Self-locking quick-release device and legged robot

Abstract

The embodiments of the present application provide a self-locking quick-release device and a legged robot. The self-locking quick-release device is used to be installed on the shell of the legged robot. The self-locking quick-release device includes a battery mounting seat and a linkage clamping component. The battery mounting seat is used to install a battery pack; the linkage clamping component includes a first clamping mechanism and a second clamping mechanism. The first clamping mechanism is connected to the battery mounting seat, and the second clamping mechanism is connected to the first clamping mechanism. The second clamping mechanism is pressed against the top surface of the battery pack along a first direction. The first clamping mechanism is movably pressed against the side of the battery pack to drive the linkage of the second clamping mechanism so that the second clamping mechanism limits the movement of the battery pack in a direction parallel to the first direction. The above-mentioned self-locking quick-release device and legged robot ensure that the linkage clamping component performs a linkage and continuous locking effect on multiple surfaces of the battery pack.

Description

Technical Field

[0001] The present application relates to the technical field of robot battery installation, and in particular to a self-locking quick-release device and a legged robot. Background Art

[0002] With the continuous advancement of technology, quadruped robots are attracting widespread attention from numerous companies and research institutes both domestically and internationally. Given the diverse application scenarios and complex environments of legged robots, collisions, falls, and other unexpected situations are unavoidable during movement, which can significantly impact the electronic components and batteries within the robot's trunk. Quadruped robot batteries currently come in two types: non-removable and removable. Non-removable batteries are typically secured with screws, which can be locked in place with the application of threadlocker, ensuring the battery does not loosen or fall out during the robot's movement. However, due to limited battery capacity, current quadruped robots have a short battery life, failing to meet the demands of long-term continuous operation. Quadruped robots with removable batteries can quickly replace the battery when the charge level is low, ensuring continuous operation. However, the problem with removable batteries is that they require securement, and existing battery securement methods lack the ability to achieve continuous locking across multiple surfaces of the battery pack, resulting in poor locking. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a self-locking quick-release device and a legged robot, which are used to solve the problem that the existing method of fixing batteries cannot achieve continuous locking of multiple surfaces of the battery pack.

[0004] An embodiment of the present application provides a self-locking quick-release device for installation on a target mechanism, the self-locking quick-release device comprising:

[0005] Battery mounting base, used to install the battery pack;

[0006] The linkage clamping component includes a first clamping mechanism and a second clamping mechanism, the first clamping mechanism is connected to the battery mounting seat, the second clamping mechanism is connected to the first clamping mechanism, the second clamping mechanism is pressed against the top surface of the battery pack along the first direction, and the first clamping mechanism is movably pressed against the side surface of the battery pack to drive the second clamping mechanism to be linked so that the second clamping mechanism limits the movement of the battery pack in a direction parallel to the first direction.

[0007] The above self-locking quick-release device can be used to install and lock a battery pack. The battery pack is installed on a battery mounting seat. The first pressing mechanism and the second pressing mechanism of the linkage pressing component respectively abut against the side surface and the top surface of the battery pack to lock the battery pack on the battery mounting seat. The first pressing mechanism and the second pressing mechanism are linked. When the battery pack shakes upward, it drives the second pressing mechanism to have a tendency to shake upward, so that the second pressing mechanism applies a force to the first pressing mechanism, and the first pressing mechanism is activated, so that the first pressing mechanism restricts the upward shaking of the second pressing mechanism, that is, the second pressing mechanism restricts the movement of the battery pack in a direction parallel to the first direction. Therefore, it is ensured that the linkage pressing component continuously locks multiple surfaces of the battery pack in a linkage manner.

[0008] In one embodiment, the first pressing mechanism includes a pressing mounting member, a pressing link assembly and a pressing push rod; the pressing mounting member is connected to the battery mounting seat, the pressing link assembly has a fixed end and a pressing end, the fixed end is connected to the pressing mounting member, the length direction of the pressing push rod is parallel to the first direction, the pressing push rod is drivingly connected to the pressing link assembly, and the pressing push rod drives the pressing link assembly to expand and contract so that the pressing end abuts against the side surface of the battery pack; the second pressing mechanism includes a locking mounting member and a locking member connected to each other. The locking mounting member is arranged on a target mechanism. One end of the locking member is rotatably connected to the locking mounting member along an axis perpendicular to the rotation axis of the pressing push rod, and the other end is connected to the pressing push rod. The locking member abuts against the top surface of the battery pack.

[0009] In one embodiment, the first pressing mechanism further includes a pressing plate. The pressing link assembly includes a first link member and a second link member. The first link member, the second link member and the pressing push rod are rotatably connected at a point. The end of the first link member away from the second link member is the fixed end, and the fixed end is rotatably connected to the pressing mounting member. The end of the second link member away from the first link member is the pressing end, and the pressing end is rotatably connected to the pressing plate. The surface of the pressing plate facing away from the second link member is used to abut against the side surface of the battery pack; the pressing push rod drives the first link member and the second link member to rotate relative to each other to adjust the distance between the pressing plate and the pressing mounting member.

[0010] In one embodiment, when the self-locking quick-release device is in the unlocked state, the pressing plate does not abut against the battery pack, and the connection point of the first link member and the second link member faces outward and tends to the end of the pressing push rod away from the pressing link assembly 220 in a direction parallel to the first direction; when the self-locking quick-release device is in the locked state, the pressing plate abuts tightly against the battery pack, and the connection point of the first link member and the second link member faces inward and deviates from the end of the pressing push rod away from the pressing link assembly in a direction parallel to the first direction; during the process from the unlocked state to the locked state, the pressing push rod drives the connection point to gradually move downward until the downward movement of the pressing push rod is limited.

[0011] In one embodiment, an elastic member is provided on the surface of the pressing plate facing away from the pressing mounting member, and the end of the elastic member away from the pressing plate is used to elastically abut against the side surface of the battery pack.

[0012] In one embodiment, the self-locking quick-release device further includes a driving mechanism, the driving mechanism includes a driving seat and a driving part, the driving seat is installed on the target mechanism, the driving part is rotatably connected to the driving seat along a direction perpendicular to the rotation axis of the pressing push rod, one end of the pressing push rod away from the first link member is connected to the driving part, one end of the locking member away from the locking mounting member is connected to the driving part, when the self-locking quick-release device is in the locked state, the bottom surface of the driving part abuts against the top surface of the driving seat to limit the pressing push rod from moving away from the driving part in a direction parallel to the first direction.

[0013] In one embodiment, a torsion spring is provided between the locking member and the locking mounting member, the locking member and the locking mounting member are rotatably connected through a locking shaft, the torsion spring is sleeved on the locking shaft, one end of the torsion spring abuts against the locking member, the other end of the torsion spring abuts against one surface of the locking mounting member, and the torsion spring is used to limit the locking member from starting to rotate relative to the locking mounting member in the opposite direction of the first direction.

[0014] In one embodiment, the first pressing mechanism further includes a pressing mounting plate, the pressing mounting plate is arranged on the surface of the pressing mounting member facing the pressing plate, the first link member is connected to the pressing mounting member through the pressing mounting plate, and the pressing mounting plate is parallel and spaced from the pressing plate.

[0015] In one embodiment, a guiding hole is respectively formed in the middle of the pressing mounting plate and the middle of the pressing mounting member, the two guiding holes are communicated with each other, a guiding column is vertically provided in the middle of the surface of the pressing plate facing the pressing mounting plate, and the guiding column slidably penetrates through the two guiding holes.

[0016] In one embodiment, the first connecting rod and the second connecting rod are respectively plate-shaped structures, the first connecting rod is connected to the clamping mounting member through a first side, and the second connecting rod is connected to the clamping plate through a second side, one end of the clamping push rod is provided with a rotating shaft perpendicular to the clamping push rod, the third side of the first connecting rod opposite to the first side is rotatably connected to the rotating shaft, the fourth side of the second connecting rod opposite to the second side is rotatably connected to the rotating shaft, and the third side of the first connecting rod and the fourth side of the second connecting rod are respectively parallel to the rotating shaft.

[0017] In one embodiment, the number of the clamping link assemblies is multiple, at least one of the multiple first link members is connected to the top end of the clamping mounting member, and at least one of the multiple first link members is connected to the bottom end of the clamping mounting member; at least one of the multiple second link members is connected to the top end of the clamping plate, and at least one of the multiple second link members is connected to the bottom end of the clamping plate.

[0018] In one embodiment, the battery mounting seat includes a bottom plate, a side plate and a top plate, and the bottom plate and the top plate are respectively vertically connected to the side plates to form an installation space for accommodating the battery pack. The battery mounting seat has a plug and unplug port for the battery pack to enter and exit, and the side plate faces the plug and unplug port. An elastic abutment is provided on the side plate, and the elastic abutment is used to compress and abut the battery pack. The self-locking quick-release device also includes a limiting mechanism, which limits the battery pack in a direction opposite to the action of the elastic abutment; the clamping mounting member is connected to the bottom plate.

[0019] In one embodiment, the limiting mechanism is a stop portion, which is provided on the locking member and is used to be inserted into a stop groove opened on the top surface of the battery pack, and the stop portion is used to abut against a side of the stop groove facing away from the elastic supporting member.

[0020] A legged robot comprises a shell, a battery pack and a self-locking quick-release device as described in any of the above embodiments, wherein the battery pack is mounted on the battery mounting seat, and the battery mounting seat is arranged on the shell.

[0021] The above-mentioned legged robot includes a self-locking quick-release device, which can be used to install and lock the battery pack. The battery pack is installed on the battery mounting seat, and the side and top of the battery pack are respectively pressed against by the first pressing mechanism and the second pressing mechanism to lock the battery pack on the battery mounting seat. The first pressing mechanism and the second pressing mechanism are linked. When the battery pack shakes upward, it drives the second pressing mechanism to have an upward shaking trend, causing the second pressing mechanism to apply a force to the first pressing mechanism. The first pressing mechanism is activated, so that the first pressing mechanism restricts the upward shaking of the second pressing mechanism, that is, the second pressing mechanism restricts the movement of the battery pack in the direction parallel to the first direction. Therefore, it ensures that the linkage pressing components continuously lock multiple surfaces of the battery pack in a linkage manner.

[0022] Other features and advantages of the present disclosure will be described in the following specification, or some features and advantages can be inferred from the specification or determined without doubt, or can be obtained by implementing the above technologies of the present disclosure.

[0023] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings

[0024] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0025] Figure 1 Structural schematic diagram of the self-locking quick-release device provided by the embodiment of the present application;

[0026] Figure 2 Structural schematic diagram of the unlocked state of the self-locking quick-release device provided by the embodiment of the present application;

[0027] Figure 3 Structural schematic diagram of the locked state of the self-locking quick-release device provided by the embodiment of the present application;

[0028] Figure 4 Partial structural schematic diagram of the self-locking quick-release device provided by the embodiment of the present application;

[0029] Figure 5 Structural schematic diagram of another angle of the self-locking quick-release device provided by the embodiment of the present application;

[0030] Figure 6 Another partial structural schematic diagram of the self-locking quick-release device provided by the embodiment of the present application;

[0031] Figure 7 It is a schematic structural diagram of the battery pack according to an embodiment of the present application;

[0032] Figure 8 It is a schematic structural diagram of the legged robot provided by an embodiment of the present application;

[0033] Figure 9 It is a partial schematic structural diagram of the legged robot provided by an embodiment of the present application.

[0034] Description of the reference numerals in the accompanying drawings of the specification:

[0035] Self-locking quick-release device 10; battery mounting seat 100; bottom plate 110; side plate 120; top plate 130; elastic abutting member 140; first pressing mechanism 200; pressing mounting member 210; pressing link assembly 220; fixed end 220a; pressing end 220b; first link member 221; second link member 222; pressing plate 230; elastic member 231; pressing push rod 240; rotating shaft 241; pressing mounting plate 250; guiding column 260; driving mechanism 300; driving seat 310; driving part 320; second pressing mechanism 400; locking mounting member 410; locking member 420; stopping portion 421; torsion spring 430; locking shaft 440; linkage pressing member 500; unlocking state S1; locking state S2; battery pack 20; stopping groove 21; housing 30; legged robot 50. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0037] In the present application, the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the accompanying drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation.

[0038] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0039] Furthermore, the terms "installed," "disposed," "provided with," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or point connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0040] Furthermore, the terms "first," "second," etc., are primarily used to distinguish between different devices, elements, or components (which may or may not be of the same type and configuration), and are not intended to indicate or imply the relative importance or quantity of the devices, elements, or components indicated. Unless otherwise specified, "plurality" means two or more.

[0041] In one embodiment, a self-locking quick-release device is provided for installation on a target mechanism, the self-locking quick-release device comprising a battery mount and a linkage clamping component. The battery mount is used to mount a battery pack; the linkage clamping component comprises a first clamping mechanism and a second clamping mechanism, the first clamping mechanism being connected to the battery mount, the second clamping mechanism being connected to the first clamping mechanism, the second clamping mechanism being pressed against the top surface of the battery pack along a first direction, the first clamping mechanism being movably pressed against the side surface of the battery pack, and being used to drive the linkage of the second clamping mechanism so that the second clamping mechanism restricts movement of the battery pack in a direction parallel to the first direction.

[0042] like Figures 1 to 4As shown, a self-locking quick-release device 10 of an embodiment is used to be installed on a target mechanism, such as on the housing of a legged robot, and includes a battery mounting base 100 and a linkage pressing component 500. The battery mounting base 100 is used to mount a battery pack 20. The linkage pressing component 500 includes a first pressing mechanism 200 and a second pressing mechanism 400. The first pressing mechanism 200 is connected to the battery mounting base 100, the second pressing mechanism 400 is connected to the first pressing mechanism 200, the second pressing mechanism 400 abuts against the top surface of the battery pack 20 along a first direction S, and the first pressing mechanism 200 movably abuts against the side surface of the battery pack 20 for driving the second pressing mechanism 400 to move in linkage, so that the second pressing mechanism 400 restricts the battery pack 20 from moving in a direction parallel to the first direction S. In this embodiment, the first pressing mechanism 200 is used to abut against one side surface of the battery pack 20, and the other side surface of the battery pack 20 facing away from the pressing plate 230 abuts against the target mechanism, such as against the housing of the legged robot.

[0043] The above self-locking quick-release device 10 can be used to install and lock the battery pack 20. The battery pack 20 is installed on the battery mounting base 100. The first pressing mechanism 200 and the second pressing mechanism 400 of the linkage pressing component 500 respectively abut against the side surface and the top surface of the battery pack 20 to lock the battery pack 20 on the battery mounting base 100. The first pressing mechanism 200 and the second pressing mechanism 400 are in linkage. When the battery pack 20 shakes upward, it drives the second pressing mechanism 400 to have a tendency to shake upward, so that the second pressing mechanism 400 applies a force to the first pressing mechanism 200, and the first pressing mechanism 200 is activated, so that the first pressing mechanism 200 restricts the second pressing mechanism 400 from shaking upward, that is, the second pressing mechanism 400 restricts the battery pack 20 from moving in a direction parallel to the first direction S. Therefore, it is ensured that the linkage pressing component 500 continuously locks multiple surfaces of the battery pack 20 in a linkage manner.

[0044] In one embodiment, the first clamping mechanism 200 includes a clamping mounting member 210 , a clamping connecting rod assembly 220 and a clamping push rod 240 . The clamping mounting member 210 is connected to the battery mounting seat 100, and the clamping link assembly 220 has a fixed end 220a and a clamping end 220b. The fixed end 220a is connected to the clamping mounting member 210, and the clamping push rod 240 is driven and connected to the clamping link assembly 220. The clamping push rod 240 drives the clamping link assembly 220 to extend and retract, so that the clamping end 220b is used to abut against the side of the battery pack 20; the second clamping mechanism 400 includes a connected locking mounting member 410 and a locking member 420, and the locking mounting member 410 is arranged on the target mechanism, one end of the locking member 420 is rotatably connected to the locking mounting member 410 along a rotation axis perpendicular to the clamping push rod 240, and the other end is connected to the clamping push rod 240, and the locking member 420 abuts against the top surface of the battery pack 20. In this embodiment, the clamping link assembly 220 is located between the clamping mount 210 and the side of the battery pack 20 that are spaced apart from each other. In this embodiment, the clamping end 220b is used to abut one side of the battery pack, and the other side of the battery pack that is away from the clamping plate 230 abuts against an external mechanism, such as a shell of a foot-type robot. The clamping link assembly 220 is driven to telescopically move by the clamping push rod 240, so that the clamping end 220b can be moved away from or close to the fixed end 220a. Since the clamping mount 210 is connected to the battery mount 100, it is fixed, that is, the fixed end 220a is fixed, so what is adjusted is the position of the clamping end 220b. When the clamping link assembly 220 is extended, the clamping end 220b is away from the fixed end 220a, and the clamping end 220b can abut against the side of the battery pack 20, thereby clamping the battery pack 2 0 is pressed tightly, the pressing end 220b can be adjusted to move away from or press against the battery pack 20 to unlock or lock the battery pack 20. Since a connecting rod mechanism is used to act on the battery pack 20, compared with a spring pressing the battery pack 20, there will be no problem that when the pressing force is too large, the battery pack 20 is difficult to put into the battery mounting seat 100 and the first pressing mechanism 200 is bloated. There will also be no problem that when the pressing force is too small, the battery pack 20 is easy to shake under excessive impact, which may cause poor contact, and other problems.The top surface of the battery pack can be pressed against by the locking member 420. When the battery has a tendency to shake upward, it will act on the locking member 420, causing the locking member 420 to have a tendency to drive the driving part 320 upward, that is, a tendency to drive the pressing push rod 240 upward. This tendency to drive the pressing push rod 240 upward will cause the connection point to move upward. However, the connection point of the first link member 221 and the second link member 222 faces inward and away from the pressing push rod 240, and the upward movement is restricted. Therefore, a reaction force will be transmitted to the pressing push rod 240, the driving part 320, and the locking member 420 in sequence. As a result, the locking member 420 reacts against the top surface of the battery pack, thereby restricting the upward shaking of the battery pack, and upward movement will make the pressing plate 230 press against the side surface of the battery pack more tightly. In this embodiment, the bottom surface of the battery pack is pressed against the battery mounting seat 100. When an external force is applied to rotate the driving part 320 upward, the locking member 420 disengages from the top surface of the battery pack. At the same time, the pressing push rod 240 moves upward, causing the pressing link assembly 220 to contract, and the pressing plate 230 disengages from the abutment against the side surface of the battery pack 20. Therefore, the restrictions on the top surface and the side surface of the battery pack 20 can be released, facilitating the quick disassembly of the battery pack 20.

[0045] In order to facilitate the telescopic compression of the clamping link assembly 220 to compress the battery pack 20, in one embodiment, the first clamping mechanism 200 also includes a clamping plate 230, and the clamping link assembly 220 includes a first link member 221 and a second link member 222. The first link member 221, the second link member 222 and the clamping push rod 240 are rotatably connected at one point. The end of the first link member 221 away from the second link member 222 is the fixed end 220a, and the fixed end 220a is rotatably connected to the clamping mounting member 210. The end of the second link member 222 away from the first link member 221 is the clamping end 220b, and the clamping end 220b is rotatably connected to the clamping plate 230. The side of the clamping plate 230 facing away from the second link member 222 is used to abut against the side of the battery pack. The clamping push rod 240 drives the first link member 221 and the second link member 222 to rotate relative to each other to adjust the distance between the clamping plate 230 and the clamping mounting member 210. In this embodiment, the clamping link assembly 220 is located between the clamping mounting member 210 and the clamping plate 230, which are spaced apart from each other, that is, the first link member 221 and the second link member 222 are both located between the clamping mounting member 210 and the clamping plate 230. In this embodiment, the clamping plate 230 is used to abut one side of the battery pack, and the other side of the battery pack facing away from the clamping plate 230 abuts against an external mechanism, such as a shell of a legged robot. The first link member 221 and the second link member 222 are driven up and down to rotate relative to each other by the clamping push rod 240. Thus, the distance between the clamping plate 230 and the clamping mounting member 210 can be adjusted. Since the clamping mounting member 210 is connected to the battery mount 100 and is fixed, the position of the clamping end 220b and the clamping plate 230 is adjusted. The clamping plate 230 can be adjusted away from or against the battery pack to unlock or lock the battery pack. Since a connecting rod mechanism is used to drive the clamping plate 230, compared with a spring-loaded battery pack, there will be no problems such as the battery pack being difficult to place in the battery mount 100 when the clamping force is too large and the first clamping mechanism 200 being bloated, or the battery pack being easily shaken under excessive impact when the clamping force is too small, which may lead to poor contact. In addition, the above-mentioned self-locking quick-release device 10 has a simple structure, a simple fixing method, low precision requirements, and low manufacturing and use costs. When an external force is applied to drive the clamping push rod 240 upward, the clamping link assembly 220 can be retracted, thereby removing the restriction on the side of the battery pack and facilitating quick removal of the battery pack.

[0046] In order to enable the first pressing mechanism 200 to automatically lock the battery pack, in one embodiment, as Figure 2 and Figure 3As shown, when the self-locking quick-release device 10 is in the unlocked state S1, the pressing plate 230 does not abut against the battery pack. The connection point of the first link member 221 and the second link member 222 faces outward and tends towards the end of the pressing push rod 240 away from the pressing link assembly 220 in a direction parallel to the first direction S. The connection point of the first link member 221 and the second link member 222 faces outward, that is, towards the external pressing push rod 240. At the same time, the protruding part of the included angle structure formed by the first link member 221 and the second link member 222 points to the pressing push rod 240, that is, the pressing link assembly 220 is in a contracted state. At this time, the distance between the pressing plate 230 and the pressing mounting member 210 is small, and the pressing plate 230 does not abut against the battery pack. When the self-locking quick-release device 10 is in the locked state S2, the pressing plate 230 presses against the battery pack. The connection point of the first link member 221 and the second link member 222 faces inward and deviates from the end of the pressing push rod 240 away from the pressing link assembly 220 in a direction parallel to the first direction S. The connection point of the first link member 221 and the second link member 222 faces inward, that is, away from the external pressing push rod 240. At the same time, the protruding part of the included angle structure formed by the first link member 221 and the second link member 222 deviates from the pressing push rod 240. At this time, the concave part of the included angle structure formed by the first link member 221 and the second link member 222 points to the pressing push rod 240, that is, the pressing link assembly 220 is in a more unfolded state. At this time, the distance between the pressing plate 230 and the pressing mounting member 210 is large, and the pressing plate 230 abuts against the battery pack. During the process from the unlocked state S1 to the locked state S2, the pressing push rod 240 drives the connection point to move gradually downward until the downward movement of the pressing push rod 240 is limited. Since the pressing push rod 240 moves downward during the process from the unlocked state S1 to the locked state S2, the included angle between the first link member 221 and the second link member 222 gradually increases, causing the pressing link assembly 220 to gradually unfold. When the included angle between the first link member 221 and the second link member 222 reaches the maximum, that is, when the included angle between the first link member 221 and the second link member 222 is 180°, the pressing push rod 240 continues to move downward, causing the connection point to start facing inward and deviating from the pressing push rod 240. Then, when the pressing push rod 240 is limited, the pressing push rod 240 cannot continue to move downward. At this time, the included angle between the first link member 221 and the second link member 222 is less than 180° again. At this time, since the pressing plate 230 abuts against the side of the battery pack, the pressing link assembly 220 cannot unfold, that is, the pressing push rod 240 cannot move upward. At the same time, when the battery pack has a tendency to shake left and right, it will squeeze the pressing plate 230, causing the pressing link assembly 220 to have a tendency to contract. Since the pressing push rod 240 is limited and cannot move downward, it acts in the reverse direction on the pressing link assembly 220 and the pressing plate 230, causing the pressing plate 230 to provide a greater pressing force to the battery pack, thereby effectively preventing the battery pack from shaking.In this embodiment, one side of the battery pack facing away from the pressing plate 230 abuts against the battery mounting base 100.

[0047] To facilitate the self-locking quick-release device 10 to change from the unlocked state S1 to the locked state S2, in one embodiment, as Figures 2 to 4 shown, an elastic member 231 is provided on the side of the pressing plate 230 facing away from the pressing mounting member 210. One end of the elastic member 231 away from the pressing plate 230 is used to elastically abut against the side surface of the battery pack. In this way, during the process that the connection point of the first link member 221 and the second link member 222 gradually changes from the state facing outward and tending to the pressing push rod 240 to the state facing inward and away from the pressing push rod 240, due to the action of the elastic member 231, the included angle between the first link member 221 and the second link member 222 can reach 180°. At this time, the compression degree of the elastic member 231 reaches the maximum. And when the included angle between the first link member 221 and the second link member 222 is less than 180° again later, the pressing plate 230 can still abut against the side surface of the battery pack to form the locked state S2. Therefore, it is convenient for the self-locking quick-release device 10 to change from the unlocked state S1 to the locked state S2. In one embodiment, the telescopic direction of the elastic member 231 is perpendicular to the pressing plate 230, which is convenient for the elastic member 231 to act more effectively between the pressing plate 230 and the battery pack 20. In one embodiment, the elastic member 231 includes but is not limited to a spring, a spring sheet, a sponge or other components with a resilience effect.

[0048] To facilitate driving the pressing push rod 240 and limiting the pressing push rod 240, in one embodiment, as Figures 1 to 5As shown, the self-locking quick-release device 10 also includes a driving mechanism 300, and the driving mechanism 300 includes a driving seat 310 and a driving part 320. The driving seat 310 is installed on the target mechanism, for example, on the shell of the foot-type robot. The driving part 320 is rotatably connected to the driving seat 310 along the rotation axis perpendicular to the clamping push rod 240. The end of the clamping push rod 240 away from the first connecting rod 221 is connected to the driving part 320, and the end of the locking member 420 away from the locking mounting member 410 is connected to the driving part 320. When the self-locking quick-release device 10 is in the locking state S2, the bottom surface of the driving part 320 is aligned with the top surface of the driving seat 310. The abutment is used to limit the movement of the clamping push rod 240 in a direction parallel to the first direction S away from the driving part 320. In this way, the rotation of the driving part 320 relative to the driving seat 310 can drive the clamping push rod 240 to move up and down, thereby pushing the clamping link assembly 220 and the clamping plate 230. The top surface of the driving seat 310 limits the driving part 320, so that the driving part 320 cannot continue to rotate, thereby preventing the clamping push rod 240 from continuing to move downward, that is, limiting the clamping push rod 240; by a driving part 320 simultaneously controlling the clamping link assembly 220 and the locking member 420, a driving part 320 can control the compression and release of the battery in all directions, thereby achieving the effect of efficient battery replacement. In one embodiment, the driving part 320 is hinged to the driving seat 310. In one embodiment, the driving portion 320 is rotatably connected to the driving seat 310 so that the bottom surface of the driving portion 320 and the top surface of the driving seat 310 are movably abutted. In this embodiment, the movable abutment is a dynamic relationship feature under the rotatable connection between the driving portion 320 and the driving seat 310.

[0049] In order to further limit the shaking of the battery pack and enable the driving unit 320 to reset, in one embodiment, as shown in FIG. Figure 6As shown, a torsion spring 430 is provided between the locking member 420 and the locking mounting member 410. The locking member 420 is rotatably connected to the locking mounting member 410 through a locking shaft 440. The torsion spring 430 is sleeved on the locking shaft 440. One end of the torsion spring 430 abuts against the locking member 420, and the other end of the torsion spring 430 abuts against one surface of the locking mounting member 410. The torsion spring 430 is used to limit the locking member 420 from starting to rotate relative to the locking mounting member 410 in the opposite direction of the first direction. In this way, the torsion spring 430 can make the locking member 420 press tightly against the top surface of the battery pack. When an external force is applied to rotate the driving part 320 upward, after the locking member 420 disengages from the top surface of the battery pack and the pressing plate 230 disengages from the side surface of the battery pack, after the external force is removed, under the action of the torsion spring 430, the locking member 420 moves downward, causing the driving part 320 to move downward until it abuts against the driving seat 310, that is, the driving part 320 is reset.

[0050] In order to facilitate the adjustment of the movement of the pressing plate 230 under the action of the pressing link assembly 220, in one embodiment, as Figures 2 to 4 shown, the first pressing mechanism 200 further includes a pressing mounting plate 250. The pressing mounting plate 250 is disposed on one surface of the pressing mounting member 210 facing the pressing plate 230, that is, the pressing mounting member 210 has a surface facing the pressing plate 230, and the pressing mounting plate 250 is disposed on this surface. The first link member 221 is connected to the pressing mounting member 210 through the pressing mounting plate 250. Specifically, one surface of the pressing mounting plate 250 is connected to the pressing mounting member 210, and the other opposite surface is connected to the fixed end 220a of the first link member 221. The pressing mounting plate 250 is parallel and spaced from the pressing plate 230. A pressing mounting plate 250 parallel and spaced from the pressing plate 230 is provided on the pressing mounting member 210, which facilitates the first link member 221 and the second link member 222 to adjust the distance of the pressing plate 230 relative to the pressing mounting member 210 or the pressing mounting plate 250.

[0051] In one embodiment, the length of the first link member 221 is equal to the length of the second link member 222, so that the pressing push rod 240 exerts the same effect on the first link member 221 and the second link member 222, facilitating the stable driving of the movement of the pressing plate 230.

[0052] In order to enable the pressing plate 230 to move smoothly, in one embodiment, as Figures 2 to 4As shown, a guiding hole is respectively formed in the middle of the pressing mounting plate 250 and the middle of the pressing mounting member 210, and the two guiding holes are communicated with each other. A guiding column 260 is vertically provided in the middle of the surface of the pressing plate 230 facing the pressing mounting plate 250. The guiding column 260 slidably penetrates through the two guiding holes. In this way, the guiding holes guide the guiding column 260, so that the pressing plate 230 can move smoothly.

[0053] In order to facilitate the stable driving of the pressing link assembly 220 to drive the pressing plate 230 to move, in one embodiment, as Figure 4 shown, the first link member 221 and the second link member 222 are respectively plate-shaped structures. The first link member 221 is connected to the pressing mounting member 210 through the first side, and the second link member 222 is connected to the pressing plate 230 through the second side. One end of the pressing push rod 240 is provided with a rotating shaft 241 perpendicular to the pressing push rod 240. The third side of the first link member 221 opposite to the first side edge is rotatably connected to the rotating shaft 241, and the fourth side of the second link member 222 opposite to the second side edge is rotatably connected to the rotating shaft 241. The third side of the first link member 221 and the fourth side of the second link member 222 are respectively parallel to the rotating shaft 241. It is worth mentioning that the rotational connection is a connection relationship, and parallelism is a positional relationship. For example, a shaft is rotatably connected to a cylinder, and the shaft can also be parallel to the center line of the cylinder, line parallelism, but here it is the surface (side edge) parallel to the line. In this embodiment, the first side edge is the fixed end 220a, and the second side edge is the pressing end 220b. In this way, the first link member 221 and the pressing mounting member 210, and the second link member 222 and the pressing plate 230 can have a longer contact line, which is convenient for the pressing link assembly 220 to stably drive the pressing plate 230 to move.

[0054] In order to drive the pressing plate 230 to move more stably, in one embodiment, as Figure 2 and Figure 3As shown, the number of the pressing link assemblies 220 is multiple. At least one of the multiple first link members 221 is connected to the top end of the pressing mounting member 210, and at least one of the multiple first link members 221 is connected to the bottom end of the pressing mounting member 210; at least one of the multiple second link members 222 is connected to the top end of the pressing plate 230, and at least one of the multiple second link members 222 is connected to the bottom end of the pressing plate 230. By arranging multiple pressing link assemblies 220 in this way, with at least one at the top of the space between the pressing mounting member 210 and the pressing plate 230 and at least one at the bottom of the space between the pressing mounting member 210 and the pressing plate 230, the pressing plate 230 can be driven more stably, and the pressing plate 230 can be stably pressed against the battery pack. In one embodiment, as Figure 2 and Figure 3 shown, the number of the pressing link assemblies 220 is two. One first link member 221 is connected to the top end of the pressing mounting member 210, and the other first link member 221 is connected to the bottom end of the pressing mounting member 210; one second link member 222 is connected to the top end of the pressing plate 230, and the other second link member 222 is connected to the bottom end of the pressing plate 230

[0055] In order to facilitate the insertion and extraction of the battery pack and be able to lock the battery pack completely in the battery mounting seat 100, in one embodiment, as Figures 1 to 3 and Figure 5 shown, the battery mounting seat 100 includes a bottom plate 110, side plates 120 and a top plate 130. The bottom plate 110 and the top plate 130 are respectively vertically connected to the side plates 120 to enclose an installation space for accommodating the battery pack. The battery mounting seat 100 has an insertion and extraction opening for the battery pack to enter and exit. The side plates 120 face the insertion and extraction opening, and an elastic abutting member 140 is provided on the side plates 120. The elastic abutting member 140 is used to compress and abut against the battery pack. The self-locking quick-release device 10 further includes a limiting mechanism. The limiting mechanism restricts the battery pack in the direction opposite to the action of the elastic abutting member 140, that is, the limiting mechanism applies a force to the battery pack 20 that is opposite to the compression force of the elastic abutting member 140; the pressing mounting member 210 is connected to the bottom plate 110. In this way, by arranging the bottom plate 110, side plates 120, top plate 130 and the limiting mechanism, the side surface of the battery pack in another direction can be limited. When the limiting mechanism is removed, the elastic abutting member 140 can pop the battery pack out of the insertion and extraction opening by a certain amount, which facilitates the insertion and extraction of the battery pack. The bottom plate 110, side plates 120, top plate 130 and the limiting mechanism, combined with the side limiting mechanism and the top surface limiting mechanism, can lock the battery pack completely in the battery mounting seat 100.

[0056] In one embodiment, in order to limit the battery pack in the plugging direction, as Figure 5 and 7 shown, the limiting mechanism is the stop portion 421, which protrudes from the locking member 420 and is used to be inserted into the stop groove 21 formed on the top surface of the battery pack. The stop portion 421 is used to abut against the side of the stop groove 21 facing away from the elastic abutting member 140. By providing the cooperation between the stop portion 421 and the stop groove on the top surface of the battery pack, the battery pack can be limited in the plugging direction.

[0057] As Figure 8 shown, a legged robot 50 includes a housing 30, a battery pack 20, and the self-locking quick-release device 10 described in any of the above embodiments. The battery pack 20 is installed on the battery mounting seat 100, and the battery mounting seat 100 is arranged on the housing 30. In one embodiment, the side surface of the battery pack 20 facing away from the pressing plate 230 abuts against the housing 30. In one embodiment, as Figure 9 shown, the driving seat 310 is connected to the housing 30, so that the driving seat 310 can be fixed on the housing, enabling the driving portion 320 to stably rotate around the driving seat 310. In one embodiment, the locking mounting member 410 is connected to the housing 30, so that the locking mounting member 410 can be fixed on the housing, enabling the locking member 420 to stably rotate around the driving seat 310.

[0058] The above-mentioned legged robot 50 includes a self-locking quick-release device 10, which can be used to install and lock the battery pack 20. The battery pack 20 is installed on the battery mounting seat 100. By the first pressing mechanism 200 and the second pressing mechanism 400 of the linkage pressing member 500 respectively pressing against the side surface and the top surface of the battery pack 20, the battery pack 20 is locked on the battery mounting seat 100. The first pressing mechanism 200 and the second pressing mechanism 400 are linked. When the battery pack 20 shakes upward, it drives the second pressing mechanism 400 to have a tendency to shake upward, causing the second pressing mechanism 400 to apply a force to the first pressing mechanism 200. The first pressing mechanism 200 is activated, so that the first pressing mechanism 200 restricts the upward shaking of the second pressing mechanism 400, that is, the second pressing mechanism 400 restricts the movement of the battery pack 20 in the direction parallel to the first direction S. Therefore, it is ensured that the linkage pressing member 500 continuously locks multiple surfaces of the battery pack 20 in a linked manner.

[0059] In all embodiments of the present application, "large" and "small" are relative, "many" and "few" are relative, and "up" and "down" are relative. For the expression methods of such relative terms, the embodiments of the present application will not elaborate further.

[0060] It should be understood that the "in this embodiment", "in the embodiments of the present application" or "as an alternative embodiment" mentioned throughout the specification mean that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the "in this embodiment", "in the embodiments of the present application" or "as an alternative embodiment" that appear throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all alternative embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0061] In various embodiments of the present application, it should be understood that the magnitude of the sequence numbers of the above processes does not necessarily mean the inevitable sequence of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0062] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A self-locking quick-release device for installation on a target mechanism, characterized in that, The self-locking quick-release device comprises: Battery mounting base, used to install the battery pack; A linkage pressing component, comprising a first pressing mechanism and a second pressing mechanism, wherein the first pressing mechanism is connected to the battery mounting seat, and the second pressing mechanism is connected to the first pressing mechanism, the second pressing mechanism being pressed against the top surface of the battery pack along a first direction, and the first pressing mechanism being movably pressed against the side surface of the battery pack to drive the second pressing mechanism to be linked, so that the second pressing mechanism restricts the movement of the battery pack in a direction parallel to the first direction; The first clamping mechanism includes a clamping mounting, a clamping link assembly and a clamping push rod; the clamping mounting is connected to the battery mounting seat, the clamping link assembly has a fixed end and a clamping end, the fixed end is connected to the clamping mounting, the length direction of the clamping push rod is parallel to the first direction, the clamping push rod is drivably connected to the clamping link assembly, and the clamping push rod drives the clamping link assembly to extend and retract so that the clamping end abuts against the side surface of the battery pack; the second clamping mechanism includes a connected locking mounting and a locking member, the locking mounting is provided on the target mechanism, one end of the locking member is rotatably connected to the locking mounting along a rotation axis perpendicular to the clamping push rod, and the other end is connected to the clamping push rod, and the locking member abuts against the top surface of the battery pack; The first clamping mechanism also includes a clamping plate, and the clamping link assembly includes a first link member and a second link member. The first link member, the second link member and the clamping push rod are rotatably connected at one point, the end of the first link member away from the second link member is the fixed end, and the fixed end is rotatably connected to the clamping mounting member, the end of the second link member away from the first link member is the clamping end, and the clamping end is rotatably connected to the clamping plate, and the side of the clamping plate facing away from the second link member is used to abut against the side of the battery pack; the clamping push rod drives the first link member and the second link member to rotate relative to each other to adjust the distance between the clamping plate and the clamping mounting member.

2. The self-locking quick-release device according to claim 1, wherein When the self-locking quick-release device is in an unlocked state, the clamping plate does not abut the battery pack, and the connection point between the first link member and the second link member faces outward and in a direction parallel to the first direction toward the end of the clamping push rod away from the clamping link assembly; when the self-locking quick-release device is in a locked state, the clamping plate abuts the battery pack, and the connection point between the first link member and the second link member faces inward and in a direction parallel to the first direction away from the end of the clamping push rod away from the clamping link assembly; in the process from the unlocked state to the locked state, the clamping push rod drives the connection point to gradually move downward until the downward movement of the clamping push rod is limited.

3. The self-locking quick-release device according to claim 2, wherein, An elastic member is provided on a side of the pressing plate facing away from the pressing mounting member, and an end of the elastic member away from the pressing plate is used to elastically abut against a side surface of the battery pack.

4. The self-locking quick-release device according to claim 2, wherein The self-locking quick-release device further includes a driving mechanism, which includes a driving seat and a driving part. The driving seat is installed on the target mechanism. The driving part is rotatably connected to the driving seat along a direction perpendicular to the rotation axis of the pressing push rod. One end of the pressing push rod away from the first link is connected to the driving part, and one end of the locking part away from the locking mounting part is connected to the driving part. When the self-locking quick-release device is in the locked state, the bottom surface of the driving part abuts against the top surface of the driving seat to limit the pressing push rod from moving away from the driving part along a direction parallel to the first direction.

5. The self-locking quick-release device according to claim 1, characterized in that A torsion spring is provided between the locking part and the locking mounting part. The locking part is rotatably connected to the locking mounting part through a locking shaft. The torsion spring is sleeved on the locking shaft. One end of the torsion spring abuts against the locking part, and the other end of the torsion spring abuts against one surface of the locking mounting part. The torsion spring is used to limit the locking part from starting to rotate relative to the locking mounting part in the opposite direction of the first direction.

6. The self-locking quick-release device according to claim 1, wherein, The first pressing mechanism further includes a pressing mounting plate, which is arranged on a surface of the pressing mounting part facing the pressing plate. The first link is connected to the pressing mounting part through the pressing mounting plate, and the pressing mounting plate is parallel and spaced from the pressing plate.

7. The self-locking quick-release device according to claim 6, wherein A guiding hole is respectively formed in the middle of the pressing mounting plate and the middle of the pressing mounting part, and the two guiding holes are communicated with each other. A guiding column is vertically provided in the middle of the surface of the pressing plate facing the pressing mounting plate, and the guiding column slidably penetrates through the two guiding holes.

8. The self-locking quick-release device according to claim 1, wherein, The first link and the second link are respectively in a plate-like structure. The first link is connected to the pressing mounting part through the first side, and the second link is connected to the pressing plate through the second side. One end of the pressing push rod is provided with a rotating shaft perpendicular to the pressing push rod. The third side of the first link opposite to the first side is rotatably connected to the rotating shaft, and the fourth side of the second link opposite to the second side is rotatably connected to the rotating shaft. The third side of the first link and the fourth side of the second link are respectively parallel to the rotating shaft.

9. The self-locking quick-release device according to claim 1, wherein The number of the pressing link assemblies is multiple. At least one of the multiple first links is connected to the top end of the pressing mounting part, and at least one of the multiple first links is connected to the bottom end of the pressing mounting part; at least one of the multiple second links is connected to the top end of the pressing plate, and at least one of the multiple second links is connected to the bottom end of the pressing plate.

10. The self-locking quick-release device according to claim 1, wherein, The battery mounting base includes a bottom plate, a side plate and a top plate, the bottom plate and the top plate are respectively connected vertically to the side plates to form an installation space for accommodating the battery pack, the battery mounting base has a plug and unplug port for the battery pack to enter and exit, the side plate faces the plug and unplug port, and an elastic abutment is provided on the side plate, the elastic abutment is used to compress and abut the battery pack, the self-locking quick-release device also includes a limiting mechanism, the limiting mechanism limits the battery pack in a direction opposite to the action of the elastic abutment; the clamping mounting member is connected to the bottom plate.

11. The self-locking quick-release device according to claim 10, characterized in that, The limiting mechanism is a stop portion, which is provided on the locking member and is used to be inserted into a stop groove opened on the top surface of the battery pack. The stop portion is used to abut against a side of the stop groove facing away from the elastic supporting member.

12. A legged robot, characterized in that, It comprises a shell, a battery pack and the self-locking quick-release device according to any one of claims 1 to 11, wherein the battery pack is mounted on the battery mounting seat, and the battery mounting seat is arranged on the shell.

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