A foot-type robot detachable moving mechanism

Abstract

The application relates to a detachable moving mechanism of a foot-type robot, and relates to the technical field of foot-type robots, which comprises a robot body, leg assemblies and a magnetic coupler assembly; the leg assemblies are provided in plurality, each leg assembly is magnetically connected with the robot body through the magnetic coupler assembly; the magnetic coupler assembly comprises a permanent magnet ring and a magnetic conductive ring, the magnetic conductive ring is fixedly installed on the robot body, the leg assembly end is provided with the permanent magnet ring, and the magnetic conductive ring is magnetically connected with the permanent magnet ring. The application has the effect of improving the mounting efficiency between the robot leg and the body.

Description

Technical Field

[0001] This application relates to the field of legged robot technology, and in particular to a detachable mobility mechanism for a legged robot. Background Technology

[0002] Legged robots have been widely used in military, rescue, and industrial fields in recent years due to their excellent adaptability to complex terrain. Traditional legged robots typically use fixed leg structures, resulting in a simple configuration that cannot be flexibly adjusted according to task requirements. With the development of modular robot technology, researchers have begun to explore reconfigurable robot systems. However, the connection methods of leg modules in existing technologies generally suffer from problems such as cumbersome assembly and disassembly, unreliable electrical connections, and delayed configuration recognition, which severely limit the practicality and scene adaptability of robots.

[0003] Under relevant technologies, common leg connection methods for legged robots currently include mechanical bolt fixing and quick-release pin structures. Mechanical bolt fixing offers high connection strength but low assembly / disassembly efficiency; quick-release pin structures are easy to operate but lack a stable electrical connection channel.

[0004] Regarding the aforementioned technologies, existing technologies cannot simultaneously meet the requirements of rapid assembly and disassembly, reliable electrical connections, and automatic configuration recognition. Mechanical connection methods are inefficient, resulting in time-consuming installation and disassembly between the legs and the main body, thus affecting installation efficiency. Utility Model Content

[0005] To improve the installation efficiency between the robot's legs and body, this application provides a detachable mobile mechanism for a legged robot.

[0006] This application provides a detachable mobility mechanism for a legged robot, which adopts the following technical solution:

[0007] A detachable mobile mechanism for a legged robot, characterized in that it includes a robot body, a leg assembly, and a magnetic coupler assembly;

[0008] The leg assembly is provided in multiple parts, and each leg assembly is magnetically connected to the robot body through the magnetic coupler assembly;

[0009] The magnetic coupler assembly includes a permanent magnet ring and a magnetic guide ring. The magnetic guide ring is fixedly installed on the robot body, and the permanent magnet ring is installed at the end of the leg assembly. The magnetic guide ring is magnetically connected to the permanent magnet ring.

[0010] By adopting the above technical solution and setting up a magnetic coupler assembly, the magnetic ring of the robot body and the permanent magnet ring of the leg assembly are connected by magnetic attraction. The permanent magnet ring provides a constant magnetic field, and the magnetic ring is induced by the permanent magnet ring. The side of the magnetic ring closer to the N pole of the permanent magnet ring induces the S pole, and vice versa, forming opposite pole attraction. During installation, the leg assembly is brought close to the magnetic ring of the robot body to complete the installation of the robot body and the leg assembly. During disassembly, one leg assembly is separated from the robot body. The installation method is simple and improves installation efficiency.

[0011] Optionally, the magnetic coupler further includes a housing and a multi-pin spring-loaded electrical connector. The permanent magnet ring and the multi-pin spring-loaded electrical connector are both disposed within the housing. The multi-pin spring-loaded electrical connector is located at the central axis of the permanent magnet ring. The multi-pin spring-loaded electrical connector is electrically connected to the drive system of the leg assembly for power transmission of the leg assembly.

[0012] By adopting the above technical solution, and by setting a multi-pin spring-loaded electrical connector, the drive joint of the leg component is powered by the multi-pin spring-loaded electrical connector.

[0013] Optionally, the outer periphery of the permanent magnet ring is also provided with multiple Hall sensors. The Hall sensors are fixed to the housing via a second mounting base. The permanent magnet ring is disposed on the second mounting base. The Hall sensors are electrically connected to the multi-pin spring pin electrical connector for detecting the relative angular position of the leg assembly.

[0014] By adopting the above technical solution, a Hall sensor is set up to detect the relative angular position of the leg assembly.

[0015] Optionally, the end of the leg assembly is fixedly connected to the housing via a flange.

[0016] By adopting the above technical solution, the housing is connected to the leg assembly via a flange in order to install the housing.

[0017] Optionally, a plurality of first positioning pins are fixedly connected to the flange, and a first positioning hole corresponding to the first positioning pin is provided on the housing, and the first positioning pin is inserted into the first positioning hole.

[0018] By adopting the above technical solution, and by setting a first positioning pin, which is inserted and engaged with a first positioning hole, the shell and flange can be quickly connected, reducing the difficulty of manual alignment and improving installation efficiency and accuracy.

[0019] Optionally, the second mounting base is slidably connected to the housing along the central axis of the permanent magnet ring.

[0020] By adopting the above technical solution, and by setting the second mounting base to slide along the axis of the permanent magnet ring, the sliding fit allows the permanent magnet ring to produce a small displacement when impacted, thereby reducing the impact during the adsorption process.

[0021] Optionally, a first slider is fixedly connected to both sides of the second mounting base, and a first groove is provided on the housing for the first slider to slide along the central axis of the permanent magnet ring.

[0022] By adopting the above technical solution, and by setting a first sliding groove, the first slider slides in the first sliding groove, thereby driving the second mounting base to slide.

[0023] Optionally, an unlocking component is also included, comprising a push rod and a wedge block. The housing has a second groove along a direction perpendicular to the central axis of the permanent magnet ring. The second groove communicates with the first groove. The wedge block is located within the second groove. When the permanent magnet ring and the magnetic ring are attracted, one side of the first slider is located within the second groove and is in contact with the side wall of the wedge block. One end of the push rod is located outside the housing, and the other end passes through the second groove and is fixedly connected to the wedge block. The push rod slides along a direction perpendicular to the central axis of the permanent magnet ring.

[0024] By adopting the above technical solution and setting an unlocking component, when the permanent magnet ring and the magnetic guide ring are attracted and connected, one side of the first slider slides into the second groove and abuts against the wedge block. When the push rod slides along the direction perpendicular to the central axis of the permanent magnet ring, it drives the wedge block to slide in the second groove towards the direction closer to the central axis of the permanent magnet ring. The wedge block contacts the first slider and drives the first slider to slide away from the magnetic guide ring, thereby driving the second mounting base and the permanent magnet ring to slide away from the magnetic guide ring, providing an auxiliary force for the disassembly of the robot body and leg components.

[0025] Optionally, the unlocking component further includes an elastic element, the extension and retraction direction of which is perpendicular to the axis of the permanent magnet ring. The elastic element is fixedly connected between the wedge block and the second groove wall. Under recoverable deformation, the elastic element has a force that drives the wedge block to move away from the central axis of the permanent magnet ring.

[0026] By adopting the above technical solution and setting up an elastic element, the wedge block can be easily reset.

[0027] In summary, this application includes at least one of the following beneficial technical effects:

[0028] 1. This application uses a magnetic coupler assembly to connect the magnetic ring of the robot body and the permanent magnet ring of the leg assembly via magnetic attraction. The permanent magnet ring provides a constant magnetic field, and the magnetic ring is induced by the permanent magnet ring. The side of the magnetic ring closer to the N pole of the permanent magnet ring induces the S pole, and vice versa, forming opposite pole attraction. During installation, the leg assembly is brought close to the magnetic ring of the robot body to complete the installation of the robot body and the leg assembly. During disassembly, one leg assembly is separated from the robot body. The installation method is simple and improves installation efficiency.

[0029] 2. By setting an unlocking component, when the push rod slides along the direction perpendicular to the central axis of the permanent magnet ring, it drives the wedge block to slide in the second groove toward the direction closer to the central axis of the permanent magnet ring, so as to drive the second mounting base and the permanent magnet ring to slide away from the magnetic ring, providing auxiliary force for the disassembly of the robot body and leg components;

[0030] 3. This application incorporates an elastic element to facilitate the return of the wedge block to its initial position. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of a detachable mobile mechanism for a legged robot according to this application;

[0032] Figure 2 This is a schematic diagram of the structure of the first part of the magnetic coupler assembly of this application;

[0033] Figure 3 This is a schematic diagram of the structure of the second part of the magnetic coupler assembly of this application;

[0034] Figure 4 This is a first-view structural schematic diagram of the connection between the flange and the shell in this application;

[0035] Figure 5 This is a second-view structural schematic diagram of the connection between the flange and the shell in this application;

[0036] Figure 6 This is a structural diagram of the first part of the unlocking component in this application;

[0037] Figure 7 This is a structural diagram of the second part of the unlocking component in this application;

[0038] Figure 8 This is a schematic diagram of the structure of the wedge block and the first slider in this application.

[0039] Explanation of reference numerals in the attached drawings: 1. Robot body; 11. Mounting slot; 12. First mounting base; 2. Leg assembly; 3. Magnetic coupler assembly; 31. Permanent magnet ring; 32. Magnetic guide ring; 33. Housing; 331. First positioning hole; 332. First slide groove; 333. Second slide groove; 34. Multi-pin spring ejector electrical connector; 35. Hall sensor; 36. Second mounting base; 361. First slider; 362. Second contact surface; 4. Flange; 41. Bolt; 42. First positioning pin; 5. Unlocking assembly; 51. Push rod; 52. Wedge block; 521. First contact surface; 53. Elastic element. Detailed Implementation

[0040] The following is in conjunction with the appendix Figure 1-8 This application will be described in further detail.

[0041] This application discloses a detachable mobility mechanism for a legged robot. (Refer to...) Figure 1 and Figure 2 The detachable mobile mechanism of the legged robot includes a robot body 1, leg components 2, and magnetic coupler components 3. Multiple leg components 2 are provided, each of which is magnetically connected to the robot body 1 via the magnetic coupler components 3. The magnetic coupler components 3 include a permanent magnet ring 31 and a magnetic guide ring 32. The magnetic guide ring 32 is fixedly installed on the robot body 1, and a permanent magnet ring 31 is installed at the end of each leg component 2. The magnetic guide ring 32 is magnetically connected to the permanent magnet ring 31. In some embodiments, the permanent magnet ring 31 can be a ferrite permanent magnet, neodymium iron boron, or samarium cobalt permanent magnet. In this embodiment, the permanent magnet ring 31 is a neodymium iron boron N52 grade magnet, and the magnetic guide ring 32 is a magnetically guided metal ring. Six leg components 2 are provided. The permanent magnet ring 31 generates a strong static magnetic field, and the magnetic lines of force form a closed loop through the magnetic guide ring 32, achieving magnetic connection and facilitating installation and disassembly.

[0042] Reference Figure 2 In order to install the magnetic ring 32, the robot body 1 has multiple mounting slots 11 corresponding to the magnetic ring 32. The first mounting seat 12 is fixedly installed in the mounting slot 11, and the magnetic ring 32 is fixedly installed on the first mounting seat 12.

[0043] Reference Figure 2 and Figure 3To further power the drive joint of the leg assembly 2, the magnetic coupler also includes a housing 33 and a multi-pin spring-loaded electrical connector 34. The permanent magnet ring 31 and the multi-pin spring-loaded electrical connector 34 are both located inside the housing 33. The multi-pin spring-loaded electrical connector 34 is located at the central axis of the permanent magnet ring 31 and is horizontally positioned. The multi-pin spring-loaded electrical connector 34 is electrically connected to the drive system of the leg assembly 2 for power transmission of the leg assembly 2. In this embodiment, the multi-pin spring-loaded electrical connector 34 is prior art in the field, and its specific structure will not be described in detail.

[0044] Reference Figure 3 The permanent magnet ring 31 is also provided with a plurality of Hall sensors 35 on its outer periphery. In this embodiment, nine Hall sensors 35 are evenly spaced along the outer periphery of the permanent magnet ring 31. The Hall sensors 35 are electrically connected to the multi-pin spring-loaded electrical connector 34 and are used to detect the relative angular position of the leg assembly 2. The Hall sensors 35 detect the magnetic field change of the permanent magnet ring 31 and determine the relative angular position of the leg assembly 2 by the magnetic pole distribution. The output line of the Hall sensor 35 is connected to the multi-pin spring-loaded electrical connector 34 through a flexible PCB or wire harness and finally transmitted to the main control board of the robot body 1. In this embodiment, the Hall sensor 35 is the prior art in the field, and the specific structure will not be described in detail.

[0045] Reference Figure 3 To facilitate the connection between the magnetic coupler assembly 3 and the leg assembly 2, the end of the leg assembly 2 is fixedly connected to the housing 33 via a flange 4, and the flange 4 and the housing 33 are fixedly installed by bolts 41.

[0046] Reference Figure 4 and Figure 5 To further align and install the flange 4 with the housing 33, the flange 4 is provided with multiple first positioning pins 42, and the housing 33 is provided with first positioning holes 331 corresponding to the first positioning pins 42. The first positioning pins 42 are inserted into the first positioning holes 331. The insertion and cooperation of the first positioning pins 42 and the first positioning holes 331 realizes the rapid docking of the housing 33 and the flange 4, reduces the difficulty of manual alignment, and improves installation efficiency and accuracy.

[0047] Reference Figure 4 In some embodiments, the cross-section of the first positioning pin 42 can be circular, rectangular, conical, or irregular. Any shape that can enable the insertion of the first positioning pin 42 into the first positioning hole 331 is within the protection scope of this application. In order to quickly insert the first positioning pin 42 into the first positioning hole 331, in this embodiment, the cross-section of the first positioning pin 42 is conical. During the process of inserting the first positioning pin 42 into the first positioning hole 331, the conical first positioning pin 42 is further guided into the first positioning hole 331.

[0048] Reference Figure 6 and Figure 7 When disassembly is required, in order to facilitate the separation of the leg assembly 2 from the robot body 1, the detachable movement mechanism of the legged robot also includes an unlocking assembly 5. The unlocking assembly 5 includes a push rod 51 and a wedge block 52. A second mounting seat 36 is provided inside the housing 33. The permanent magnet ring 31, Hall sensor 35 and multi-pin spring push pin electrical connector 34 are all mounted on the second mounting seat 36. The second mounting seat 36 is slidably connected to the housing 33 along the central axis of the permanent magnet ring 31. Specifically, the housing 33 has a first sliding groove 332 along the central axis of the permanent magnet ring 31. The second mounting seat 36 has a first slider 361 fixedly connected to both sides. The first slider 361 is located in the first sliding groove 332 and slides along the central axis of the permanent magnet ring 31.

[0049] Reference Figure 7 and Figure 8 When the leg assembly 2 approaches the robot body 1, the permanent magnet ring 31 and the magnetic guide ring 32 attract each other magnetically, further driving the second mounting base 36 to slide within the first groove 332 along the central axis of the permanent magnet ring 31. The push rod 51 is perpendicular to the central axis of the permanent magnet ring 31 and slides along a direction perpendicular to the axis of the permanent magnet ring 31. The housing 33 has a second groove 333 along a direction perpendicular to the central axis of the permanent magnet ring 31, and the second groove 333 communicates with the first groove 332. One end of the push rod 51 is located outside the housing 33, and the other end is fixedly connected to a wedge block 52, which is located within the second groove 333. The side of the wedge block 52 closest to the slider is the first contact surface 521, and the side of the first slider 361 closest to the wedge block 52 is the first contact surface 521. The second contact surface 362 is also a wedge-shaped surface, and the second contact surface 362 cooperates with the first contact surface 521. When the permanent magnet ring 31 and the magnetic guide ring 32 are attracted and connected, one side of the first slider 361 slides into the second slide groove 333 and abuts against the wedge block 52. When the push rod 51 slides along the direction perpendicular to the central axis of the permanent magnet ring 31, it drives the wedge block 52 to slide in the second slide groove 333 towards the direction closer to the central axis of the permanent magnet ring 31. The first contact surface 521 of the wedge block 52 contacts the second contact surface 362 of the first slider 361 and drives the first slider 361 to slide away from the magnetic guide ring 32, so as to drive the second mounting base 36 and the permanent magnet ring 31 to slide away from the magnetic guide ring 32, providing auxiliary force for the disassembly of the robot body 1 and the leg assembly 2.

[0050] Reference Figure 8In order to restore the wedge block 52 to its initial position, the unlocking component 5 also includes an elastic element 53. The extension and retraction direction of the elastic element 53 is perpendicular to the central axis of the permanent magnet ring 31. The elastic element 53 is fixedly connected between the wedge block 52 and the groove wall of the second slide groove 333. In this embodiment, the elastic element 53 is a compression spring. Under recoverable deformation, the elastic element 53 has a force that drives the wedge block 52 to move away from the central axis of the permanent magnet ring 31. When no force is applied to the push rod 51, the wedge block 52 contacts the first slider 361 under the action of the elastic element 53.

[0051] The implementation principle of a detachable mobile mechanism for a legged robot according to an embodiment of this application is as follows: the permanent magnet ring 31 and the magnetic guide ring 32 are connected by magnetic adsorption, which can realize the quick installation and disassembly of the robot body 1 and each leg component 2. When it is necessary to disassemble the leg component 2 from the robot body 1, the operator pushes the push rod 51, which drives the wedge block 52 to slide in the second slide groove 333 towards the direction close to the central axis of the permanent magnet ring 31. The first contact surface 521 of the wedge block 52 contacts the second contact surface 362 of the first slider 361 and drives the first slider 361 to slide away from the magnetic guide ring 32, so as to drive the second mounting base 36 and the permanent magnet ring 31 to slide away from the magnetic guide ring 32, further assisting the separation of the robot body 1 from the leg component 2.

[0052] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A detachable mobile mechanism for a legged robot, characterized in that: It includes the robot body (1), leg assembly (2) and magnetic coupler assembly (3); The leg assembly (2) is provided in multiple parts, and each leg assembly (2) is magnetically connected to the robot body (1) through the magnetic coupler assembly (3); The magnetic coupler assembly (3) includes a permanent magnet ring (31) and a magnetic guide ring (32). The magnetic guide ring (32) is fixedly installed on the robot body (1). The permanent magnet ring (31) is installed at the end of the leg assembly (2). The magnetic guide ring (32) is magnetically connected to the permanent magnet ring (31).

2. The detachable mobile mechanism for a legged robot according to claim 1, characterized in that: The magnetic coupler also includes a housing (33) and a multi-pin spring-loaded electrical connector (34). The permanent magnet ring (31) and the multi-pin spring-loaded electrical connector (34) are both located inside the housing (33). The multi-pin spring-loaded electrical connector (34) is located at the central axis of the permanent magnet ring (31). The multi-pin spring-loaded electrical connector (34) is electrically connected to the drive system of the leg assembly (2) for power transmission of the leg assembly (2).

3. The detachable mobile mechanism for a legged robot according to claim 2, characterized in that: The permanent magnet ring (31) is also provided with a plurality of Hall sensors (35) on its outer periphery. The Hall sensors (35) are fixed to the housing (33) by a second mounting base (36). The permanent magnet ring (31) is provided on the second mounting base (36). The Hall sensors (35) are electrically connected to the multi-pin spring pin electrical connector (34) for detecting the relative angular position of the leg assembly (2).

4. The detachable mobile mechanism for a legged robot according to claim 2, characterized in that: The end of the leg assembly (2) is fixedly connected to the housing (33) via a flange (4).

5. The detachable mobile mechanism for a legged robot according to claim 4, characterized in that: A plurality of first positioning pins (42) are fixedly connected to the flange (4), and a first positioning hole (331) corresponding to the first positioning pin (42) is opened on the housing (33), and the first positioning pin (42) is inserted into the first positioning hole (331).

6. The detachable mobile mechanism for a legged robot according to claim 3, characterized in that: The second mounting base (36) is slidably connected to the housing (33) along the central axis of the permanent magnet ring (31).

7. A detachable mobile mechanism for a legged robot according to claim 6, characterized in that: The second mounting base (36) has a first slider (361) fixedly connected to both sides, and the housing (33) has a first groove (332) for the first slider (361) to slide along the central axis of the permanent magnet ring (31).

8. A detachable mobile mechanism for a legged robot according to claim 7, characterized in that: It also includes an unlocking component (5), which includes a push rod (51) and a wedge block (52). The housing (33) has a second groove (333) along the direction perpendicular to the central axis of the permanent magnet ring (31). The second groove (333) is connected to the first groove (332). The wedge block (52) is located in the second groove (333). When the permanent magnet ring (31) and the magnetic ring (32) are attracted, one side of the first slider (361) is located in the second groove (333) and is in contact with the side wall of the wedge block (52). One end of the push rod (51) is located outside the housing (33), and the other end passes through the second groove (333) and is fixedly connected to the wedge block (52). The push rod (51) slides along the direction perpendicular to the central axis of the permanent magnet ring (31).

9. A detachable mobile mechanism for a legged robot according to claim 8, characterized in that: The unlocking component (5) further includes an elastic element (53), the extension and retraction direction of which is perpendicular to the axis of the permanent magnet ring (31). The elastic element (53) is fixedly connected between the wedge block (52) and the groove wall of the second slide (333). Under recoverable deformation, the elastic element (53) has a force that drives the wedge block (52) to move away from the central axis of the permanent magnet ring (31).

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