Quick release device and robot

Abstract

The utility model provides a quick release device and a robot. The quick release device comprises an execution component, a mounting part, a locking part and a pushing part. The execution component is provided with a locking groove. The mounting piece is provided with a through hole. The locking piece is arranged in the through hole, and at least one side, in the extending direction of the through hole, of the locking piece protrudes out of the through hole. The pushing piece is movably installed on the installation piece, when the locking groove and the through hole are aligned, the pushing piece abuts against the locking piece, one part of the locking piece is located in the locking groove, and the other part of the locking piece is located in the through hole. The locking piece can limit the relative movement between the execution component and the installation piece, so that the execution component and the installation piece are quickly and fixedly connected together, the complexity degree of the installation process of the execution component is greatly reduced, and the installation efficiency of the execution component is improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a quick-release device and robot. Background Technology

[0002] Robots typically have actuators mounted on their bodies to perform tasks. In traditional robots, after maintenance or replacement, installing the actuators usually requires special tools to tighten the fasteners, making the installation process cumbersome and inefficient. Utility Model Content

[0003] This application provides a quick-release device and robot to solve the problem of cumbersome installation process of the actuator.

[0004] In a first aspect, this application provides a quick-release device, comprising an actuating component, a mounting component, a locking component, and a pushing component. The actuating component is provided with a locking groove. The mounting component is provided with a through hole. The locking component is disposed within the through hole, and at least one side of the locking component protrudes outside the through hole along its extending direction. The pushing component is movably mounted on the mounting component; when the locking groove is aligned with the through hole, the pushing component abuts against the locking component, with a portion of the locking component located within the locking groove and another portion located within the through hole.

[0005] In some embodiments, the actuating element is configured as a cutting element, or the actuating element is configured as a cleaning element.

[0006] In some embodiments, the pusher includes a pusher body and a first elastic body, the first elastic body being located between the pusher body and the mounting member.

[0007] In some embodiments, the mounting member includes a side plate, the inner sidewall of which encloses a movable cavity, a through hole is disposed on the side plate and communicates with the movable cavity, the pusher and the first elastic body are disposed within the movable cavity, and the pusher is movable within the movable cavity.

[0008] In some embodiments, the quick-release device further includes an abutment and a second elastic body. The abutment is movable along the outer side wall of the side plate. The actuating member is provided with a mounting hole. The locking groove communicates with the mounting hole. When the locking groove is aligned with the through hole, the side plate passes through the mounting hole. The actuating member abuts against the abutment. The second elastic body elastically abuts against the side of the abutment away from the actuating member.

[0009] In some embodiments, the quick-release device further includes a limiting member fixedly connected to the side plate and used to limit the pusher body within the movable cavity; and / or, the outer side wall of the side plate is provided with a limiting portion, which is used to limit the travel of the abutment body along the outer side wall of the side plate.

[0010] In some embodiments, when the limiting member abuts against the pushing body, the end of the pushing body away from the first elastic body is located inside the movable cavity.

[0011] In some embodiments, one of the mounting member and the actuating member is provided with a guide portion, and the other of the mounting member and the actuating member is provided with a guide groove for cooperating with the guide portion. When the locking groove is aligned with the through hole, the guide portion is located in the guide groove.

[0012] In some embodiments, at least one of the abutting body, the locking groove, and the pushing body is provided with a guide surface, the guide surface being used to abut against the locking member, and the guide surface and the locking member being arranged at an acute angle along the movement direction of the through hole.

[0013] In some embodiments, the quick-release device further includes a cover, which is fixedly connected to the mounting member and forms an accommodating space with the mounting member, wherein the second elastic body and the abutment body are both located within the accommodating space.

[0014] In some embodiments, the cross-sectional area of ​​the through hole gradually decreases along the direction of the actuating member toward the mounting member, and on a projection plane perpendicular to the opening direction of the through hole, the orthographic projection portion of the locking member is located outside the orthographic projection of the opening of the through hole on the side near the pushing member.

[0015] In some embodiments, the locking element is configured as at least one or a combination of at least two of the following: a spherical structure, a cylindrical structure, a prismatic structure, a hemispherical structure, a semi-cylindrical structure, and a semi-prismatic structure.

[0016] Secondly, this application provides a robot, the robot including a body and a quick-release device as described in any of the above, the quick-release device being mounted on the body.

[0017] In the quick-release device and robot provided in this application, a locking groove is set on the actuator and a through hole is set on the mounting part. When the locking groove and the through hole are aligned, the pushing part abuts against the locking part. A part of the locking part is located in the locking groove and another part is located in the through hole. Thus, the locking part can limit the relative movement between the actuator and the mounting part, thereby realizing the quick and fixed connection between the actuator and the mounting part. This greatly reduces the complexity of the installation process of the actuator and improves the installation efficiency of the actuator. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a cross-sectional view of the quick-release device provided in the embodiments of this application.

[0020] Figure 2 yes Figure 1 Enlarged view of point I in the middle.

[0021] Figure 3 This is a cross-sectional view of the locking element in the quick-release device provided in the embodiment of this application when it is in the unlocked position.

[0022] Figure 4 This is a cross-sectional view of a quick-release device provided in some embodiments of this application.

[0023] Figure 5 This is a schematic diagram of the installation component provided in the embodiments of this application.

[0024] Figure 6 This is a schematic diagram of the structure of the execution component provided in the embodiments of this application.

[0025] Figure 7 This is a schematic diagram of the through hole structure in the mounting component provided in some embodiments of this application.

[0026] Figure 8 This is a schematic diagram of the through hole structure in the mounting component provided in some other embodiments of this application.

[0027] Figure 9 This is a cross-sectional view of a quick-release device provided in some other embodiments of this application.

[0028] Key reference numerals: Quick-release device 1000; Actuating component 10; Locking groove 101; Guide groove 102; Actuating body 11; Connecting part 12; Mounting hole 121; Guide surface 201; Mounting part 20; Through hole 2101; Movable cavity 2102; Connecting hole 2103; Side plate 21; End plate 22; Mounting part 23; Limiting part 24; Groove 2141; Protrusion 2142; Limiting part 25; Guide part 26; Locking part 30; Pushing part 40; Pushing body 41; First elastic body 42; Abutting body 51; Second elastic body 52; Cover 60; Accommodating space 601; First shell part 61; Fixing hole 611; Second shell part 62; Driving part 70; Output shaft 71; First direction D1; Second direction D2.

[0029] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0030] 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 a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0031] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0032] It should be noted that the terminology in the specification, claims, and accompanying drawings of this application is for describing specific embodiments only and is not intended to limit this application. The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. The term "and / or" as used in this application refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations.

[0033] Please refer to the following: Figure 1 and Figure 2 , Figure 1 This is a cross-sectional view of the quick-release device 1000 provided in the embodiments of this application. Figure 2 yes Figure 1 Enlarged view at point I. This application provides a quick-release device 1000. The quick-release device 1000 is used to quickly install and remove the actuator 10, thereby reducing the complexity of the installation process and improving the installation efficiency of the actuator 10.

[0034] The quick-release device 1000 includes an actuating member 10, a mounting member 20, a locking member 30, and a pushing member 40. The actuating member 10 performs the robot's task. A locking groove 101 is provided on the actuating member 10. The mounting member 20 has a through hole 2101. The locking member 30 is disposed within the through hole 2101, and at least one side of the locking member 30 protrudes outside the through hole 2101 along its extending direction. The pushing member 40 is movably mounted to the mounting member 20. When the locking groove 101 and the through hole 2101 are aligned, the pushing member 40 abuts against the locking member 30. A portion of the locking member 30 is located within the locking groove 101, and another portion is located within the through hole 2101.

[0035] In this embodiment, when the locking groove 101 and the through hole 2101 are aligned, the pushing member 40 abuts against the locking member 30. A part of the locking member 30 is located in the locking groove 101 and another part is located in the through hole 2101. Thus, the locking member 30 can limit the relative movement between the execution member 10 and the mounting member 20, thereby realizing the quick and easy fixed connection between the execution member 10 and the mounting member 20. This greatly reduces the complexity of the installation process of the execution member 10 and improves the installation efficiency of the execution member 10.

[0036] Figure 1 The purpose of this description is merely to illustrate the structure of the quick-release device 1000 and does not constitute a specific limitation on the quick-release device 1000. In other embodiments of this application, the quick-release device 1000 may include […]. Figure 1 The quick-release device 1000 may include, but is not limited to, a power supply, a controller, etc., more or fewer mechanisms, or combinations of certain mechanisms, or different mechanisms.

[0037] Please refer to the following: Figure 2 and Figure 3 , Figure 3 This is a cross-sectional view of the locking member 30 in the quick-release device 1000 provided in this application embodiment when it is in the unlocked position. Figure 2 In this embodiment, the locking member 30 in the quick-release device 1000 is in the locked position. In this embodiment, the actuating member 10 is installed or removed from the mounting member 20 along the first direction D1. The through hole 2101 extends along the second direction D2. The locking member 30 is movably disposed within the through hole 2101 along the second direction D2. When the locking member 30 moves along the second direction D2, it can enter or disengage from the locking groove 101. The second direction D2 forms an angle with the first direction D1. Exemplarily, the first direction D1 and the second direction D2 can be at a right angle. In some embodiments, the first direction D1 and the second direction D2 can also form an acute or obtuse angle. The angle between the second direction D2 and the first direction D1 can be specifically set according to actual needs, and is not specifically limited in this application.

[0038] It should be noted that, in the embodiments of this application, "along the first direction D1" can refer to "along the first direction D1". Figure 2 In the middle D1, the arrow direction and / or the opposite direction of the arrow, along the second direction D2 can refer to along Figure 2 The direction of the arrow in D2 and / or the opposite direction of the arrow.

[0039] The locking member 30 has a locked position and an unlocked position relative to the mounting member 20. The locked position and the unlocked position are spaced apart along the second direction D2. When the actuating member 10 moves along the first direction D1 (i.e., Figure 2 When the actuator 10 moves (in the direction of arrow D1) to the locking groove 101 and the through hole 2101, the pusher 40 abuts against the locking member 30, and moves the locking member 30 along the through hole 2101 to the locked position, so that the locking member 30 is locked in the locking groove 101, thereby allowing the actuator 10 to be quickly installed and fixed relative to the mounting member 20. Here, the first direction D1 is the direction in which the actuator 10 approaches the mounting member 20. When the locking member 30 moves along the through hole 2101 to the unlocked position, the locking member 30 is located outside the locking groove 101, and the actuator 10 moves relative to the mounting member 20 along the first direction D1 (i.e., along...). Figure 2 The direction opposite to the arrow in D1 is movable. When the actuator 10 moves along the first direction D1, it can separate the actuator 10 from the mounting part 20, thereby realizing the quick disassembly of the actuator 10, which reduces the difficulty of disassembly and assembly between the actuator 10 and the mounting part 20 and simplifies the disassembly and assembly process.

[0040] The locking member 30 is configured as at least one or a combination of at least two of the following: a spherical structure, a hemispherical structure, a cylindrical structure, a semi-cylindrical structure, a prism-shaped structure, and a semi-prism-shaped structure. In this embodiment, the locking member 30 may be configured as a spherical structure, and the locking member 30 may be constructed as a ball. In some embodiments, the locking member 30 may also be configured as a combination of a spherical structure and a cylindrical structure; for example, the locking member 30 may be configured as a capsule-shaped structure, an oval-shaped structure, etc. In some embodiments, the locking member 30 may also be configured as other structures.

[0041] The pushing member 40 includes a pushing body 41 and a first elastic body 42. The pushing body 41 and the first elastic body 42 are movably mounted in the mounting member 20. The first elastic body 42 is located between the pushing body 41 and the mounting member 20. The direction of movement of the pushing body 41 relative to the mounting member 20 can be parallel to a first direction D1. In some embodiments, the direction of movement of the pushing body 41 relative to the mounting member 20 can also be at an angle to the first direction D1.

[0042] Mounting member 20 includes a side plate 21 and an end plate 22. The side plate 21 is annularly arranged. The inner wall of the side plate 21 encloses a movable cavity 2102. The end plate 22 is connected to the end of the side plate 21 along a first direction D1. A through hole 2101 is provided on the side plate 21 and communicates with the movable cavity 2102. A pushing body 41 and a first elastic body 42 are disposed within the movable cavity 2102. The pushing body 41 is movable within the movable cavity 2102. The pushing body 41 has a first position and a second position relative to the mounting member 20, different from the first position. Figure 2 In the first position, the pusher 41 is positioned relative to the mounting member 20. When the pusher 41 is in this first position, it is located at the end of the side plate 21 furthest from the end plate 22. Figure 3 In the middle, the pusher 41 is in the second position relative to the mounting member 20. When the pusher 41 is in the second position, the pusher 41 is located at the end of the side plate 21 near the end plate 22.

[0043] When the pusher 41 is in the first position, the pusher 41 abuts against the locking member 30, and the locking member 30 is in the locked position. At this time, since the pusher 41 abuts against the locking member 30, the locking member 30 can be kept engaged in the locking groove 101, thereby fixing the actuator 10 and the mounting member 20 together.

[0044] When the pushing body 41 is in the second position, the locking member 30 is movable within the through hole 2101 and can move to the unlocked position. At this time, because the locking member 30 is movable, the actuating member 10 can move along the first direction D1. When the actuating member 10 moves to the point of separation from the mounting member 20, the actuating member 10 pushes the locking member 30 to the unlocked position. When the locking member 30 moves to the unlocked position, the pushing body 41 abuts against the locking member 30 to prevent the locking member 30 from falling out of the through hole 2101.

[0045] The first elastic body 42 can be configured as a spring, a spring sheet, a torsion spring, or other elastic body. The first elastic body 42 is used to reset the pusher 41, causing it to return from the second position to the first position. This allows the locking member 30 to be automatically pushed from the unlocked position to the locked position when the locking groove 101 aligns with the through hole 2101. When the locking member 30 is engaged in the locking groove 101, the elastic force provided by the first elastic body 42 can also keep the pusher 41 in the first position, preventing accidental pushing of the pusher 41, thereby improving the reliability and safety of the quick-release device 1000.

[0046] The actuating component 10 is provided with a mounting hole 121. When the locking groove 101 and the through hole 2101 are aligned, the side plate 21 passes through the mounting hole 121. The actuating component 10 includes an actuating body 11 and a connecting portion 12. The actuating body 11 is generally disc-shaped. The thickness direction of the actuating body 11 is parallel to or approximately parallel to a first direction D1. The connecting portion 12 is connected to the actuating body 11 and protrudes relative to the actuating body 11 along the first direction D1. The mounting hole 121 is provided on the connecting portion 12 and extends along the first direction D1. When the actuating component 10 is fixed relative to the mounting member 20, the mounting member 20 passes through the mounting hole 121.

[0047] The locking groove 101 communicates with the mounting hole 121. The locking groove 101 is formed on the wall of the mounting hole 121. In this embodiment, the locking groove 101 may be a blind hole provided on the connecting part 12, and the locking groove 101 does not penetrate the connecting part 12. In some embodiments, the locking groove 101 may also be a through hole provided on the connecting part 12, and the locking groove 101 penetrates the connecting part 12.

[0048] The quick-release device 1000 also includes an abutment body 51 and a second elastic body 52. ​​The abutment body 51 is movable along the outer side wall of the side plate 21. The outer side wall of the side plate 21 is the side wall of the side plate 21 facing away from the movable cavity 2102, and the outer side wall of the side plate 21 is arranged opposite to the inner side wall. When the locking groove 101 and the through hole 2101 are aligned, the side plate 21 passes through the mounting hole 121, the actuating member 10 abuts against the abutment body 51, and the second elastic body 52 elastically abuts against the side of the abutment body 51 facing away from the actuating member 10. The second elastic body 52 can be configured as a spring, torsion spring, spring sheet, or other elastic element.

[0049] The abutment 51 has a third position and a fourth position relative to the mounting member 20. A second elastic body 52 is used to reset the abutment 51, causing it to return from the third position to the fourth position. The third position is located on the side of the fourth position closer to the end plate 22. Figure 2 In the middle, the abutment body 51 is in the third position relative to the mounting part 20. Figure 3 In the middle, the abutment body 51 is in the fourth position relative to the mounting part 20.

[0050] When the actuator 10 needs to be installed, the user can align the mounting hole 121 of the actuator 10 with the side plate 21 of the mounting member 20, so that the side plate 21 is inserted into the mounting hole 121. The connecting part 12 of the actuator 10 pushes the abutment 51 from the fourth position to the third position. The abutment 51 compresses the second elastic body 52. ​​When the locking groove 101 is aligned with the through hole 2101, the pushing body 41 moves from the second position to the first position under the elastic force of the first elastic body 42. When the pushing body 41 moves, it pushes the locking member 30 from the unlocked position to the locked position, so that the locking member 30 is engaged in the locking groove 101, thereby fixing the actuator 10 and the mounting member 20 together. In this way, the quick-release device 1000 can quickly fix the actuator 10 and the mounting member 20 together through the pushing member 40 and the locking member 30, which greatly reduces the cumbersomeness of the installation process of the actuator 10 and improves the installation efficiency of the actuator 10. In addition, when the locking member 30 is engaged in the locking groove 101, the elastic force provided by the second elastic body 52 to the actuator 10 through the abutment body 51 can keep the groove wall of the locking groove 101 abutting against the locking member 30, reducing or avoiding loosening of the actuator 10 relative to the mounting member 20, improving the rotational stability of the actuator 10 when rotating, reducing structural wear, and increasing service life.

[0051] When it is necessary to disassemble the actuator 10, the user can press the pusher 41 to move it from the first position to the second position and compress the first elastic body 42. At this time, the abutment 51 moves from the third position to the fourth position under the elastic restoring force of the second elastic body 52. ​​The abutment 51 pushes the actuator 10 to separate from the mounting part 20. When the actuator 10 moves, it pushes the locking part 30 to move out of the locking groove 101, thereby realizing the automatic pop-out of the actuator 10, which simplifies the disassembly process of the actuator 10 and facilitates the rapid disassembly of the actuator 10.

[0052] In this embodiment, based on the cooperation of the mounting part 20, the locking part 30, the pushing body 41, the first elastic body 42, the abutting body 51, and the second elastic body 52, the user can quickly fix the execution member 10 and the mounting part 20 together by aligning the connecting part 12 of the execution member 10 with the mounting part 20 and inserting it. By pressing the pushing body 41, the execution member 10 can be automatically popped out, and the execution member 10 can be quickly disassembled. This greatly simplifies the disassembly and assembly process of the execution member 10, reduces the difficulty of disassembly and assembly of the execution member 10, improves the ease of use of the robot, and enhances the user's experience of using the robot.

[0053] The quick-release device 1000 also includes a cover 60. The cover 60 is fixedly connected to the mounting member 20 and together with the mounting member 20 forms a receiving space 601. The receiving space 601 extends along a first direction D1. The abutment 51 and the second elastic body 52 are both located within the receiving space 601. Thus, on the one hand, the cover 60 can protect the abutment 51 and the second elastic body 52, preventing foreign objects from getting stuck in the second elastic body 52 or between the second elastic body 52 and the abutment 51, preventing user misoperation of the abutment 51 and the second elastic body 52, thereby avoiding structural failure and improving the reliability of the quick-release device 1000. On the other hand, the cover 60 can also guide the movement of the abutment 51, causing the abutment 51 to move along the first direction D1. When the actuating member 10 is fixed relative to the mounting member 20, the connecting part 12 extends into the receiving space 601.

[0054] In this embodiment, the abutment 51 can be constructed as a ring structure, and the abutment 51 is sleeved on the side plate 21. This facilitates the smooth movement of the abutment 51 in the accommodating space 601 and avoids the problem of being stuck. In some embodiments, the abutment 51 can also be constructed as a block structure, and multiple abutments 51 can be provided, with multiple abutments 51 arranged around the outer side wall of the side plate 21.

[0055] The housing 60 and the mounting component 20 can be separate components, but can be fixedly connected together by means of bonding, snap-fitting, welding, threaded connection, screw connection, etc. For example, both the end plates 22 of the housing 60 and the mounting component 20 can be provided with fixing holes 611. The quick-release device 1000 also includes screws, which pass through the fixing holes 611 and fix the housing 60 and the mounting component 20 together. In some embodiments, the housing 60 and the mounting component 20 can also be integrally formed.

[0056] In this embodiment, the housing 60 includes a first housing portion 61 and a second housing portion 62. The first housing portion 61 is fixedly connected to the end plate 22. A fixing hole 611 is provided on the first housing portion 61. The second housing portion 62 is annularly arranged. The first housing portion 61 is fixedly connected to the end of the second housing portion 62 near the end plate 22. A second elastic body 52 and an abutment body 51 are located between the second housing portion 62 and the side plate 21. Along the second direction D2, the first housing portion 61 protrudes relative to the mounting member 20. On a projection plane perpendicular to the first direction D1, the orthographic projection of the first housing portion 61 protrudes beyond the orthographic projection of the mounting member 20. The two ends of the second elastic body 52 abut against the abutment body 51 and the first housing portion 61, respectively. The first housing portion 61 and the second housing portion 62 can be integrally formed or separately formed.

[0057] Please see Figure 4 , Figure 4 This is a cross-sectional view of a quick-release device provided in some embodiments of this application. Figure 4The quick-release device in this embodiment is similar in structure to the quick-release device 1000 in the above embodiment, except that the cover 60 is configured as a first shell portion 61, and the cover 60 does not include a second shell portion 62. The abutment body 51 is constructed as a ring structure and is fitted onto the mounting member 20.

[0058] Please refer to the following: Figure 2 , Figure 3 , Figure 5 and Figure 6 , Figure 5 This is a schematic diagram of the structure of the mounting component 20 provided in the embodiments of this application. Figure 6 This is a schematic diagram of the structure of the execution component 10 provided in this embodiment. The quick-release device 1000 further includes a limiting member 24, which is fixedly connected to the side plate 21 and used to limit the pusher 41 within the movable cavity 2102; and / or, the outer side wall of the side plate 21 is provided with a limiting portion 25, which is used to limit the travel of the abutment 51 along the outer side wall of the side plate 21. In this embodiment, the quick-release device 1000 includes the limiting member 24, and the outer side wall of the side plate 21 is provided with the limiting portion 25. In some embodiments, the quick-release device 1000 includes the limiting member 24, and the outer side wall of the side plate 21 may not be provided with the limiting portion 25. In some embodiments, the outer side wall of the side plate 21 is provided with the limiting portion 25, and the quick-release device 1000 may not include the limiting member 24.

[0059] The limiting member 24 confines the pushing body 41 within the movable cavity 2102, preventing the pushing body 41 from detaching from the movable cavity 2102, thus stabilizing the structure of the quick-release device 1000 and preventing malfunctions. The limiting member 24 and the mounting member 20 can be detachably connected to facilitate the installation of the pushing body 41 within the movable cavity 2102. Exemplarily, the limiting member 24 can be snapped into the mounting member 20. The side wall of the side plate 21 facing the interior of the movable cavity 2102 has a groove at the end away from the end plate 22. The limiting member 24 snaps into the groove and protrudes relative to the side plate 21 facing the interior of the movable cavity 2102. When the pushing body 41 moves to the first position, the limiting member 24 abuts against the pushing body 41 to prevent the pushing body 41 from moving outside the movable cavity 2102. The side plate 21 has a groove 2141 at the end away from the end plate 22. The groove 2141 has a protrusion 2142 protruding along the second direction D2. The protrusion 2142 and the groove wall of the groove 2141 near the end plate 22 form a retaining groove. The limiting member 24 can be constructed as an arc-shaped strip structure to securely engage in the retaining groove. In some embodiments, the limiting member 24 can also be fixedly connected to the mounting member 20 by means of bonding, welding, screwing, etc. In some embodiments, the limiting member 24 can also be constructed as other structures, such as screws.

[0060] In some embodiments, when the pusher 41 moves to the second position and abuts against the limiting member 24, the end of the pusher 41 facing away from the first elastic body 42 is located inside the active cavity 2102, that is, the pusher 41 does not protrude outside the active cavity 2102. The surface of the pusher 41 facing away from the end plate 22 is flush with the end face of the side plate 21 away from the end plate 22, or the surface of the pusher 41 facing away from the end plate 22 is located on the side of the end face of the side plate 21 away from the end plate 22 closer to the end plate 22. In this way, the risk of the pusher 41 being accidentally pressed by the pressure of an external object can be reduced, and the actuating member 10 can be prevented from being accidentally disassembled.

[0061] A limiting portion 25 is protruding from the outer side wall of the side plate 21. The limiting portion 25 is located near the end of the side plate 21 away from the end plate 22, that is, near the opening of the accommodating space 601. When the abutment 51 moves to the fourth position, the limiting portion 25 can block the abutment 51 from continuing to move, thereby limiting the abutment 51 within the accommodating space 601, and thus limiting the movement of the abutment 51 along the outer side wall of the side plate 21 between the third position and the fourth position.

[0062] In some embodiments, one of the mounting member 20 and the actuating member 10 is provided with a guide portion 26, and the other of the mounting member 20 and the actuating member 10 is provided with a guide groove 102 for cooperating with the guide portion 26. The extending direction of the guide groove 102 is parallel to the first direction D1. In this embodiment, the mounting member 20 is provided with the guide portion 26. The guide portion 26 protrudes from the side of the side plate 21 away from the movable cavity 2102. The actuating member 10 is provided with the guide groove 102, which is disposed on the wall of the mounting hole 121 and penetrates the end face of the connecting portion 12 away from the actuating body 11. When the locking groove 101 is aligned with the through hole 2101, the guide portion 26 is located in the guide groove 102. The guide portion 26 and the guide groove 102 are used to restrict the relative rotation of the mounting member 20 and the actuating member 10 to prevent the actuating member 10 from rotating during the disassembly and assembly process, thereby eliminating safety hazards.

[0063] The guide portion 26 and the limiting portion 25 can be configured as the same structure, that is, the guide portion 26 can also limit the movement of the abutment body 51, so as to simplify the structure of the quick-release device 1000 and improve the structural compactness. In some embodiments, the guide portion 26 and the limiting portion 25 can be arranged independently of each other, that is, the guide portion 26 and the limiting portion 25 are respectively protruding on the outer side wall of the side plate 21.

[0064] Along the circumferential direction of the actuator 10 (the direction of rotation of the actuator 10), the width of the guide groove 102 at the end away from the actuator body 11 is greater than the width of the guide groove 102 at the end near the actuator body 11. The guide groove 102 has a flared end away from the actuator body 11, which facilitates alignment of the guide portion 26 with the guide groove 102 and guides the guide portion 26 when the actuator 10 is mounted on the mounting member 20, reducing the difficulty of engaging the guide portion 26 with the guide groove 102 and thus reducing the installation difficulty of the actuator 10. In some embodiments, a guide portion 26 may be provided on the wall of the mounting hole 121 of the actuator 10, and a guide groove 102 may be provided on the side wall of the side plate 21 of the mounting member 20 away from the movable cavity 2102, with a flared end of the guide groove 102 away from the end plate 22.

[0065] In this embodiment, the locking groove 101 and the guide groove 102 are offset along the circumferential direction of the actuating member 10. The locking groove 101 and the guide groove 102 are offset along the circumferential direction of the actuating member 10. Multiple locking grooves 101 and guide grooves 102 can be provided and spaced apart along the circumferential direction of the actuating member 10.

[0066] At least one of the abutment body 51, locking groove 101, and pushing body 41 is provided with a guide surface 201. The guide surface 201 is used to abut against the locking member 30. The guide surface 201 and the locking member 30 are set at an acute angle along the movement direction of the through hole 2101, that is, at an acute angle with the second direction D2. When the abutment body 51, the actuating member 10, or the pushing body 41 moves along the first direction D1, when the guide surface 201 abuts against the locking member 30, the guide surface 201 generates a component force on the locking member 30 along the second direction D2, which is beneficial to pushing the locking member 30 to move along the through hole 2101, avoiding the problem of structural jamming, and improving the reliability of the quick-release device 1000.

[0067] In some embodiments, the guide surface 201 and the outer surface of the locking member 30 may be in arcuate contact to reduce the friction between the guide surface 201 and the locking member 30, thereby facilitating the guide surface 201 to push the locking member 30 to move in the through hole 2101. At least one of the guide surface 201 and the outer surface of the locking member 30 may be configured as an arcuate surface.

[0068] In some embodiments, a guide surface 201 is provided at the end of the abutment 51 near the actuating member 10. The guide surface 201 connects the side surface of the abutment 51 facing the actuating member 10 and the side surface facing the mounting member 20. When the abutment 51 moves from the third position to the fourth position, the guide surface 201 helps to reduce the difficulty of the abutment 51 pushing the locking member 30 from the locked position to the unlocked position.

[0069] In some embodiments, a guide surface 201 is provided on the side of the locking groove 101 near the abutment 51. The guide surface 201 connects the groove wall of the locking groove 101 near the abutment 51 and the hole wall of the mounting hole 121 facing the mounting member 20. When the actuating member 10 moves along the first direction D1, the guide surface 201 in the locking groove 101 can push the locking member 30 to move along the second direction D2, which is beneficial for moving the locking member 30 out of the locking groove 101 and for the abutment 51 to eject the actuating member 10.

[0070] In some embodiments, the locking groove 101 is provided with two guide surfaces 201. A guide surface 201 may be provided on the side of the locking groove 101 away from the abutment 51, connecting the groove wall of the locking groove 101 away from the abutment 51 and the hole wall of the mounting hole 121 facing the mounting member 20. The two guide surfaces 201 in the locking groove 101 may be symmetrically arranged to facilitate a more secure engagement of the locking member 30 in the locking groove 101, thereby improving the stability and reliability of the connection between the actuating member 10 and the mounting member 20.

[0071] In some embodiments, a guide surface 201 is provided at the end of the pusher 41 away from the end plate 22. The guide surface 201 connects the surface of the pusher 41 facing the side plate 21 and the surface facing away from the end plate 22. When the pusher 41 moves from the first position to the second position, the guide surface 201 helps to reduce the difficulty of the pusher 41 pushing the locking member 30 from the unlocked position to the locked position, so that when the locking groove 101 is aligned with the through hole 2101, the locking member 30 can be quickly pushed into the locking groove 101, improving the installation efficiency of the actuator 10. In addition, the guide surface 201 can also provide clearance space for the locking member 30, so that when the locking member 30 moves to the unlocked position, the side of the locking member 30 near the connecting part 12 is submerged in the through hole 2101, that is, the locking member 30 is completely moved out of the locking groove 101, avoiding obstruction of the actuator 10's ejection, thereby enabling the actuator 10 to be smoothly separated from the mounting member 20.

[0072] In some embodiments, the connecting portion 12 is provided with a guide surface 201. The guide surface 201 connects the surface of the connecting portion 12 opposite to the actuator 11 and the wall of the mounting hole 121. When the connecting portion 12 pushes the abutment 51 to move along the first direction D1, the guide surface 201 helps to prevent the locking member 30 from jamming the connecting portion 12, thereby facilitating the fitting of the connecting portion 12 onto the mounting member 20, and thus making it easier to fix the actuator 10 to the mounting member 20.

[0073] Please see Figure 7 , Figure 7This is a schematic diagram of the through hole 2101 in the mounting member 20 provided in some embodiments of this application. In some embodiments, the cross-sectional area of ​​the through hole 2101 gradually decreases along the direction from the actuating member 10 toward the mounting member 20 (i.e., along the second direction D2). On the projection plane perpendicular to the opening direction of the through hole 2101 (i.e., perpendicular to the second direction D2), the orthographic projection portion of the locking member 30 is located outside the orthographic projection of the opening of the through hole 2101 near the push member 40. Thus, when the locking member 30 moves to the unlocked position, the hole wall of the through hole 2101 can abut against the locking member 30, thereby limiting the locking member 30 within the through hole 2101 and preventing the locking member 30 from sliding out of the through hole 2101 into the movable cavity 2102.

[0074] Please see Figure 8 , Figure 8 This is a schematic diagram of the through hole 2101 in the mounting member 20 provided in other embodiments of this application. In some embodiments, on a projection plane perpendicular to the second direction D2, the orthographic projection portion of the locking member 30 is located outside the orthographic projection of the opening of the through hole 2101 on the side away from the pusher 40. Thus, when the locking member 30 moves to the locked position, the hole wall of the through hole 2101 can abut against the locking member 30, thereby limiting the locking member 30 within the through hole 2101 and preventing the locking member 30 from sliding off the through hole 2101 to the outside of the mounting member 20. In some embodiments, when the orthographic projection portion of the locking member 30 is located outside the orthographic projection of the opening of the through hole 2101 on the side away from the pusher 40 on a projection plane perpendicular to the second direction D2, the quick-release device 1000 may not have the cover 60, the abutment body 51, and the second elastic body 52, thereby simplifying the structure of the quick-release device 1000.

[0075] Please see Figure 1 and Figure 3 This application also provides a robot, which includes a body and a quick-release device 1000 as described in any of the above embodiments, the quick-release device 1000 being mounted on the body. Exemplarily, in this embodiment, the robot can be configured as a cutting robot. The cutting robot is used to mow lawns. The actuating member 10 is configured as a cutting component, and a blade is provided on the actuating member 10. The robot also includes a driving member 70 mounted on the body, and the driving member 70 is provided with an output shaft 71. The quick-release device 1000 is mounted on the output shaft 71. The driving member 70 is used to drive the actuating member 10 to rotate. When the driving member 70 drives the actuating member 10 to rotate via the mounting member 20 and the locking member 30, the actuating member 10 drives the blade to move, causing the blade to mow the lawn.

[0076] The end plate 22 is used for fixed connection with the output shaft 71. A mounting portion 23 may protrude from the side of the end plate 22 opposite to the side plate 21, and a connecting hole 2103 is provided in the mounting portion 23. The output shaft 71 passes through the connecting hole 2103 to be fixedly connected to the mounting member 20 via the mounting portion 23. The first shell portion 61 of the cover 60 is provided with a clearance hole, and the mounting portion 23 passes through the clearance hole.

[0077] Please see Figure 9 , Figure 9 This is a cross-sectional view of a quick-release device provided in some embodiments of this application. In some embodiments, the robot can also be configured as a cleaning robot. The cleaning robot is used to perform cleaning operations on the ground. The actuating component 10 is configured as a cleaning element, which is provided with a cleaning brush. When the driving component 70 drives the cleaning element to rotate via the mounting component 20 and the locking component 30, the cleaning element drives the cleaning brush to move, and the cleaning brush sweeps away debris such as garbage and fallen leaves on the ground, or scrubs stains on the ground. In some embodiments, the robot can also be configured as other types of robots, and the structure of the actuating component 10 is specifically set according to the type of robot.

[0078] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A quick release device, characterized by, The quick release device comprises: an execution member provided with a locking groove; a mounting member provided with a through hole; a locking member arranged in the through hole and protruding out of the through hole at least on one side along the extension direction of the through hole; a pushing member movably mounted on the mounting member, when the locking groove is aligned with the through hole, the pushing member abuts against the locking member, and a part of the locking member is located in the locking groove and another part is located in the through hole.

2. The quick release device of claim 1, wherein, The execution member is configured as a cutting member, or the execution member is configured as a cleaning member.

3. The quick release device of claim 1, wherein, The pushing member comprises a pushing body and a first elastic body, and the first elastic body is located between the pushing body and the mounting member.

4. The quick release device of claim 3, wherein, The mounting member comprises a side plate, an inner side wall of the side plate encloses a movable cavity, the through hole is arranged on the side plate and communicates with the movable cavity, the pushing body and the first elastic body are arranged in the movable cavity, and the pushing body is movable in the movable cavity.

5. The quick release device of claim 4, wherein, The quick release device further comprises an abutting body and a second elastic body, the abutting body is movable along an outer side wall of the side plate, the execution member is provided with a mounting hole, the locking groove communicates with the mounting hole, when the locking groove is aligned with the through hole, the side plate is arranged in the mounting hole, the execution member abuts against the abutting body, and the second elastic body elastically abuts against a side of the abutting body away from the execution member.

6. The quick release device of claim 5, wherein, The quick release device further comprises a limiting member, the limiting member is fixedly connected to the side plate and is used for limiting the pushing body in the movable cavity, and / or an outer side wall of the side plate is provided with a limiting portion, and the limiting portion is used for limiting the movement stroke of the abutting body along the outer side wall of the side plate.

7. The quick release device of claim 6, wherein, When the limiting member abuts against the pushing body, an end of the pushing body away from the first elastic body is located inside the movable cavity.

8. The quick release device of claim 1, wherein, One of the mounting member and the execution member is provided with a guide portion, and the other of the mounting member and the execution member is provided with a guide groove matched with the guide portion, and when the locking groove is aligned with the through hole, the guide portion is located in the guide groove.

9. The quick release device of claim 5, wherein, At least one of the abutting body, the locking groove and the pushing body is provided with a guide surface used for abutting against the locking member, and the guide surface is arranged at an acute angle with the locking member along the movement direction of the locking member in the through hole.

10. The quick release device of claim 5, wherein, The quick release device further comprises a cover, the cover is fixedly connected with the mounting member and encloses a containing space with the mounting member, and the second elastic body and the abutting body are located in the containing space.

11. The quick release device of claim 1, wherein, The cross-sectional area of the through hole gradually decreases along the direction of the execution member towards the mounting member, and in a projection plane perpendicular to the opening direction of the through hole, the orthographic projection part of the locking member is located outside the orthographic projection of the opening of the through hole close to the pushing member.

12. The quick release device of claim 1, wherein, The locking member is configured as at least one of a spherical structure, a cylindrical structure, a prism structure, a hemispherical structure, a half-cylindrical structure and a half-prism structure, or a combination of at least two thereof.

13. A robot, characterized in that The robot comprises a body and the quick release device according to any one of claims 1-12, and the quick release device is mounted on the body.

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