A connection method for an upper body work unit of a robot and a robot

Abstract

The application discloses a connecting method for an upper body work unit of a robot and the robot, which integrates mechanical clamping locking of a male-female interface and spring needle electrical contact conduction depth, determines physical directional alignment of a male-female joint, drives rotation to embed a clamping boss into a locking groove to complete mechanical locking, and synchronously drives a spring needle to press a pair of end pads to close an electrical path, then voltage sampling is performed on a preset identification resistor on a recognition pin along the path to obtain an electrical characteristic code of the pin, and a connection completion signal is generated when the electrical characteristic code meets preset conditions. The application realizes single-rotation synchronous closing of mechanical locking and electrical connection and automatic identity verification, does not need tools and manual wire harness plugging, greatly shortens dismounting and mounting time, effectively avoids wiring errors and contact wear, and significantly improves safety and reliability of modular robot connection.

Description

Technical Field

[0001] This invention relates to the field of connection technology for upper body working units of robots, and in particular to a connection method for upper body working units of robots, a connection device for upper body working units of robots, an electronic device, and a readable storage medium. Background Technology

[0002] With the increasing adoption of service robots in various commercial and industrial scenarios, the need for assembling and connecting the robot's upper body working unit to its base is growing. Existing connection methods typically use mechanical fasteners such as screws or bolts to fix the upper body working unit to the top of the base. After mechanical fixing, operators manually connect separate wiring harness connectors to establish an electrical path for the power supply and communication bus. This step-by-step connection method, involving mechanical fixing and electrical wiring, makes the assembly and disassembly process reliant on specialized tools and manual experience. The steps are cumbersome and time-consuming, and frequent manual plugging and unplugging of the wiring harness can easily lead to wear on conductive contacts and loose wiring, causing potential electrical contact problems.

[0003] Furthermore, after completing the physical wiring, existing technologies typically rely on operators manually entering configuration commands or reloading system parameters on a software control terminal to verify the connection status and validity of the physical interface. This status verification mode, which relies entirely on manual software reconfiguration, suffers from drawbacks such as numerous configuration steps and susceptibility to human error in configuration. This results in a severe disconnect between the connection confirmation process and the physical locking action, increasing the difficulty of equipment deployment and maintenance costs. Summary of the Invention

[0004] The present invention provides a method, apparatus, electronic device, and readable storage medium for connecting the upper body working unit of a robot to overcome or at least partially solve the above-mentioned problems.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows: This application provides a connection method for an upper body working unit of a robot. The method is applied to a control system for the robot. The upper body working unit is further configured with a corresponding multi-form chassis. A male connector is provided at the bottom of the upper body working unit. The male connector has a snap-fit ​​boss and a spring-loaded conductive contact array. The top of the multi-form chassis has a female connector corresponding to the male connector. The female connector has a locking groove corresponding to the snap-fit ​​boss and a corresponding end pad for the spring-loaded conductive contact array. The method includes: When it is determined that the male connector and the female connector have physically aligned and connected, an interface alignment status signal is generated; The robot is driven to rotate the male connector by the interface alignment status signal, so that the buckle boss is embedded in the locking groove to complete the mechanical locking. During the process of the buckle boss being embedded in the locking groove, the spring pins of the spring pin conductive contact array are driven to fit with the opposite end pad to generate an electrical conductive connection path. Voltage sampling is performed on the preset identification resistor on the identification pin in the spring-loaded conductive contact array along the electrical conduction path to obtain the pin electrical feature code; When the pin electrical signature meets the preset conditions, a connection operation completion signal is generated to indicate that the connection operation to the upper body working unit has been completed.

[0006] Optionally, after completing the connection operation of the upper body working unit, the method further includes: The chassis type identification result of the multi-form chassis is identified through the electrical conduction connection path; Determine the motion control algorithm model corresponding to the chassis type identification result; Load the motion control algorithm model to execute the target service corresponding to the chassis type identification result.

[0007] Optionally, when the chassis type identification result is a wheeled chassis, the step of loading the motion control algorithm model to execute the target service corresponding to the chassis type identification result includes: Load the Mecanum wheel omnidirectional kinematics inverse algorithm model from the preset local memory; Based on the received target movement command, the independent rotational speeds of the four independent drive shafts in the wheeled chassis are calculated using the Mecanum wheel omnidirectional kinematics inverse algorithm model. The four independent drive shafts are controlled based on the independent rotation speed to drive the wheeled chassis to perform omnidirectional mobility services.

[0008] Optionally, when the chassis type identification result is a sliding rail base, the step of loading the motion control algorithm model to execute the target service corresponding to the chassis type identification result includes: Load the single-axis linear interpolation control algorithm model from the preset local memory; Based on the received target movement command along the track, the linear interpolation position and running speed of the slide rail base in the single-axis direction are calculated using the single-axis linear interpolation control algorithm model. The slide rail base is translated based on the linear interpolation position and running speed to perform single-axis linear interpolation displacement. This application provides a robot, including an upper body working unit and a multi-form chassis; The bottom of the upper body working unit is provided with a male connector, and the male connector is provided with a snap-fit ​​boss and a spring-loaded pin-type conductive contact array. The top of the multi-form chassis is provided with a female connector corresponding to the male connector. The female connector is configured with a locking groove corresponding to the snap-fit ​​boss and a counter-end solder pad corresponding to the spring-loaded conductive contact array. The robot is also equipped with a control system for the robot; The male connector is used for physical orientational docking with the female connector; The control system is used to generate an interface alignment status signal when it determines that the male connector and the female connector are physically oriented and docked. The interface alignment status signal is used to drive the robot to rotate the male connector, so that the buckle boss is embedded in the locking groove to complete the mechanical locking. During the process of the buckle boss being embedded in the locking groove, the spring pins of the spring pin type conductive contact array are driven to fit with the opposite end pad to generate an electrical conductive connection path. The control system is also used to sample the voltage of the preset identification resistor on the identification pin in the spring-loaded conductive contact array along the electrical connection path to obtain the pin electrical feature code; When the pin electrical signature meets the preset conditions, a connection operation completion signal is generated to indicate that the connection operation to the upper body working unit has been completed.

[0009] Optionally, the male connector is provided with an asymmetric locating pin; The female connector is provided with an asymmetric positioning slot for the asymmetric positioning pin. The asymmetric positioning pin is used to insert into the asymmetric positioning slot when the male connector is used for physical orientation docking with the female connector, so as to limit the upper body working unit to dock with the multi-form chassis at a fixed angle.

[0010] This application provides a connection device for an upper body working unit of a robot. The device is applied to a control system for the robot. The upper body working unit is further configured with a corresponding multi-form chassis. A male connector is provided at the bottom of the upper body working unit. The male connector has a snap-fit ​​boss and a spring-loaded conductive contact array. The top of the multi-form chassis has a female connector corresponding to the male connector. The female connector has a locking groove corresponding to the snap-fit ​​boss and a corresponding end pad for the spring-loaded conductive contact array. The device includes: The interface alignment status signal generation module is used to generate an interface alignment status signal when it is determined that the male connector and the female connector are physically oriented and connected. The electrical conduction connection path generation module is used to drive the robot to rotate the male connector through the interface alignment status signal, so that the buckle boss is embedded in the locking groove to complete the mechanical locking, and during the process of the buckle boss being embedded in the locking groove, the spring pin of the spring pin type conductive contact array is driven to fit with the opposite end pad to generate an electrical conduction connection path. The pin electrical feature code acquisition module is used to sample the voltage of the preset identification resistor on the identification pin in the spring-loaded conductive contact array along the electrical conduction connection path to acquire the pin electrical feature code. The connection operation completion signal generation module is used to generate a connection operation completion signal to indicate that the connection operation to the upper body operation unit has been completed when the pin electrical feature code meets the preset conditions.

[0011] Optionally, after completing the connection operation to the upper body working unit, the device is further configured to: The chassis type identification result of the multi-form chassis is identified through the electrical conduction connection path; Determine the motion control algorithm model corresponding to the chassis type identification result; Load the motion control algorithm model to execute the target service corresponding to the chassis type identification result.

[0012] This application provides an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the steps of the method described in the first aspect.

[0013] This application provides a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0014] This application provides a chip that includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method described in the first aspect.

[0015] The embodiments of the present invention have the following advantages: This invention integrates the mechanical locking mechanism of the male and female interfaces with the electrical contact depth of the spring-loaded pins. After physical alignment is detected, a drive rotation causes the locking boss to embed into the locking groove. During this process, the spring-loaded pins simultaneously press against the opposite pads to close the electrical path. Furthermore, voltage sampling and verification are performed along this path on the preset resistor of the identification pin. This eliminates the cumbersome process of mechanical fastening with bolts and tools and manual insertion and removal of wire harnesses in traditional solutions, achieving a single rotation synchronous closure of the mechanical locking and electrical connection. At the same time, automatic sampling of electrical feature codes replaces the tedious manual configuration and verification of parameters in the software, greatly shortening the time for interface connection and disassembly / deployment, eliminating the reliance on professional tools and experience, and effectively avoiding the hidden dangers of reverse insertion, wear, and poor contact that may be caused by manual wiring. This significantly improves the safety, reliability, and intelligence of the connection between the robot's upper body and the base. Attached Figure Description Figure 1 This is a flowchart illustrating the steps of a method for connecting the upper body working unit of a robot, as provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of an upper body working unit provided in an embodiment of the present invention; Figure 3A This is a schematic diagram of a structure illustrating the locking principle of a snap-lock device provided in an embodiment of the present invention. Figure 1 ; Figure 3B This is a schematic diagram of a structure illustrating the locking principle of a snap-lock device provided in an embodiment of the present invention. Figure 2 ; Figure 3C This is a schematic diagram 3 illustrating the principle of buckle locking provided in an embodiment of the present invention; Figure 4 This is a cross-sectional view of a quick-release interface provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a multi-form chassis provided in an embodiment of the present invention; Figure 6 This is a structural block diagram of a connection device for the upper body working unit of a robot provided in an embodiment of the present invention; Figure 7 This is a hardware structure block diagram of an electronic device provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of a computer-readable medium provided in an embodiment of the present invention.

[0016] Figure label: 1. Male connector; 2. Female connector; 3. Spring-loaded conductive contact array; 4. Identification pin; 5. Snap-fit ​​boss; 6. Locking groove; 7. Wheeled chassis; 8. Fixed column; 9. Slide rail base; 10. Asymmetric positioning pin. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, the character " / " in the specification and claims, indicating at least one of the connected objects, generally indicates that the preceding and following objects are in an "or" relationship.

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] Reference Figure 1 The diagram illustrates a flowchart of a method for connecting an upper body working unit of a robot according to an embodiment of the present invention, which may specifically include the following steps: Step 101: When it is determined that the male connector and the female connector are physically aligned and connected, an interface alignment status signal is generated; Step 102: Drive the robot to rotate the male connector through the interface alignment status signal, so that the buckle boss is embedded in the locking groove to complete the mechanical locking. During the process of the buckle boss being embedded in the locking groove, the spring pins of the spring pin type conductive contact array are driven to fit with the opposite end pad to generate an electrical conductive connection path. Step 103: Sampling the voltage of the preset identification resistor on the identification pin in the spring-loaded conductive contact array along the electrical conduction path to obtain the pin electrical feature code; Step 104: When the pin electrical feature code meets the preset conditions, a connection operation completion signal is generated to characterize the completion of the connection operation to the upper body working unit.

[0021] In a specific implementation, the embodiments of the present invention can be applied to the control system of the robot.

[0022] In a specific implementation, the embodiments of the present invention can generate an interface alignment status signal when determining that the male connector and the female connector are physically oriented and docked. This allows for real-time sensing and confirmation of whether the mechanical physical interface is in the correct geometric orientation and alignment state during the initial stage of docking between the robot's upper body working unit and the chassis, providing a triggering prerequisite and safety basis for subsequent automated rotation locking actions. The male connector refers to a standardized quick-release mechanical component located at the bottom of the robot's upper body working unit, which integrates a snap-fit ​​boss and a spring-loaded pin-type conductive contact array. The female connector refers to the standardized receiving interface component set on the top of the multi-shaped chassis. The inner wall has a locking groove, and the bottom surface has corresponding end solder pads that correspond to the spring pins. Physical orientation docking refers to the process by which the male and female connectors, under the constraint of a positioning and guiding structure, complete geometric insertion and primary alignment in a preset direction and at the correct angle. The interface alignment status signal is a logic signal generated by the control system after detecting that the male and female connectors have completed physical orientation insertion, which indicates that the physical position of the interface has been aligned. In this embodiment of the invention, the robot can be driven to rotate the male connector by the interface alignment status signal, so that the buckle boss is embedded in the locking groove to complete the mechanical locking. During the process of the buckle boss being embedded in the locking groove, the spring pins of the spring pin conductive contact array are driven to fit with the opposite end pad, generating an electrical conductive connection path. The rotation is automatically driven by the interface alignment signal. By utilizing the insertion and tightening process of the mechanical buckle, the tool-free solid locking of the structure and the spring compression and conduction of the electrical contacts are simultaneously achieved, achieving the effect of one-step closure of mechanical locking and electrical connection. A snap-fit ​​boss is a raised structure fixed on the side wall of a male connector, used to interlock with the locking groove of a female connector to achieve axial and circumferential mechanical positioning. A locking groove refers to an arc-shaped or L-shaped channel formed on the inner wall of a female connector to guide and lock the snap-fit ​​boss. The mechanical locking mechanism ensures that the latching boss slides completely into the locking groove, achieving a mechanical state in which the relative positions of the male and female connectors are completely fixed. A spring-loaded conductive contact array refers to an electrical signal and power transmission component integrated on the end face of a male connector, consisting of multiple miniature retractable conductive pins with internal spring mechanisms. A spring-loaded pin refers to a single conductive contact pin in a spring-loaded conductive contact array that relies on an internal spring to provide axial extension and preload. The opposite end pad refers to a planar conductive metal sheet laid on the end face of the female connector, used for perpendicular pressing contact with the spring pin and conducting electricity. The electrical conduction connection path refers to the complete electrical circuit formed by the spring pin and the opposite end pad closing under mechanical pressure, which is used to transmit power, communication bus and identification signal. In this embodiment of the invention, voltage sampling can be performed on the preset identification resistor on the identification pin in the spring-loaded conductive contact array along the electrical conduction connection path to obtain the pin electrical feature code. Using the established electrical path, the electrical signal sampling and quantization of the physical characteristics of the preset resistor at the hardware end can be performed, thereby quickly obtaining the hardware feature identifier of the interface connection object without relying on complex software communication protocols. The identification pin refers to a specific conductive contact in a spring-loaded conductive contact array that is specifically used to transmit chassis hardware identification electrical signals. Preset identification resistors refer to resistors with specific resistance values ​​that are pre-fixed and welded to the chassis end to characterize the chassis's identity and connection status. The voltage sampling control system uses an analog-to-digital converter to measure the voltage on the identification pin in real time and convert it into a digital electrical signal acquisition action. The pin electrical signature code refers to the digital voltage value or code obtained from voltage sampling that reflects the resistance characteristics of the preset identification resistor. In this embodiment of the invention, when the pin electrical feature code meets preset conditions, a connection operation completion signal is generated to characterize the completion of the connection operation to the upper body working unit. By verifying whether the electrical feature code obtained from the sampling falls within a legal preset range, the validity of the physical lock and electrical connection is automatically verified, and the connection ready status is fed back to the system as the triggering basis for the next business execution. Preset conditions refer to the voltage or resistance range standards that are pre-set within the control system to determine whether the interface connection is valid and the chassis is legitimate. The upper body working unit refers to the upper body main structure of the robot, which is equipped with a working arm, head and main control system, and is able to execute specific business logic. The connection completion signal is a logical status flag generated by the control system after confirming that both physical locking and electrical characteristic verification are qualified. It is used to notify the upper-level system that the connection process has been safely closed. This invention integrates the mechanical locking mechanism of the male and female interfaces with the electrical contact depth of the spring-loaded pins. After physical alignment is detected, a drive rotation causes the locking boss to embed into the locking groove. During this process, the spring-loaded pins simultaneously press against the opposite pads to close the electrical path. Furthermore, voltage sampling and verification are performed along this path on the preset resistor of the identification pin. This eliminates the cumbersome process of mechanical fastening with bolts and tools and manual insertion and removal of wire harnesses in traditional solutions, achieving a single rotation synchronous closure of the mechanical locking and electrical connection. At the same time, automatic sampling of electrical feature codes replaces the tedious manual configuration and verification of parameters in the software, greatly shortening the time for interface connection and disassembly / deployment, eliminating the reliance on professional tools and experience, and effectively avoiding the hidden dangers of reverse insertion, wear, and poor contact that may be caused by manual wiring. This significantly improves the safety, reliability, and intelligence of the connection between the robot's upper body and the base. For example, in a specific commercial application scenario, when the operator vertically places the upper body working unit of the robot equipped with the control system above the chassis and aligns it with the positioning pin, the control system senses the physical interface alignment and automatically generates an interface alignment status signal. In response to this signal, the control system drives the upper body working unit to rotate 90 degrees clockwise, causing the snap-fit ​​protrusion on the male connector to fully engage with the locking groove of the female connector, achieving mechanical locking. Simultaneously, during the rotational locking process, the spring-loaded pin at the bottom of the male connector presses against the gold-plated pad on the end face of the female connector, establishing a power source. The electrical connection path for communication signals is established. After the path is established, the analog-to-digital converter (ADC) of the control system immediately applies a detection signal to the identification pin and measures the sampling voltage on the preset resistor to obtain the pin electrical feature code, such as 2.5V. The control system compares the voltage and finds that the 2.5V voltage falls within the preset valid range (e.g., 2.4V~2.6V). It determines that both physical locking and electrical connection are normal and valid, and then generates a connection completion signal. The LED indicator at the interface changes from red to green, notifying the upper system of the robot that the interface connection is ready and the operation can be started safely.

[0023] Based on the above embodiments, modified embodiments of the above embodiments are proposed. It should be noted that, in order to keep the description brief, only the differences from the above embodiments are described in the modified embodiments.

[0024] In an optional embodiment of the present invention, after completing the connection operation of the upper body working unit, the method further includes: The chassis type identification result of the multi-form chassis is identified through the electrical conduction connection path; Determine the motion control algorithm model corresponding to the chassis type identification result; Load the motion control algorithm model to execute the target service corresponding to the chassis type identification result.

[0025] This invention aims to solve the technical problem that after a modular robot is replaced with a base of different physical forms, operators need to manually reconfigure control parameters, switch chassis drive modes, or re-burn control firmware on the software side, which leads to cumbersome scene deployment, low switching efficiency, and easy loss of control due to manual configuration errors. The invention achieves automatic perception of chassis type and seamless adaptive loading of motion control algorithm models after chassis hardware docking.

[0026] The electrical connection path refers to the electrical circuit established by the tight contact between the male and female connectors after rotation locking, through the spring-loaded conductive contacts and the opposite pads, for transmitting power, communication, and hardware identification signals.

[0027] Multi-form chassis refers to a base component that can be standardized and docked with the upper body working unit of a robot and has a variety of different motion structure forms (such as wheeled omnidirectional mobile chassis, fixed column base, sliding rail translation base, etc.).

[0028] The chassis type identification result refers to the classification label obtained by the control system after parsing the chassis characteristics (such as the sampling voltage of the preset identification resistor or the hardware identification code) through the electrical conduction connection path, which is used to characterize the specific physical form and motion characteristics of the chassis.

[0029] Motion control algorithm model refers to the set of control logic and drive parameters pre-built and stored in the main control system for specific chassis kinematics and dynamics characteristics (such as inverse kinematics of wheeled omnidirectional systems, linear trajectory planning of sliding rails, etc.).

[0030] The target business refers to the automated work tasks performed by the robot's upper body working unit in specific application scenarios after being combined with a chassis of a specific shape (such as autonomous inspection, welcoming guests and delivering meals, fixed workstation gripping and assembly, etc.).

[0031] For example, after the robot's upper body working unit mechanically locks with a multi-form chassis (such as a wheeled omnidirectional chassis) and establishes an electrical connection, the upper body's main control system reads the electrical signal characteristics on the pre-set identification pins on the chassis along this path, automatically identifies and outputs the chassis type identification result of wheeled omnidirectional chassis; then, the main control system automatically retrieves and matches the motion control algorithm model (such as omnidirectional wheel chassis calculation and speed control algorithm) corresponding to the kinematic characteristics of wheeled omnidirectional chassis from the internal storage database; finally, the main control system dynamically loads the motion control algorithm model into the running memory and initializes the chassis motor drive interface, enabling the robot to immediately use its wheeled omnidirectional mobility to perform target tasks such as autonomous inspection or welcoming and serving food. The entire software and hardware adaptation process is automatically closed after the hardware docking is completed, without the need for manual intervention or program burning.

[0032] This invention achieves automatic hardware identification of chassis type and dynamic seamless switching of motion control algorithm model through electrical connection path, completely solving the problems of long deployment time, high professional threshold and easy control failure due to human error caused by the need for manual reconfiguration of parameters or firmware burning after changing different bases in traditional modular robots. It realizes plug-and-play automatic adaptation of hardware physical docking and software control algorithm, which not only greatly simplifies the on-site deployment and form switching process of modular robots in complex and diverse scenarios, but also effectively eliminates the safety hazards caused by human misconfiguration, and greatly improves the intelligence level, scene adaptability and operation deployment efficiency of modular robot system.

[0033] In an optional embodiment of the present invention, when the chassis type identification result is a wheeled chassis, the step of loading the motion control algorithm model to execute the target service corresponding to the chassis type identification result includes: Load the Mecanum wheel omnidirectional kinematics inverse algorithm model from the preset local memory; Based on the received target movement command, the independent rotational speeds of the four independent drive shafts in the wheeled chassis are calculated using the Mecanum wheel omnidirectional kinematics inverse algorithm model. The four independent drive shafts are controlled based on the independent rotation speed to drive the wheeled chassis to perform omnidirectional mobility services.

[0034] This invention aims to solve the technical problem of how to accurately adapt omnidirectional motion control logic when a modular robot identifies the currently connected chassis as a wheeled chassis. By automatically loading the Mecanum wheel omnidirectional kinematics inverse algorithm model from local memory and accurately solving the target motion command into the speed control quantity of the four independent drive axles, high-precision automated control of the wheeled chassis can be achieved in stable and flexible omnidirectional motion operations.

[0035] The chassis type identification result refers to the specific classification identifier of the base currently docked with the robot's upper body working unit, determined by the control system based on hardware electrical characteristics or identification features.

[0036] A wheeled chassis refers to a chassis form that uses a wheeled structure as a mobile actuator and has the ability to move in a plane.

[0037] Local memory refers to the storage medium that is pre-fixed or stored inside the robot's main control system to store various control algorithm models and system data.

[0038] The Mecanum wheel omnidirectional kinematics inverse algorithm model refers to the mathematical and physical model and control algorithm that calculates the required target rotational angular velocity or speed of each wheel in the Mecanum wheel chassis in reverse based on the target plane's moving speed and rotational angular velocity.

[0039] The target movement command refers to the control command issued by the upper-level system or control terminal, which includes the robot's desired movement direction, linear velocity, and angular velocity.

[0040] The four-wheel independent drive axle refers to the four motor drive shafts or motor actuators that are connected to and drive the four Mecanum wheels to rotate independently in the four-wheel independent drive axle type chassis.

[0041] Independent speed refers to the speed control value assigned to each of the four independent drive axles, calculated by the algorithm model.

[0042] Omnidirectional mobility refers to the ability of robots to perform mobile tasks by utilizing the characteristics of Mecanum wheels, enabling them to move forward and backward, move laterally, glide diagonally, and rotate in place without changing their orientation.

[0043] For example, when the robot control system determines that the chassis being docked is a wheeled chassis, it automatically retrieves and loads a pre-set Mecanum wheel omnidirectional kinematics inverse kinematics algorithm model from the local memory. When a target movement command containing linear velocity and angular velocity is received, the control system inputs the command into the loaded inverse kinematics algorithm model. The inverse kinematics model calculates the independent speed control quantity corresponding to each of the four Mecanum wheels in real time based on the geometric distribution of the four wheels and the physical characteristics of the Mecanum wheel rollers. Subsequently, the control system sends the calculated independent speeds to the motor drivers of the four independent drive shafts, driving the four drive shafts to rotate synchronously at the specified speed and direction, thereby propelling the wheeled chassis to smoothly perform omnidirectional movement operations such as forward and backward straight movement, lateral movement, diagonal sliding, or rotation in place.

[0044] This invention, through the automatic loading of the Mecanum wheel omnidirectional kinematics inverse kinematics algorithm model onto a wheeled chassis, achieves rapid and accurate calculation and direct mapping of high-level abstract movement commands to the micro-control quantities of the four independent drive axles of the chassis. This allows for the automatic deployment of complex omnidirectional motion control logic without human intervention. It not only ensures the smoothness and trajectory accuracy of the wheeled chassis during multi-degree-of-freedom lateral movement, diagonal movement, and in-situ turning on flat ground, but also significantly improves the modular robot's maneuverability and obstacle avoidance capabilities and automated operation efficiency in narrow or complex indoor environments.

[0045] In an optional embodiment of the present invention, when the chassis type identification result is a slide rail base, the step of loading the motion control algorithm model to execute the target service corresponding to the chassis type identification result includes: Load the single-axis linear interpolation control algorithm model from the preset local memory; Based on the received target movement command along the track, the linear interpolation position and running speed of the slide rail base in the single-axis direction are calculated using the single-axis linear interpolation control algorithm model. The slide rail base is translated based on the linear interpolation position and running speed to perform single-axis linear interpolation displacement. This invention aims to solve the technical problem of how to accurately adapt the single-axis linear motion control logic when a modular robot identifies the currently connected chassis as a slide rail base. By automatically loading the single-axis linear interpolation control algorithm model from the local memory, the linear interpolation position and running speed of the slide rail base on the single-axis trajectory are accurately calculated according to the target track-along movement command, thereby realizing the smooth, accurate and highly responsive single-axis linear translation displacement control of the slide rail base on the fixed guide rail.

[0046] The chassis type identification result refers to the specific classification identifier of the base currently docked with the robot's upper body working unit, determined by the control system based on hardware electrical characteristics or identification characteristics.

[0047] A slide rail base refers to the physical form of a base that performs single-axis linear reciprocating translational motion along a fixed guide rail or slide rail.

[0048] A motion control algorithm model refers to a set of algorithmic logic and parameters that are pre-built and stored in a control system to control a specific physical base to move according to a predetermined trajectory and dynamic laws.

[0049] The target business refers to the single-axis linear translation and positioning tasks performed by the robot's upper body working unit after it is combined with the slide rail base in a track-moving scenario.

[0050] Local memory refers to the storage medium that is pre-fixed or stored inside the robot's main control system to store various control algorithm models and system data.

[0051] The single-axis linear interpolation control algorithm model refers to a control algorithm model that calculates the intermediate position point and corresponding speed at fixed time intervals in a single motion axis direction based on the starting point, ending point, and speed planning.

[0052] The target movement command refers to the control command issued by the upper system or control terminal, which includes the target distance, end position, or direction of movement that the slide rail base is expected to move along the track.

[0053] Linear interpolation position refers to the real-time target coordinate position of the slide rail base on the guide rail axis, calculated by the single-axis linear interpolation control algorithm model in each interpolation cycle.

[0054] Operating speed refers to the real-time moving speed of the slide rail base in the current interpolation cycle, calculated by the single-axis linear interpolation control algorithm model based on the acceleration and deceleration curve.

[0055] Single-axis linear interpolation displacement refers to a precise single-axis translational displacement operation performed by the slide rail base along a fixed guide rail, driven by a drive mechanism, strictly following the interpolation position and running speed.

[0056] For example, when the robot control system determines that the chassis type being docked is a slide rail base, it automatically retrieves and loads a preset single-axis linear interpolation control algorithm model from the local memory. When it receives a target movement command along the rail containing the target displacement distance or endpoint position, the control system inputs the command into the loaded single-axis linear interpolation control algorithm model. The algorithm model, combined with preset acceleration / deceleration curves and control cycles, calculates in real time the position coordinates of each interpolation point of the slide rail base in the single-axis guide rail direction and the corresponding real-time running speed. Subsequently, the control system sends the calculated linear interpolation position and running speed to the drive motor controller of the slide rail base, driving the slide rail base to smoothly translate the upper body of the robot along the guide rail to the target position, thereby accurately completing the single-axis linear interpolation displacement operation.

[0057] This invention, through the automatic loading of a single-axis linear interpolation control algorithm model onto the slide rail base, achieves rapid calculation and precise control of the track-moving command into a single-axis high-precision interpolation position and running speed, avoiding the tedious process of manually configuring motion parameters. The interpolation algorithm can effectively smooth acceleration and deceleration impacts during motion, ensuring the smoothness of the slide rail base's operation and end-positioning accuracy during track-moving translation, significantly improving the motion control accuracy and repetitive positioning reliability of modular robots in fixed track posture scenarios such as assembly lines and long-distance straight-line inspections.

[0058] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0059] refer to Figures 2 to 5 , Figure 2 This is a schematic diagram of the structure of an upper body working unit provided in an embodiment of the present invention; Figure 3A This is a schematic diagram of a structure illustrating the locking principle of a snap-lock device provided in an embodiment of the present invention. Figure 1 ; Figure 3B This is a schematic diagram of a structure illustrating the locking principle of a snap-lock device provided in an embodiment of the present invention. Figure 2 ; Figure 3C This is a schematic diagram 3 illustrating the principle of buckle locking provided in an embodiment of the present invention; Figure 4 This is a cross-sectional view of a quick-release interface provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a multi-form chassis provided in an embodiment of the present invention; This application provides a robot, including an upper body working unit and a multi-form chassis; The bottom of the upper body working unit is provided with a male connector 1, and the male connector 1 is provided with a snap-fit ​​boss 5 and a spring-loaded pin-type conductive contact array 3. The top of the multi-form chassis is provided with a female connector 2 corresponding to the male connector. The female connector 2 is provided with a locking groove 6 corresponding to the snap-fit ​​boss 5 and a counter-end solder pad corresponding to the spring-loaded conductive contact array 3. The robot is also equipped with a control system for the robot; The male connector 1 is used for physical orientation docking with the female connector 2; The control system is used to generate an interface alignment status signal when it determines that the male connector 1 and the female connector 2 are physically oriented and docked. The interface alignment status signal is used to drive the robot to rotate the male connector 1, so that the buckle boss 5 is inserted into the locking groove 6 to complete the mechanical locking. During the process of the buckle boss 5 being inserted into the locking groove 6, the spring pin of the spring pin type conductive contact array 3 is driven to fit with the opposite end pad to generate an electrical conductive connection path. The control system is also used to sample the voltage of the preset identification resistor on the identification pin in the spring-loaded conductive contact array 3 along the electrical conduction path to obtain the pin electrical feature code; When the pin electrical signature meets the preset conditions, a connection operation completion signal is generated to indicate that the connection operation to the upper body working unit has been completed.

[0060] The present invention aims to solve the technical problems of traditional modular robots, which require the use of screws and other tools for cumbersome mechanical fixing when connecting the upper body to the base, and require manual plugging and unplugging of electrical wiring harnesses in steps. This results in long assembly and disassembly time, easy operation errors, easy wear of contacts, and the inability to achieve mechanical locking and electrical connection in one step. The robot's upper body working unit is used to carry the working robotic arm, head, and vision / main control module to perform specific commercial service or industrial operation tasks (such as greeting, production, delivery, etc.). Its bottom is fixedly connected to a male connector, which is detachably connected to the female connector on the top of the multi-shaped chassis through the male connector. The upper body working unit has a humanoid or multi-degree-of-freedom working body structure, and the bottom is equipped with a standardized installation interface that matches the male connector. The multi-form chassis supports the upper body working unit and offers different base operation modes to meet various scenario requirements, including wheeled omnidirectional movement, fixed column support, or linear translation via sliding rails. A standardized female connector is fixedly installed on the top of the multi-form chassis to match the male connector at the bottom of the upper body working unit. The multi-form chassis includes various physical forms such as a wheeled chassis 7, a fixed column 8, and a sliding rail base 9, with each form featuring a uniformly integrated female connector of the same specification on its top. The male connector serves as the quick-release connection body at the bottom of the upper body working unit, integrating mechanical locking and electrical contact conduction. The male connector is fixedly installed at the bottom of the upper body working unit, with protruding locking bosses on its side walls and an integrated array of spring-loaded conductive contacts on its end face; during physical connection, it is inserted entirely into the female connector. The male connector has a disc-shaped or cylindrical protruding structure, with radial bosses on its outer side walls and conductive contacts and locating pins distributed on its end face. The female connector, serving as a standardized receiving interface on the top of the multi-form chassis, works in conjunction with the male connector to achieve tool-less locking and electrical circuit closure. It is fixedly mounted on the top of the multi-form chassis, with a locking groove on its inner wall and corresponding end pads on its inner bottom surface. The female connector has a cylindrical groove structure that matches the male connector, with guiding and locking grooves on its inner wall. The snap-fit ​​boss, as a transmission and force-bearing component for mechanical locking, achieves axial positioning and fastening between male and female connectors by rotating and embedding into the locking groove. The snap-fit ​​boss is integrally formed or fixedly mounted on the outer peripheral sidewall of the male connector, slidingly engaging with the locking groove on the inner wall of the female connector. The snap-fit ​​boss has a block-like or claw-like structure that protrudes radially outward. The locking groove guides the snap-fit ​​boss into place and locks it after rotation, restricting the axial and radial displacement of the male connector relative to the female connector. It is formed on the inner surface of the side wall of the female connector, forming an interference-fit locking mechanism with the snap-fit ​​boss on the male connector. It has an L-shaped guide groove structure with an axial insertion section and a circumferential rotation locking section. Pogo pin arrays serve as electrical transmission media, synchronously establishing electrical connections between power lines, communication buses (such as CAN buses), and chassis identification pins. Integrated onto the mating end face of the male connector, its front pins elastically engage and press against the mating pads on the female connector during rotational locking. The array, composed of multiple miniature conductive pins with internal spring mechanisms, exhibits axial adaptive compression stroke and elasticity. The opposite pads serve as the physical contact surface for electrical conduction, receiving the axial clamping force of the spring pins and transmitting electrical signals and power. They are fixedly laid on the inner bottom surface of the female connector, perpendicularly aligned one-to-one with the spring pin-type conductive contact array on the male connector. They are array structures composed of planar gold-plated or wear-resistant conductive metal sheets. This invention, through the installation of matching male and female connectors between the robot's upper body working unit and the multi-form chassis, integrates the snap-fit ​​boss, locking groove, spring-loaded conductive contact array, and opposite-end solder pad depth into a single unit. This allows the male connector to rotate in a preset direction (e.g., 90° clockwise) to engage the snap-fit ​​boss in the locking groove, achieving tool-free mechanical locking. Simultaneously, the axial locking force generated during snap-fit ​​engagement drives the spring-loaded contact pad to undergo adaptive axial compression and tightly adhere to the opposite-end solder pad. This seamlessly transforms the mechanical locking rotation and clamping action into the contact clamping force of the electrical contacts. Thus, a single rotation operation achieves integrated synchronous closure of structural mechanical fixation and multi-path electrical switching, completely eliminating the cumbersome procedures of tightening bolts and manually plugging and unplugging wires as required by traditional methods. This significantly shortens chassis quick-disassembly and switching time, improves modular deployment efficiency, and effectively avoids potential problems such as reverse wiring, contact wear, and loose wiring, greatly enhancing the reliability and security of hardware and software connections. As for the robot embodiment, since its data interaction part is basically similar to that of the method embodiment, it will not be described in detail. For relevant parts, please refer to the description of the method embodiment.

[0061] Based on the above embodiments, modified embodiments of the above embodiments are proposed. It should be noted that, in order to keep the description brief, only the differences from the above embodiments are described in the modified embodiments.

[0062] Optionally, the male connector is provided with an asymmetric locating pin; The female connector is provided with an asymmetric positioning slot for the asymmetric positioning pin. The asymmetric positioning pin is used to insert into the asymmetric positioning slot when the male connector is used for physical orientation docking with the female connector, so as to limit the upper body working unit to dock with the multi-form chassis at a fixed angle.

[0063] This invention aims to solve the technical problem that during the quick-release switching or blind-plugging process of the modular robot upper body working unit and the base, the male and female interfaces are misaligned due to tilting or reverse insertion by manual operation, which in turn causes the internal precision spring pin conductive contacts to physically collide, scratch or bend and be damaged by misalignment. Asymmetric locating pins provide physical foolproofing and precise guidance during the initial approach phase of the male and female connectors, ensuring that the upper working unit can only be inserted into the multi-shaped chassis at a single preset fixed angle. They are fixedly mounted on the mating end face of the male connector (protruding outwards); during physical orientation and mating, they sink into the asymmetric locating slot on the female connector. They consist of two or more rigid pins arranged asymmetrically on the male connector end face (e.g., unequal central angles, different spacing, or different pin diameters). The asymmetrical positioning slot and the asymmetrical positioning pin form a complementary concave-convex fit, used to restrict the spatial position and verify the physical angle of the positioning pin, preventing physical insertion at incorrect angles. It is located at the corresponding position on the end face of the female connector, forming a one-to-one engagement with the asymmetrical positioning pin on the male connector. It features a recessed positioning hole or guide groove structure that perfectly matches the number, size, positional distribution, and geometric asymmetry of the asymmetrical positioning pins. In this invention, by configuring mutually matching asymmetric positioning pins and asymmetric positioning slots on the male and female connectors respectively, a rigid physical error-proof verification mechanism is constructed by utilizing the non-central symmetric distribution characteristics of the pins and slots in geometric space. When the operator physically connects the upper body working unit to the multi-form chassis, if there is an angle deviation or reverse insertion, the end face of the positioning pin will be directly blocked by the end face of the female connector and cannot continue to sink. Only when the upper body working unit is rotated and adjusted to the unique preset fixed angle can the asymmetric positioning pin be smoothly inserted into the asymmetric positioning slot without obstruction. Thus, precise geometric orientation and angle constraint are completed before the mechanical buckle rotation lock and electrical contact clamping, completely eliminating the risk of equipment damage caused by blind insertion misalignment or incorrect insertion. This not only greatly improves the alignment convenience and blind insertion success rate during quick disassembly and switching, but also protects the internally integrated spring-loaded conductive contact array from torsion and shearing impact from the physical source, effectively ensuring the long service life and connection reliability of the interface under high-frequency insertion and removal.

[0064] For example, this invention provides a modular quick-release switching system that enables a single chassis to be used in three different chassis configurations through a unified physical interface and intelligent recognition algorithm. Specifically, it includes the following core modules: Module 1: Standardized integrated mechanical and electrical interface. A standardized male connector is located at the bottom of the machine body, and a standardized female connector is located at the top of each chassis. A rotary snap-lock structure enables tool-less quick locking (locking is achieved by rotating 90 degrees clockwise, with a locking torque >50 N·m). The locking mechanism integrates a spring-loaded pogo pin conductive contact array. Upon mechanical locking, the contacts automatically clamp together to form a reliable electrical connection, simultaneously transmitting 24V / 48V power and CAN bus communication signals, with a contact resistance <10mΩ.

[0065] Module 2: Automatic chassis type identification mechanism. The control system automatically identifies whether the currently connected chassis is a wheeled chassis, a fixed column, or a sliding rail base by real-time detection of the electrical feature codes of specific pins in the contact point array (different chassis have different preset identification resistors or output specific voltage feature codes). The identification response time is <200ms.

[0066] Module 3: Dynamic switching between control algorithms and business logic. After identifying the chassis type, the main control system automatically loads the corresponding motion control algorithm model from local storage. When identified as a wheeled chassis, the Mecanum wheel omnidirectional kinematics inverse kinematics algorithm is loaded; when identified as a sliding rail chassis, a single-axis linear interpolation control algorithm is loaded; when identified as a column chassis, all chassis movement commands are actively blocked. Simultaneously, the upper-layer business system synchronously switches the task scheduling logic and UI interaction interface.

[0067] The design incorporates a foolproof feature: each male and female connector has two asymmetrical locating pins to ensure proper alignment and prevent damage to the Pogo Pin contacts from reverse insertion. The locking status is displayed in real-time via indicator lights (green = locked / red = unlocked).

[0068] Reference Figure 6 The diagram illustrates a structural block diagram of a connection device for an upper body working unit of a robot, provided in an embodiment of the present invention. Specifically, it may include the following modules: The interface alignment status signal generation module 601 is used to generate an interface alignment status signal when it is determined that the male connector and the female connector are physically oriented and connected. The electrical conduction connection path generation module 602 is used to drive the robot to rotate the male connector through the interface alignment status signal, so that the buckle boss is embedded in the locking groove to complete the mechanical locking, and during the process of the buckle boss being embedded in the locking groove, the spring pin of the spring pin type conductive contact array is driven to fit with the opposite end pad to generate an electrical conduction connection path. The pin electrical feature code acquisition module 603 is used to sample the voltage of the preset identification resistor on the identification pin in the spring-pin conductive contact array along the electrical conduction connection path to acquire the pin electrical feature code. The connection operation completion signal generation module 604 is used to generate a connection operation completion signal to indicate that the connection operation to the upper body operation unit has been completed when the pin electrical feature code meets the preset conditions.

[0069] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0070] In addition, embodiments of the present invention also provide an electronic device, such as... Figure 7 As shown, it includes a processor 701, a communication interface 702, a memory 703, and a communication bus 704, wherein the processor 701, the communication interface 702, and the memory 703 communicate with each other through the communication bus 704. Memory 703 is used to store computer programs; When the processor 701 executes the program stored in the memory 703, it implements the connection method for the upper body working unit of the robot as described in any of the above embodiments: The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0071] The communication interface is used for communication between the aforementioned terminal and other devices.

[0072] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0073] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0074] like Figure 8As shown, in another embodiment of the present invention, a computer-readable storage medium 801 is also provided, which stores instructions that, when executed on a computer, cause the computer to perform the connection method for the upper body working unit of the robot described in the above embodiment.

[0075] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described connection method embodiment for the upper body working unit of a robot, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0076] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0077] It should be noted that, in this document, the terms include, encompass, or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "including a…" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0078] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0079] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for connecting the upper body working unit of a robot, characterized in that, The method is applied to the control system of the robot. The upper body working unit is also equipped with a corresponding multi-form chassis. The bottom of the upper body working unit is provided with a male connector. The male connector is provided with a snap-fit ​​boss and a spring-loaded conductive contact array. The top of the multi-form chassis is provided with a female connector corresponding to the male connector. The female connector is provided with a locking groove corresponding to the snap-fit ​​boss and a counter-end pad corresponding to the spring-loaded conductive contact array. The method includes: When it is determined that the male connector and the female connector have physically aligned and connected, an interface alignment status signal is generated; The robot is driven to rotate the male connector by the interface alignment status signal, so that the buckle boss is embedded in the locking groove to complete the mechanical locking. During the process of the buckle boss being embedded in the locking groove, the spring pins of the spring pin conductive contact array are driven to fit with the opposite end pad to generate an electrical conductive connection path. Voltage sampling is performed on the preset identification resistor on the identification pin in the spring-loaded conductive contact array along the electrical conduction path to obtain the pin electrical feature code; When the pin electrical signature meets the preset conditions, a connection operation completion signal is generated to indicate that the connection operation to the upper body working unit has been completed.

2. The method according to claim 1, characterized in that, After completing the connection operation of the upper body working unit, the following is also included: The chassis type identification result of the multi-form chassis is identified through the electrical conduction connection path; Determine the motion control algorithm model corresponding to the chassis type identification result; Load the motion control algorithm model to execute the target service corresponding to the chassis type identification result.

3. The method according to claim 2, characterized in that, When the chassis type identification result is a wheeled chassis, the step of loading the motion control algorithm model to execute the target service corresponding to the chassis type identification result includes: Load the Mecanum wheel omnidirectional kinematics inverse algorithm model from the preset local memory; Based on the received target movement command, the independent rotational speeds of the four independent drive shafts in the wheeled chassis are calculated using the Mecanum wheel omnidirectional kinematics inverse algorithm model. The four independent drive shafts are controlled based on the independent rotation speed to drive the wheeled chassis to perform omnidirectional mobility services.

4. The method according to claim 2, characterized in that, When the chassis type identification result is a sliding rail base, the step of loading the motion control algorithm model to execute the target service corresponding to the chassis type identification result includes: Load the single-axis linear interpolation control algorithm model from the preset local memory; Based on the received target movement command along the track, the linear interpolation position and running speed of the slide rail base in the single-axis direction are calculated using the single-axis linear interpolation control algorithm model. The slide rail base is translated based on the linear interpolation position and running speed to perform single-axis linear interpolation displacement.

5. A robot, characterized in that, The robot's upper body working unit and multi-form chassis; The bottom of the upper body working unit is provided with a male connector, and the male connector is provided with a snap-fit ​​boss and a spring-loaded pin-type conductive contact array. The top of the multi-form chassis is provided with a female connector corresponding to the male connector. The female connector is configured with a locking groove corresponding to the snap-fit ​​boss and a counter-end solder pad corresponding to the spring-loaded conductive contact array. The robot is also equipped with a control system for the robot; The male connector is used for physical orientational docking with the female connector; The control system is used to generate an interface alignment status signal when it determines that the male connector and the female connector are physically oriented and docked. The interface alignment status signal is used to drive the robot to rotate the male connector, so that the buckle boss is embedded in the locking groove to complete the mechanical locking. During the process of the buckle boss being embedded in the locking groove, the spring pins of the spring pin type conductive contact array are driven to fit with the opposite end pad to generate an electrical conductive connection path. The control system is also used to sample the voltage of the preset identification resistor on the identification pin in the spring-loaded conductive contact array along the electrical connection path to obtain the pin electrical feature code; When the pin electrical signature meets the preset conditions, a connection operation completion signal is generated to indicate that the connection operation to the upper body working unit has been completed.

6. The robot according to claim 5, characterized in that, The male connector is provided with an asymmetric positioning pin; The female connector is provided with an asymmetric positioning slot for the asymmetric positioning pin. The asymmetric positioning pin is used to insert into the asymmetric positioning slot when the male connector is used for physical orientation docking with the female connector, so as to limit the upper body working unit to dock with the multi-form chassis at a fixed angle.

7. A connecting device for the upper body working unit of a robot, characterized in that, The device is applied to the control system of the robot. The upper body working unit is also equipped with a corresponding multi-form chassis. The bottom of the upper body working unit is provided with a male connector. The male connector is provided with a snap-fit ​​boss and a spring-loaded pin-type conductive contact array. The top of the multi-form chassis is provided with a female connector corresponding to the male connector. The female connector is provided with a locking groove corresponding to the snap-fit ​​boss and a corresponding end pad corresponding to the spring-loaded pin-type conductive contact array. The device includes: The interface alignment status signal generation module is used to generate an interface alignment status signal when it is determined that the male connector and the female connector are physically oriented and connected. The electrical conduction connection path generation module is used to drive the robot to rotate the male connector through the interface alignment status signal, so that the buckle boss is embedded in the locking groove to complete the mechanical locking, and during the process of the buckle boss being embedded in the locking groove, the spring pin of the spring pin type conductive contact array is driven to fit with the opposite end pad to generate an electrical conduction connection path. The pin electrical feature code acquisition module is used to sample the voltage of the preset identification resistor on the identification pin in the spring-loaded conductive contact array along the electrical conduction connection path to acquire the pin electrical feature code. The connection operation completion signal generation module is used to generate a connection operation completion signal to indicate that the connection operation to the upper body operation unit has been completed when the pin electrical feature code meets the preset conditions.

8. The apparatus according to claim 7, characterized in that, After completing the connection operation of the upper body working unit, the device is also used for: The chassis type identification result of the multi-form chassis is identified through the electrical conduction connection path; Determine the motion control algorithm model corresponding to the chassis type identification result; Load the motion control algorithm model to execute the target service corresponding to the chassis type identification result.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the method as described in claims 1-4.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the method as described in claims 1-4.

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