connectors 111.

[0086] Please continue reading Figure 19The fixed core 105 is further provided with at least one locking member 112, which is disposed between the rotating hole 106 and the second receiving hole 107. The locking member 112 extends toward the first and second latch portions 101, 102, respectively. One end of the locking member 112, which is adjacent to the first and second latch portions 101, 102, protrudes along the central axis of the second receiving hole 107 to form a hook shape. The locking member 112 is an elastic structure. The locking member 112 rotates with the first and second latch portions 101, 102 to achieve a detachable connection between the first and second latch portions 101, 102 and the rotating connection portion 103. In this embodiment, there are four locking members 112, and the locking members 112 are distributed on two mutually perpendicular diameters. A slot 108 is further provided on the inner wall of the connecting housing 104 facing the first and second latching portions 101 and 102 . A limiting protrusion 109 is provided on the slot 108 . The limiting protrusion 109 is connected to the first and second latching portions 101 and 102 .

[0087] See also Figure 20 The center of the first snap-fit portion 101 extends toward and away from the rotating connection portion 103 to form a cylindrical second connection block 110. The second connection block 110 is provided with a receiving hole 113 for accommodating the second electrical connector 111, and the number of the receiving holes 113 corresponds to the number of the second electrical connectors 111. The second electrical connector 111 is exposed from the receiving hole 113. A rotation limiting hole 114 is provided at the position of the first buckle portion 101 corresponding to the locking member 112. The rotation limiting hole 114 includes an accommodating end 1141 and a clamping end 1142 connected to each other. The accommodating end is larger than the size of the locking member 112 to accommodate the locking member 112. The clamping end 1142 corresponds to the size of the locking member 112 to be connected with the locking member 112. The locking member 112 and the clamping end 1142 are interference fit. The locking member 112 is exposed through the rotation limiting hole 114. The rotation limiting hole 114 is arranged in an arc shape. Please combine Figure 18 The rotating hole 106 is for the second connecting block 110 of the first buckle part 101 and the second buckle part 102 to pass through.

[0088] Please continue reading Figure 20A clamping plate 115 is further provided in the diametrical direction of the first latch portion 101. The clamping plate 115 is disposed around the second connection block 110 and extends toward a side away from the rotation connection portion 103. The clamping plate 115 is adjacent to a clamping end 1142 disposed in the rotation limiting hole 114. The clamping plate 115 protrudes toward the second connection block 110 to form a third clamping block 116, which protrudes and extends to the clamping end 1142. When the first snap-fit portion 101 is connected to the rotating connection portion 103, the locking member 112 corresponds to the accommodating end 1141 of the rotation limiting hole 114, and the locking member 112 is moved to the clamping end 1142 of the rotation limiting hole 114 by rotating the first snap-fit portion 101 or the rotating connection portion 103. At this time, the locking member 112 is abutted and clamped with the third clamping block 116 to realize the connection between the first snap-fit portion 101 and the rotating connection portion 103.

[0089] Please continue reading Figure 20 A fastening member 117 is further provided along the diameter of the first latching portion 101. The fastening member 117 protrudes toward the side away from the rotating connection portion 103. The diameter direction of the connection between the two fastening members 117 is perpendicular to the diameter direction of the connection between the clamping plate 115. The fastening member 117 is elastic and has the same structure as the second fastening block 425 of the module unit 10, that is, the fastening member 117 corresponds to the structure of the first fastening block 424 of the module unit 10. The fastening member 117 is recessed on one side of the fastening member 117 near the second connection block 110 to form a recessed hole 119. The recessed hole 119 is arranged in an arc shape.

[0090] See also Figure 21 A latching position 118 is provided on the side of the first latching portion 101 facing the rotating connection portion 103, and the latching position 118 corresponds to the limiting protrusion 109. The latching position 118 slides on the latching slot 108 until it contacts the limiting protrusion 109 to realize the snap connection between the first latching portion 101 and the rotating connection portion 103.

[0091] The first snap-fit portion 101 protrudes toward one side of the rotating connection portion 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 snap-fit portion 101 are respectively connected to the second connecting shaft 142 and the first connecting shaft 141 of the second snap-fit portion 102 and are accommodated in the rotating hole 106. The rotating hole 106 serves as a guide when the first snap-fit portion 101 and the second snap-fit portion 102 are connected and rotated.

[0092] When assembled and used, the second electrical connector 111 passes through the second accommodating hole 107 and is snap-connected with the first clip part 101 and the second clip part 102. The locking member 112 passes through and is accommodated in the accommodating ends 1141 of the rotation limiting holes 114 of the first clip part 101 and the second clip part 102 respectively. The rotating connection part 103 or the first clip part 101 and the second clip part 102 are rotated to make the first clip part 101 and the second clip part 102 rotate relative to the rotating connection part 103. At this time, the locking member 112 rotates and moves from the accommodating end 1141 to the clamping end 1142. The locking member 112 is abutted against the third clamping block 116 of the clamping plate 115. The clamping position 118 slides on the clamping groove 108 to contact the limiting protrusion 109 to form a locking structure between the rotating connection part 103, the first clip part 101 and the second clip part 102.

[0093] The order of the above-mentioned assembly and use can also be adjusted, that is, the first snap-fit portion 101 can be connected to the rotating connection portion 103 first, and then the second snap-fit portion 102 can be connected to the rotating connection portion 103. The locking members 112 of the first snap-fit portion 101 and the second snap-fit portion 102 are both accommodated in the accommodating end 1141. At this time, the rotating connection portion 103 is rotated so that the locking member 112 rotates and moves to the clamping end 1142, and the clamping position 118 slides on the clamping slot 108 until it contacts the limiting protrusion 109.

[0094] The design of the snap assembly 100 is simple and convenient, and can improve the stability of the snap connection at a lower cost, thereby increasing the rigidity of the snap assembly 100 connection and being able to withstand greater external forces without changing the previous way the snaps are connected to each other.

[0095] See also Figure 22 A snap fastening assembly (not labeled) is provided, comprising the surface snap 42 and a snap assembly 100 mating with the surface snap 42. A gap is provided between the first protrusion 4223 on the surface snap 42 and the snap connector 422 to form an accommodating space 120. The accommodating space 120 accommodates the locking member 112. The first engaging block 424 protrudes toward the first protrusion 4223 to form a snap connector 130. The snap connector 130 is configured to abut against the locking member 112 to restrict movement of the locking member 112, thereby achieving a mating connection between the snap assembly 100 and the module unit 10.

[0096] When the snap assembly 100 is mated and connected to the module unit 10, the locking member 112 extends into the first connecting block 4221. Relative rotation between the snap assembly 100 and the module unit 10 is achieved by rotating the locking member 112 and / or the snap assembly 100. The locking member 112 then rotates into the accommodating space 120 and abuts against the first protrusion 4223 and the connecting member 130, respectively. The recessed hole 119 on the fastening member 117 rotates until it abuts against the connecting protrusion 4241, thereby locking the snap assembly 100 to the module unit 10. The first connecting block 4221 is now in contact with the second connecting block 110, and the first electrical connector 4212 is in contact with the second electrical connector 111, enabling signal transmission.

[0097] The present invention further provides a modular robot comprising at least two of the aforementioned modular units 10 joined together, and including the aforementioned snap-on fastening assembly. For details, please refer to the aforementioned description of the snap-on fastening assembly and will not be elaborated upon here. The snap-on fastening assembly can be used to connect any two or more of the modular units 10, wheels, robotic arms, or base.

[0098] The present invention further provides a robot comprising a plurality of functional components and at least one snap fastening assembly as described above, wherein the functional components include at least one surface snap 42 as described above, and the snap fastening assembly is included in the snap fastening assembly 100. The snap fastening assembly is used to connect any two functional components, and the two functional components are indirectly connected through the snap fastening assembly, that is, the indirect connection between the two functional components is achieved through the connection between the surface snap 42 and the snap fastening assembly 100.

[0099] The modular robot 01 includes any one or a combination of a position servo system, a speed servo system and a torque servo system.

[0100] See also Figure 23The present invention provides a third embodiment of a modular unit position servo system 200. The 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 to detect position changes between two rotating parts 201 in the modular unit 10. The two rotating parts 201 can rotate relative to each other. The modular unit position servo system 200 includes a position sensor 202 provided in any rotating part 201 and a pair of circumferentially rotatable kinematic pairs 210. The modular unit position servo system 200 also includes a transmission assembly 211 and a connecting assembly 212 connecting the two rotating parts 201. The transmission assembly 211 and the connecting assembly 212 constitute the kinematic pairs 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 a target angle command.

[0101] The connecting assembly 212 also includes a magnetic ring 203 corresponding to the position sensor 202. When the two rotating parts 201 rotate relative to each other, the magnetic ring 203 can rotate relative to the position sensor 202. The rotation angle information between the two rotating parts 201 is detected by detecting the rotation angle between the magnetic ring 203 and the position sensor 202.

[0102] The connecting component 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 corresponding control information to the transmission component 211 .

[0103] The transmission assembly 211 includes a drive motor 241 . The drive motor 241 is disposed in any of the rotating parts 201 . The controller 204 controls the rotation speed of the drive motor 241 based on the rotation angle information detected by the position sensor 202 and a target angle instruction.

[0104] Please combine Figure 11 and Figure 13 The transmission assembly 211 further includes at least two speed sensors 244 and a magnetic member 243 coaxially connected to the drive motor 241. The speed sensors 244 are relatively arranged in the circumferential direction of the magnetic member 243. The speed sensors 244 detect the magnetic pole changes of the magnetic member 243 to calculate the rotation speed of the drive motor 241 and determine the forward and reverse rotation of the drive motor 241.

[0105] See also Figure 24 A fourth embodiment of the present invention provides a control method 300 for a module unit position servo system, which includes the following steps:

[0106] S1: Provides a drive motor, a pair of rotatable kinematic pairs and a position sensor;

[0107] S2: Detecting the rotation angle information of the kinematic pair based on the position sensor and transmitting the information to a controller;

[0108] S3: The controller controls the drive motor by combining the current rotation angle information with the target angle instruction to set the rotation speed of the drive motor.

[0109] Compared with the prior art, the buckle fastening assembly and robot provided by the present invention have the following beneficial effects:

[0110] 1. A snap fastening assembly, comprising a snap assembly and a surface snap that cooperates with the snap assembly; the surface snap includes a snap connection surface with a first connecting block formed thereon, a gap formed between the first connecting block and the snap connection surface; the snap assembly includes at least one snap portion, the snap portion including a second connecting block and a locking member disposed around the second connecting block; when the surface snap and the snap assembly are rotationally connected, the first connecting block contacts the second connecting block, and the locking member is positioned within the gap. The locking member positioned within the gap of the surface snap ensures a stable connection between the snap assembly and the surface snap; the snap assembly and the surface snap require rotation relative to a certain angle for installation or removal.

[0111] 2. By designing the locking piece into a hook shape to cooperate with the rotation limit hole, the connection between the buckle assembly and the surface buckle is further strengthened. The buckle assembly with this design has strong structural rigidity.

[0112] 3. The snap assembly includes two snap parts. Based on the specific structural arrangement of the two mirror-symmetrical snap parts of the present invention, the snap assembly has no distinction between male and female snaps. When the snap assembly is set on various module units, wheels, or electronic devices such as robotic arms, the snap assembly can be arbitrarily spliced with the surface snaps without considering the male / female matching relationship. A slot is further provided on the inner wall of the connecting shell of the snap part facing the two snap parts, and a limiting protrusion is provided on the slot. A snap position corresponding to the limiting protrusion is provided on the side of the snap part facing the rotating connection part, and the snap position slides on the slot until it contacts the limiting protrusion to achieve the snap connection between the snap part and the rotating connection part. This design makes it more convenient to snap the snap part and the rotating connection part together, and can also play a role in mechanical anti-fouling.

[0113] 4. The locking member is interference-fitted with the snap-on end. The locking member is inserted from the receiving end and screwed into the snap-on end to secure it. This design makes the connection between the snap-on portion and the rotating connection portion more stable, and the snap-on portion is less likely to fall off the rotating connection portion.

[0114] 5. When the locking member is in abutment and engagement with the third engaging block, the buckle portion is fixed to the rotating connecting portion, further increasing the stability of the connection of the buckle portion to the rotating connecting portion.

[0115] 6. The second electrical connector passes through the second connection block through the receiving hole. When the surface buckle is connected to the buckle assembly, power supply and command transmission between the mechanisms can be achieved through the contact between the first electrical connection and the second connector.

[0116] 7. By providing a fastening element, the first fastening block deforms during the assembly or separation of the surface buckle, causing the adjustment screw driven into the first fastening block to move accordingly, thereby enhancing the fastening force of the first fastening block. Furthermore, the matching curved surface design between the contact surfaces of the first and second fastening blocks can make the surface buckle "easy to assemble and difficult to disassemble."

[0117] 8. The snap fastening assembly is used to connect any two functional components. The snap fastening assembly can be applied between any two functional components to transfer the rotational torque between the two functional components and play a connecting role. It can be used in a variety of usage scenarios and has rich functions.

[0118] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A snap fastening assembly, characterized in that: The invention comprises a buckle assembly and a surface buckle matched with the buckle assembly; the surface buckle comprises a buckle connection surface, a first connection block is formed on the buckle connection surface, a gap is formed between the first connection block and the buckle connection surface, the buckle assembly comprises at least one buckle portion, the buckle portion comprises a second connection block and a locking member arranged around the second connection block, when the surface buckle is rotated and connected to the buckle assembly, the first connection block contacts the second connection block, and the locking member is placed in the gap, and the locking member abuts against the first connection block; The buckle assembly further includes a rotating connection portion, and the locking member is provided on the rotating connection portion; A rotation limiting hole is provided at a position of the buckle portion corresponding to the locking member, and the locking member is exposed through the rotation limiting hole and abuts against the buckle portion; The rotating connection portion is engaged with the buckle portion via the locking member; The rotation limiting hole includes a receiving end and a clamping end connected to each other, and the locking member is placed in the receiving end and fixed by screwing the relative position to the clamping end; The snap-fit portion further includes a snap-fit plate, which is arranged around the second connecting block and protrudes toward the second connecting block to form a third snap-fit block; when the snap-fit portion is connected to the rotating connecting portion, the locking member passes through the accommodating end of the rotation limiting hole correspondingly, so that the snap-fit portion and the rotating portion rotate relative to each other, so that the locking member and the third snap-fit block are abutted and snap-fitted.

2. The snap fastening assembly as claimed in claim 1, characterized in that: The rotary connection portion includes a connection shell and a fixed core arranged in the connection shell. A locking piece is provided on the fixed core, and the locking piece forms a hook-shaped structure toward the buckle portion.

3. The snap fastening assembly as claimed in claim 2, wherein: The snap assembly includes two snap parts, which are respectively arranged on opposite sides of the rotating connection part. The two oppositely arranged snap parts are mirror-symmetrical. A slot is further provided on the inner wall of the connecting shell facing the two snap parts. A limiting protrusion is provided on the slot. A snap position corresponding to the limiting protrusion is provided on one side of the snap part facing the rotating connection part, and the snap position slides on the slot until it contacts the limiting protrusion.

4. The snap fastening assembly as claimed in claim 1, wherein: The accommodating end is larger than the size of the locking member so as to accommodate the locking member, and the locking member is interference-fitted with the clamping end.

5. The snap fastening assembly as claimed in claim 1, wherein: The buckle portion further includes at least two clamping plates.

6. The snap fastening assembly as claimed in claim 2, wherein: At least two second electrical connectors are provided on the rotating connection part, and the center of the snap portion protrudes toward a side away from the rotating connection part to form a second connection block. The second connection block is provided with at least two accommodating holes, and the second electrical connector passes through the second connection block through the accommodating holes.

7. The snap fastening assembly as claimed in claim 6, characterized in that: The buckle connection surface is further formed 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 connection block, the first buckle block is formed with two first clamping blocks and a connecting protrusion arranged between the two first clamping blocks on a side away from the first connection block; the second buckle block is formed with two second clamping blocks on a side close to the first connection block; The buckle portion also includes at least two buckling parts arranged around the second connecting block. The buckling parts have the same structure as the second buckling block. The buckling parts are also provided with a recessed hole on the side facing the second connecting block. When the surface buckle is rotationally connected with the buckle assembly, the recessed hole is abutted against the connecting protrusion.

8. The snap fastening assembly as claimed in claim 7, wherein: At least two accommodating holes are provided on the first connecting block, and the surface clip includes a first PCB board and at least two first electrical connectors provided on the first PCB board, and the first electrical connectors are exposed to the clip connecting surface through the accommodating holes; when the first connecting block contacts the second connecting block, the first electrical connector contacts the second electrical connector and is electrically connected.

9. The snap fastening assembly as claimed in claim 7, wherein: The first connecting block extends toward the first buckling block and the second buckling block to form four first protrusions. The number of the locking members is four. The first protrusions match the locking members, and the gap is formed between the first protrusions and the snap connection surface.

10. A robot, characterized in that: The robot comprises a plurality of functional components and at least one snap-on fastening component as claimed in any one of claims 1 to 9, wherein the snap-on fastening component is used to connect any two functional components.

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