Dismounting device for quickly replacing foot end of foot-type robot

Abstract

The utility model discloses a dismounting device for quickly replacing a foot end of a foot type robot. The dismounting device comprises an upper base, an integral movable buckle and a lower base, the upper base and the lower base are fixedly connected, guide rail grooves are formed in the two sides of the upper base and the two sides of the lower base, guide rails are arranged on the overall movable buckle and embedded into the guide rail grooves in a sliding mode, and a triangular buckle on the overall movable buckle penetrates through a bottom opening of the lower base. A first boss is arranged on one side of the overall movable buckle, a partition plate is arranged in the upper base, and a spring is arranged between the other side of the overall movable buckle and the partition plate. According to the foot type robot, the operation process of foot end replacement is simplified, when the foot end needs to be replaced, the buckle can be released through simple operation, rapid disassembly is achieved, the working efficiency is improved, the adaptability of the foot type robot is improved, and the application range and flexibility of the foot type robot are greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of legged robots, and in particular, it is a disassembly device for quickly replacing the foot of a legged robot. Background Technology

[0002] Robotic foot replacement technology is a crucial research direction in modern robotics, aiming to enhance the adaptability and versatility of robots. In modern quadrupedal or biomimetic robots, the ability to rapidly replace feet is a key factor in handling complex tasks and changing environments. Robotic feet not only function to contact the ground but also need to be adjusted and replaced according to task requirements and environmental changes to improve the robot's versatility and adaptability. Service robots and special-purpose robots need to operate in various environments; for example, rescue robots need to navigate complex environments such as flat ground, slopes, and water. A single type of foot cannot cope with all environments, while replaceable foot technology can significantly improve the robot's mobility and maneuverability in various environments. Furthermore, robots are increasingly used in human collaboration, especially in the fields of surgical and domestic robots. Robots need to quickly replace feet according to task requirements to complete various tasks, from grasping small objects to operating large equipment. Robots not only need to be able to quickly replace feet in a short time but also need to flexibly switch between different types of feet, such as claw-type feet, wheel-type feet, or suction cup-type feet, thereby significantly improving the robot's adaptability and operational efficiency.

[0003] To enable rapid replacement of feet, commonly used service robots have incorporated quick-change foot removal devices. These devices facilitate efficient foot removal and installation through convenient operation, allowing the robot to quickly adapt to different terrains or task requirements. The feet are equipped with specific slots that allow the hooks of the removal device to insert and secure them, ensuring a stable connection and preventing the feet from loosening or detaching during use.

[0004] Existing quick-change foot disassembly devices suffer from inconsistent interface standards, resulting in poor compatibility, complex replacement processes, and reduced work efficiency. Furthermore, their complex mechanical structures, numerous vulnerable parts, and high maintenance costs make them unsuitable for rapid replacement needs. Summary of the Invention

[0005] The purpose of this invention is to provide a disassembly device for quickly replacing the foot of a legged robot, solving the problem of difficulty in quickly replacing the foot in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A disassembly device for quickly changing the foot end of a legged robot includes an upper base, an integral movable buckle, and a lower base;

[0008] The upper base and the lower base are fixedly connected. Guide rail grooves are provided on both sides of the upper base and the lower base. The integral movable buckle is provided with a guide rail. The guide rail is slidably embedded in the guide rail groove. The triangular buckle on the integral movable buckle passes through the bottom opening of the lower base. A first protrusion is provided on one side of the integral movable buckle. A partition is provided inside the upper base. A spring is provided between the other side of the integral movable buckle and the partition.

[0009] Furthermore, the upper base and the lower base are fixedly connected by bolts.

[0010] Furthermore, the upper base has several threaded holes, and the lower base has several threaded through holes. The threaded holes and the threaded through holes are coaxial, and the bolt passes through the threaded through holes and is installed in the threaded holes.

[0011] Furthermore, a number of anti-slip protrusions are provided on the first protrusion on one side of the integral movable buckle.

[0012] Furthermore, the other side of the integral movable buckle and the partition are provided with grooves, a second protrusion is provided in the groove, the spring is provided in the groove, and one end of the spring is sleeved on the second protrusion.

[0013] Furthermore, the triangular buckle on the overall movable buckle connects to the robot's foot.

[0014] Furthermore, each end of the integral movable buckle is surrounded by a guide rail with a 3 / 4 circle.

[0015] Furthermore, the guide rail groove is formed around the inside of the upper base and the lower base, and the guide rail groove is fitted with the guide rail with a clearance.

[0016] Furthermore, the two ends of the overall movable buckle are designed with a hollow structure.

[0017] Furthermore, the corners where the integral movable buckle contacts the upper and lower bases are set as transition rounded corners.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] This invention provides a disassembly device for quickly replacing the feet of a legged robot. An upper base and a lower base are fixedly connected, with guide rail grooves on both sides of the upper and lower bases. A guide rail is installed on the movable snap-fit, and the guide rail on the movable snap-fit ​​mates with the guide rail grooves of the upper and lower bases to ensure stable movement of the movable snap-fit. A first protrusion is provided on one side of the movable snap-fit, a partition is installed inside the upper base, and a spring is installed between the other side of the movable snap-fit ​​and the partition. A triangular snap-fit ​​on the movable snap-fit ​​passes through the bottom opening of the lower base. When the first protrusion of the movable snap-fit ​​is pressed, the movable snap-fit ​​effectively compresses the spring, causing the movable snap-fit ​​to move horizontally inward, thus enabling quick installation and removal of different feet. This invention simplifies the foot replacement process and makes the overall structure more stable. When the foot needs to be replaced, the snap-fit ​​can be released with a simple operation, achieving quick disassembly and improving work efficiency. This avoids the problems of using tools or performing complex mechanical operations in traditional methods, which not only improves the adaptability of legged robots, but also greatly increases their scope of application and flexibility.

[0020] Furthermore, several anti-slip protrusions are provided on the first protrusion on one side of the movable buckle. The setting of these anti-slip protrusions greatly increases the friction when the movable buckle is pressed, making the operation more convenient and stable.

[0021] Furthermore, a groove is provided on one side of the partition and the overall movable buckle, and a second boss is provided in the groove. The second boss can properly place the spring and ensure that the spring is always in the correct position during operation. The external groove effectively avoids the spring's axial and radial runout. This not only allows it to stably accept the pressure from the overall movable buckle, but also extends the service life of the spring and improves the stability of the overall structure.

[0022] Furthermore, the two ends of the overall movable buckle are designed with a hollow structure. While ensuring strength, material is removed, which effectively controls the overall weight of the quick-release structure and ensures that the robot is lighter and more efficient during movement. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is an exploded view of the disassembly device for quickly replacing the foot of a legged robot according to the present invention.

[0025] Figure 2 This is a schematic diagram of the overall assembly structure of this utility model.

[0026] Figure 3 This is a schematic diagram of the overall structure of the movable buckle of this utility model.

[0027] Figure 4 This is a schematic diagram of the quick-release structure of the lower base of this utility model.

[0028] Figure 5 This is a schematic diagram of the base structure of the quick-release structure of this utility model.

[0029] Figure 6 This is a schematic diagram of the spring structure of this utility model.

[0030] Figure 7 This is a schematic diagram of the upper and lower base fixing bolt structure of this utility model.

[0031] Figure 8 This is a schematic diagram of the quick-release device installation structure of this utility model.

[0032] The components are: 1-upper base, 2-spring, 3-integral movable buckle, 4-lower base, 5-fixing bolt, 6-disassembly device for quick foot replacement, 7-lower part of robot leg, 8-upper part of robot leg. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] In the description of the embodiments of this utility model, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use, they are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the utility model. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0037] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0039] The present invention will now be described in further detail with reference to the accompanying drawings:

[0040] See Figures 1-2 This utility model provides a disassembly device for quickly replacing the foot of a legged robot, including an upper base 1, a spring 2, an integral movable buckle 3, a lower base 4, and bolts 5.

[0041] The upper base 1 and the lower base 4 are fixedly connected by bolts 5. Two integral movable buckles are installed between the upper and lower bases. Guide rail grooves are provided on both sides of the upper base 1 and the lower base 4. The integral movable buckle 3 is provided with a guide rail, which slides into the guide rail groove. The integral movable buckle 3 is provided with a triangular buckle, which passes through the bottom opening of the lower base 4 and connects to the robot's foot. A partition is provided inside the upper base 1. Grooves are provided on the inner side of the integral movable buckle 3 and on the partition. A second protrusion is provided in the groove. The spring 2 is placed in the groove for easy fixation. One end of the spring 2 is sleeved on the second protrusion and is compressibly positioned between the inner side of the integral movable buckle 3 and the partition.

[0042] like Figure 3As shown, the integral movable buckle 3 serves as the main connecting device, connecting to different robot feet via a triangular buckle at the bottom. A 3 / 4-circle guide rail surrounds both ends of the integral movable buckle 3 to facilitate movement within the corresponding guide rail grooves of the upper base 1 and lower base 4, enhancing the stability and reliability of its movement trajectory. The contact angles between the integral movable buckle 3 and the upper base 1 and lower base 4 are rounded to reduce stress concentration. The two ends of the integral movable buckle 3 body are hollowed out, while the center remains solid to reduce the device's weight. A first boss is provided on the outer side of the integral movable buckle 3, with several anti-slip protrusions on the first boss to increase friction.

[0043] like Figures 4-5 As shown, the lower base 4 is a one-piece structure and is symmetrical. The upper base 1 and the lower base 4 have identical guide rail grooves around their interior circumference, which cooperate with the guide rails on the integral movable buckle 3, serving as the moving guide rails for the integral movable buckle 3, allowing it to move within the guide rail grooves. The upper base 1 has several threaded holes, and the lower base 4 has several threaded through holes. The threaded holes and threaded through holes are coaxial, and bolts 5 pass through the threaded through holes and are installed within the threaded holes for easy fixing of the upper and lower bases.

[0044] In a specific embodiment of this utility model, eight springs 2 are symmetrically distributed between the movable buckle 3 and the partition of the upper base 1. The springs 2 are as follows: Figure 6 As shown, the spring 2 is secured by the integral movable buckle 3 and four grooves on the partition, which enhances the stability and elasticity of the device.

[0045] In a specific embodiment of this utility model, threaded through holes are provided at the four corners of the lower base 4, and threaded holes are provided at the four corners of the upper base 1, through which... Figure 7 The bolts 5 shown are used for fixing the connection. There are a total of 4 bolts 5, which are symmetrically distributed at the four corners of the upper and lower bases to connect the upper and lower bases.

[0046] The present invention relates to an installation method for a disassembly device for quickly replacing the foot of a legged robot:

[0047] First, place the spring 2 into the groove on the partition of the upper base 1. Then, insert the movable snap-fit ​​3 from the bottom of the upper base 1, and also insert the other side of the spring 2 into the groove on the side of the movable snap-fit ​​3. Next, press the two movable snap-fit ​​3 inward to install the lower base 4, so that the triangular snap on the movable snap-fit ​​3 passes through the bottom opening of the lower base 4, and the guide rail on the movable snap-fit ​​3 mates with the guide rail grooves of the upper and lower bases. Then, screw the bolt 5 through the threaded through hole of the lower base 4 into the threaded hole of the upper base 1, thus completing the installation of the quick-release device for the foot. Finally, as... Figure 8As shown, by installing the quick-change foot removal device 6 of this utility model between the lower part 7 and the upper part 8 of the robot's lower leg, different foot parts of the robot can be replaced.

[0048] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A disassembly device for quickly replacing the foot end of a legged robot, characterized in that, Includes an upper base (1), an integral movable buckle (3), and a lower base (4); The upper base (1) and the lower base (4) are fixedly connected. Guide rail grooves are provided on both sides of the upper base (1) and the lower base (4). The overall movable buckle (3) is provided with a guide rail. The guide rail is slidably embedded in the guide rail groove. The triangular buckle on the overall movable buckle (3) passes through the bottom opening of the lower base (4). A first protrusion is provided on one side of the overall movable buckle (3). A partition is provided inside the upper base (1). A spring (2) is provided between the other side of the overall movable buckle (3) and the partition.

2. The disassembly device for quickly replacing the foot of a legged robot according to claim 1, characterized in that, The upper base (1) and the lower base (4) are fixedly connected by bolts (5).

3. A disassembly device for quickly replacing the foot of a legged robot according to claim 2, characterized in that, The upper base (1) has several threaded holes, and the lower base (4) has several threaded through holes. The threaded holes and the threaded through holes are coaxial, and the bolt (5) passes through the threaded through holes and is installed in the threaded holes.

4. A disassembly device for quickly replacing the foot of a legged robot according to claim 1, characterized in that, The first protrusion on one side of the integral movable buckle (3) is provided with several anti-slip protrusions.

5. A disassembly device for quickly replacing the foot of a legged robot according to claim 1, characterized in that, The other side of the movable buckle (3) and the partition are provided with grooves, and a second protrusion is provided in the groove. The spring (2) is provided in the groove, and one end of the spring (2) is sleeved on the second protrusion.

6. A disassembly device for quickly replacing the foot of a legged robot according to claim 1, characterized in that, The triangular buckle on the integral movable buckle (3) connects to the robot's foot.

7. A disassembly device for quickly replacing the foot end of a legged robot according to claim 1, characterized in that, The two ends of the integral movable buckle (3) are respectively surrounded by a 3 / 4 circle of guide rail.

8. A disassembly device for quickly replacing the foot end of a legged robot according to claim 1, characterized in that, The guide rail groove is formed around the inside of the upper base (1) and the lower base (4), and the guide rail groove is fitted with the guide rail with a clearance.

9. A disassembly device for quickly replacing the foot end of a legged robot according to claim 1, characterized in that, The two ends of the integral movable buckle (3) are set as hollow structures.

10. A disassembly device for quickly replacing the foot end of a legged robot according to claim 1, characterized in that, The corners where the integral movable buckle (3) contacts the upper base (1) and the lower base (4) are set as transition rounded corners.

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