Connecting components and bionic robots

Abstract

This application relates to the field of robotics, and more particularly to a connecting component and a bionic robot, to solve the problem that the complex connection structure between the robot body and limb components in a bionic robot leads to difficulties in assembling and disassembling the limb components. In this connecting component, the connecting body can connect to the robot body; a first clamping member is connected to both a first connecting end and a second connecting end, and together with a first contact surface disposed between the first and second connecting ends, forms a first receiving space. The limb component can extend into the first receiving space. A cam handle assembly changes the distance between the second connecting end and the first clamping member, allowing the first clamping member and the first contact surface to clamp or release the limb component, thus achieving the connection between the robot body and the limb component. Furthermore, the limb component can be clamped or released simply by changing the distance between the second connecting end and the first clamping member using the cam handle assembly, facilitating the assembly and disassembly of the limb component in the bionic robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a connection component and a biomimetic robot. Background Technology

[0002] Bionic robots, by mimicking the morphology, structure, and movement of living organisms, possess the ability to perform diverse tasks in complex environments, demonstrating enormous application potential in multiple fields such as industrial production, medical rehabilitation, military reconnaissance, and service entertainment. As the fundamental units for the movement and function of bionic robots, the connection method of limb components directly affects the overall performance, reliability, and maintainability of the robot.

[0003] However, the connection structure between the main body and limb components of existing bionic robots is complex, making it difficult to disassemble and assemble the limb components and to maintain and repair them. Utility Model Content

[0004] In view of this, embodiments of this application provide a connecting component and a bionic robot to solve the problem that the complex connection structure between the robot body and the limb components of the bionic robot leads to difficulties in assembling and disassembling the limb components.

[0005] One embodiment of this application provides a connection component for a bionic robot. The bionic robot includes a connected robot body and at least one limb component. The connection component includes: a connection body capable of connecting to the robot body, the connection body including at least one first connection portion, the first connection portion including a first connection end, a second connection end, and a first contact surface disposed between the first connection end and the second connection end; at least one first clamping member rotatably connected to the first connection end about a rotation axis, connected to the second connection end, and forming a first receiving space with the first contact surface, the limb component being able to extend into the first receiving space, the extension direction of the rotation axis intersecting the encircling direction of the first clamping member and the first contact surface around the limb component; and at least one cam handle assembly connected to or abutting against the second connection end and the first clamping member to change the distance between the second connection end and the first clamping member, so that the first clamping member and the first contact surface can encircle and clamp the limb component.

[0006] In some implementations, the first clamping member has a first through hole, and the cam handle assembly includes: a first connector, a first end of the first connector being connected to a second connecting end; a cam, rotatably connected to a second end of the first connector passing through the first through hole, the first clamping member being located circumferentially on the cam, the cam having a high point and a low point, the distance between the first clamping member and the second connecting end being less when the high point is rotated toward the first clamping member than the distance between the first clamping member and the second connecting end being less when the low point is rotated toward the first clamping member; and a handle disposed on the circumferential side of the cam.

[0007] In some implementations, the first clamping member and the first contact surface form a first opening, which communicates with the first receiving space for the limb assembly to extend into the first receiving space. The first contact surface has one or more elongated first limiting portions extending in a direction perpendicular to the opening of the first opening. The limb assembly has one or more elongated second limiting portions. When the first clamping member and the first contact surface clamp the limb assembly, the extension direction of the second limiting portion is parallel to the extension direction of the first limiting portion. The first limiting portion and the second limiting portion engage in a concave-convex fit to restrict the movement of the limb assembly along the opening direction of the first opening.

[0008] In some implementations, the first contact surface further has a third limiting portion, which has a first side and a second side disposed opposite to each other along an opening direction perpendicular to the first opening; the limb assembly has a fourth limiting portion, which has a third side and a fourth side disposed opposite to each other, wherein when the first clamping member and the first contact surface clamp the limb assembly, the first side abuts against the third side, and the second side abuts against the fourth side.

[0009] In some implementations, the bionic robot includes a humanoid robot, which includes a robot body and two limb components. The robot body includes a torso component, and the limb components include leg components or arm components. The connecting body includes two first connecting parts, and the connecting components include two first clamping members and two cam handle components.

[0010] In some implementations, the connecting body further includes a second connecting portion connected to the first connecting portion, the second connecting portion including two third connecting ends and a second contact surface disposed between the two third connecting ends; wherein, the connecting assembly further includes: a second clamping member connected to the two third connecting ends and forming a second receiving space with the second contact surface, the robot body being able to extend into the second receiving space so that the second clamping member and the second contact surface can clamp the robot body; at least one adjusting component connected to or abutting against the third connecting ends and the second clamping member to change the distance between the third connecting ends and the second clamping member, so that the second clamping member and the second contact surface can clamp the robot body.

[0011] In some implementations, the first adjustment component includes a screw, the second clamping member has a second through hole, and the third connecting end has a threaded hole. The screw passes through the second through hole and is screwed into the threaded hole to achieve the connection between the second clamping member and the third connecting end.

[0012] In some implementations, the third connection terminal, the second connection terminal, and the first connection terminal are connected sequentially.

[0013] In some implementations, the second clamping member and the second contact surface form a second opening, which communicates with the second receiving space for the robot body to extend into the second receiving space; wherein, the second contact surface has one or more elongated fifth limiting portions extending in a direction perpendicular to the opening of the second opening, and the robot body has one or more elongated sixth limiting portions; when the second clamping member and the second contact surface clamp the robot body, the extension direction of the fifth limiting portion is parallel to the extension direction of the sixth limiting portion, and the fifth and sixth limiting portions cooperate to restrict the movement of the robot body along the opening direction of the second opening; and / or, the second contact surface has a seventh limiting portion having a fifth side and a sixth side oppositely arranged in a direction perpendicular to the opening of the second opening, and the robot body has an eighth limiting portion having a seventh side and an eighth side oppositely arranged; when the second clamping member and the second contact surface clamp the robot body, the fifth side abuts against the seventh side, and the sixth side abuts against the eighth side.

[0014] Secondly, one embodiment of this application provides a bionic robot, including: a robot body; at least one limb component; and the connecting component mentioned in the first aspect, for connecting the robot body and at least one limb component.

[0015] The connecting component provided in this embodiment allows the connecting body to connect to the robot body. The first clamping member is connected to both the first connecting end and the second connecting end, and together with the first contact surface disposed between the first connecting end and the second connecting end, they form a first accommodating space. The limb component can extend into the first accommodating space. The cam handle assembly can change the distance between the second connecting end and the first clamping member, so that the first clamping member and the first contact surface can clamp or release the limb component. This realizes the connection between the robot body and the limb component. The structure is simple, and the limb component can be clamped or released simply by changing the distance between the second connecting end and the first clamping member through the cam handle assembly. This facilitates the assembly and disassembly of the limb component in the bionic robot, making the limb component easy to repair and replace, which is beneficial for users to replace the limb component themselves, thus improving the user experience.

[0016] Furthermore, the limb components can be clamped or released without the use of special tools, which reduces the cost and difficulty of disassembling and assembling the limb components and lowers the technical threshold for disassembling and assembling the limb components.

[0017] Meanwhile, the first clamping member and the first connecting end are rotatably connected around the rotation axis. The extension direction of the rotation axis is intersected with the encircling direction of the first clamping member and the first contact surface encircling the limb assembly. This allows the first clamping member to rotate around the rotation axis as the cam handle assembly changes the distance between the second connecting end and the first clamping member. This reduces the elasticity requirements of the materials of the first clamping member and the first connecting part, making the selection and design of the connecting assembly more flexible to adapt to complex application scenarios. Attached Figure Description

[0018] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0019] Figure 1 The diagram shown is a structural schematic of a biomimetic robot provided in an embodiment of this application.

[0020] Figure 2 The diagram shown is a structural schematic of a connection component provided in an embodiment of this application.

[0021] Figure 3 The diagram shown is a structural schematic of the connection body, robot body, and limb components provided in an embodiment of this application.

[0022] Figure 4 The diagram shown is a structural schematic of a connection component, robot body, and limb component provided in an embodiment of this application.

[0023] Figure 5 The diagram shown is a structural schematic of a cam handle assembly provided in an embodiment of this application.

[0024] Figure 6 The image shown is an embodiment provided by this application. Figure 4 A cross-sectional view of the connecting component along line AA.

[0025] Figure 7 The diagram shown is a structural schematic of a limb component provided in an embodiment of this application.

[0026] Figure label:

[0027] 1. Bionic robot; 10. Connecting component; 100. First receiving space; 101. First opening; 102. Second receiving space; 103. Second opening; 11. Connecting body; 110. First connecting part; 1100. First connecting end; 1101. Second connecting end; 1102. First contact surface; 1103. First limiting part; 1104. Third limiting part; 1105. First side; 1106. Second side; 111. Second connecting part; 1110. Third connecting end; 1111. Second contact surface; 1112. Threaded hole; 1113. Fifth limiting part; 1114. Seventh limiting part; 1115. Fifth side; 1116. Sixth side; 12. First clamping element; 12 0. First through hole; 121. Ninth limiting part; 122. Tenth limiting part; 1220. Ninth side surface; 1221. Tenth side surface; 13. Cam handle assembly; 130. First connecting member; 1300. First end of the first connecting member; 1301. Second end of the first connecting member; 131. Cam; 132. Handle; 133. Abutment block; 1330. Third through hole; 14. Second clamping member; 15. Adjustment assembly; 150. Screw; 20. Robot body; 200. Sixth limiting part; 21. Limb assembly; 210. Second limiting part; 211. Fourth limiting part; 2110. Third side surface; 2111. Fourth side surface; 22. Torso assembly; 23. Leg assembly; L. Rotation axis. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] Bionic robots, by mimicking the morphology, structure, and movement of living organisms, possess the ability to perform diverse tasks in complex environments, demonstrating enormous application potential in various fields such as industrial production, medical rehabilitation, military reconnaissance, and service entertainment. As the fundamental building blocks for the movement and function of bionic robots, the connection methods of limb components directly affect the overall performance, reliability, and maintainability of the robot.

[0030] However, the connection structure between the main body and limb components of existing bionic robots is complex, and special tools are often used when assembling and disassembling limb components, which makes it difficult to assemble and disassemble limb components, difficult to maintain and repair, and results in a poor user experience.

[0031] To address the aforementioned issues, this application provides a connecting component for use in a bionic robot. The bionic robot includes a connected robot body and at least one limb assembly. The connecting component includes: a connecting body capable of connecting to the robot body, the connecting body including at least one first connecting portion, the first connecting portion including a first connecting end, a second connecting end, and a first contact surface disposed between the first connecting end and the second connecting end; at least one first clamping member rotatably connected to the first connecting end about a rotation axis, connected to the second connecting end, and forming a first receiving space with the first contact surface, the limb assembly being able to extend into the first receiving space, the extension direction of the rotation axis intersecting the encircling direction of the first clamping member and the first contact surface surrounding the limb assembly; and at least one cam handle assembly connected to or abutting against the second connecting end and the first clamping member to change the distance between the second connecting end and the first clamping member, so that the first clamping member and the first contact surface can encircle and clamp the limb assembly.

[0032] The connecting component provided in this application embodiment can connect to the robot body. The first clamping member is connected to both the first connecting end and the second connecting end, and together with the first contact surface disposed between the first connecting end and the second connecting end, they form a first accommodating space. The limb component can extend into the first accommodating space. The cam handle assembly can change the distance between the second connecting end and the first clamping member, so that the first clamping member and the first contact surface can clamp or release the limb component. This realizes the connection between the robot body and the limb component. The structure is simple, and the limb component can be clamped or released simply by changing the distance between the second connecting end and the first clamping member through the cam handle assembly. This facilitates the assembly and disassembly of the limb component in the bionic robot, making the limb component easy to repair and replace, which is beneficial for users to replace the limb component themselves and improves the user experience.

[0033] Furthermore, the limb components can be clamped or released without the use of special tools, which reduces the cost and difficulty of disassembling and assembling the limb components and lowers the technical threshold for disassembling and assembling the limb components.

[0034] Meanwhile, the first clamping member and the first connecting end are rotatably connected around the rotation axis. The extension direction of the rotation axis is intersected with the encircling direction of the first clamping member and the first contact surface encircling the limb assembly. This allows the first clamping member to rotate around the rotation axis as the cam handle assembly changes the distance between the second connecting end and the first clamping member. This reduces the elasticity requirements of the materials of the first clamping member and the first connecting part, making the selection and design of the connecting assembly more flexible to adapt to complex application scenarios.

[0035] The specific structure of the connecting components and the bionic robot is described below with reference to the accompanying drawings and specific embodiments.

[0036] Figure 1 The diagram shown is a structural schematic of a biomimetic robot provided in an embodiment of this application. Figure 2 The diagram shown is a structural schematic of a connection component provided in an embodiment of this application. Figure 3 The diagram shown is a structural schematic of the connection body, robot body, and limb components provided in an embodiment of this application. Figure 4 The diagram shown is a structural schematic of the connection component, robot body, and limb component provided in an embodiment of this application. Figure 5 The diagram shown is a structural schematic of a cam handle assembly provided in an embodiment of this application. Figure 6 The image shown is an embodiment provided by this application. Figure 4 A cross-sectional view of the connecting component along line AA. Figure 7 The diagram shown is a structural schematic of a limb component provided in an embodiment of this application.

[0037] like Figures 1 to 7 As shown, the connecting component 10 is applied to the bionic robot 1. The bionic robot 1 includes a connected robot body 20 and at least one limb component 21. The connecting component 10 is used to connect the robot body 20 and the at least one limb component 21.

[0038] Bionic robot 1 is a robot designed and manufactured by imitating the morphology, structure, movement, perception, and control mechanisms of living organisms (including humans, animals, insects, etc.). For example, bionic robot 1 may include a spider-like robot. The robot body 20 can be used to form the torso of the spider-like robot. The limb assembly 21 can be used to form the legs of the spider-like robot. For example, bionic robot 1 may include a humanoid robot. The robot body 20 can be used to form the torso of the humanoid robot. The limb assembly 21 can be used to form the legs or head of the humanoid robot.

[0039] like Figure 1 Figure 6 As shown, the connecting assembly 10 includes: a connecting body 11, at least one first clamping member 12, and at least one cam handle assembly 13.

[0040] The connecting body 11 can be connected to the robot body 20. The connecting body 11 includes at least one first connecting part 110, the first connecting part 110 including a first connecting end 1100, a second connecting end 1101 and a first contact surface 1102 disposed between the first connecting end 1100 and the second connecting end 1101.

[0041] The first clamping member 12 is rotatably connected to the first connecting end 1100 about the rotation axis L, connected to the second connecting end 1101, and together with the first contact surface 1102, forms a first receiving space 100. The limb assembly 21 can extend into the first receiving space 100. The extending direction of the rotation axis L intersects with the encircling direction of the first clamping member 12 and the first contact surface 1102 around the limb assembly 21.

[0042] The cam handle assembly 13 is connected to or abuts against the second connecting end 1101 and the first clamping member 12 to change the distance between the second connecting end 1101 and the first clamping member 12, so that the first clamping member 12 and the first contact surface 1102 can hug and clamp the limb assembly 21.

[0043] Specifically, the first clamping member 12 is rotatably connected to the first connecting end 1100 about the rotation axis L, and is connected to the second connecting end 1101 via the cam handle assembly 13. In some application scenarios, after the limb assembly 21 extends into the first receiving space 100, the distance between the second connecting end 1101 and the first clamping member 12 can be reduced by the cam handle assembly 13. The first clamping member 12 rotates counterclockwise about the rotation axis L, and the first clamping member 12 and the first contact surface 1102 clamp the limb assembly 21, thereby achieving the installation of the limb assembly 21 onto the robot body 20. In some application scenarios, the distance between the second connecting end 1101 and the first clamping member 12 can be increased by the cam handle assembly 13. The first clamping member 12 rotates clockwise about the rotation axis L, causing the first clamping member 12 and the first contact surface 1102 to release the limb assembly 21, thereby achieving the disassembly of the limb assembly 21 from the robot body 20.

[0044] For example, the cam handle assembly 13 can abut against the side of the second connecting end 1101 away from the first clamping member 12, and can abut against the side of the first clamping member 12 away from the second connecting end 1101, so as to change the distance between the side of the second connecting end 1101 away from the first clamping member 12 and the side of the first clamping member 12 away from the second connecting end 1101.

[0045] For example, the first clamping member 12 and the first contact surface 1102 may encircle the circumferential side of the limb assembly 21. When the first clamping member 12 and the first contact surface 1102 encircle the limb assembly 21, the encircling direction of the first clamping member 12 and the first contact surface 1102 encircling the limb assembly 21 may be the circumferential direction of the circumferential side of the limb assembly 21.

[0046] For example, the extension direction of the rotation axis L intersects the embracing direction of the first clamping member 12 and the first contact surface 1102 surrounding the limb assembly 21. Specifically, the angle between the extension direction of the rotation axis L and the embracing direction of the first clamping member 12 and the first contact surface 1102 surrounding the limb assembly 21 can be greater than 0 degrees and less than 180 degrees. Alternatively, the rotation axis L can be perpendicular to the embracing direction of the first clamping member 12 and the first contact surface 1102 surrounding the limb assembly 21.

[0047] For example, the circumferential side surface of the limb assembly 21 may be a cylindrical surface. In a plane perpendicular to the extension direction of the rotation axis L, the orthographic projection of the first contact surface 1102 includes an arc shape, and the orthographic projection of the surface of the first clamping member 12 for contacting the limb assembly 21 also includes an arc shape.

[0048] For example, when limb assembly 21 needs to be replaced, the user can increase the distance between the second connecting end 1101 and the first clamping member 12 by using the cam handle assembly 13. This allows the first clamping member 12 and the first contact surface 1102 to release limb assembly 21, and the spare limb assembly 21 to be clamped by the first clamping member 12 and the first contact surface 1102, thereby allowing the user to replace limb assembly 21 independently. The limb assembly 21 is easy to assemble and disassemble, enabling users to replace limb assemblies themselves, resulting in high efficiency and improved user experience.

[0049] The connecting component 10 provided in this embodiment allows the connecting body 11 to connect to the robot body 20. The first clamping member 12 is connected to both the first connecting end 1100 and the second connecting end 1101, and together with the first contact surface 1102 located between the first connecting end 1100 and the second connecting end 1101, it forms a first accommodating space 100. The limb component 21 can extend into the first accommodating space 100. The cam handle assembly 13 can change the distance between the second connecting end 1101 and the first clamping member 12, so that the first clamping member 12 and the first contact surface 1102 can clamp or release the limb component 21, thus realizing the connection between the robot body 20 and the limb component 21. The structure is simple, and the limb component 21 can be clamped or released simply by changing the distance between the second connecting end 1101 and the first clamping member 12 through the cam handle assembly 13. This facilitates the assembly and disassembly of the limb component 21 in the bionic robot 1, making the limb component 21 easy to repair and replace, which is beneficial for users to replace the limb component 21 themselves, thus improving the user experience.

[0050] Furthermore, when the limb component 21 is clamped or released, no special tools are required, which reduces the cost and difficulty of disassembling and assembling the limb component 21 and lowers the technical threshold for disassembling and assembling the limb component 21.

[0051] Meanwhile, the first clamping member 12 is rotatably connected to the first connecting end 1100 around the rotation axis L. The extension direction of the rotation axis L is intersected with the encircling direction of the first clamping member 12 and the first contact surface 1102 encircling the limb assembly 21. This allows the first clamping member 12 to rotate around the rotation axis L during the process of the cam handle assembly 13 changing the distance between the second connecting end 1101 and the first clamping member 12. This reduces the elasticity requirements of the materials of the first clamping member 12 and the first connecting part 110, making the selection and design of the connecting assembly 10 more flexible to adapt to complex application scenarios.

[0052] For example, the material of the connecting body 11 can be metal, plastic, or rubber. For instance, the material of the connecting body 11 can be copper, iron, or stainless steel. For example, the materials of the first clamping member 12 and the first connecting portion 110 can both be metal. This arrangement helps to increase the upper limit of the clamping force of the first clamping member 12 and the first contact surface 1102 on the limb assembly 21, making the connection between the limb assembly 21 and the connecting assembly 10 more secure and reliable.

[0053] In some embodiments, such as Figures 4 to 6 As shown, the first clamping member 12 has a first through hole 120. The cam handle assembly 13 includes a first connector 130, a cam 131, and a handle 132. A first end 1300 of the first connector is connected to a second connecting end 1101. The cam 131 is rotatably connected to the second end 1301 of the first connector, which passes through the first through hole 120. The first clamping member 12 is located circumferentially to the cam 131. The cam 131 has a high point and a low point, such that when the high point rotates toward the first clamping member 12, the distance between the first clamping member 12 and the second connecting end 1101 is less than when the low point rotates toward the first clamping member 12. The handle 132 is disposed on the circumferential side of the cam 131.

[0054] In some applications, pushing the handle 132 clockwise causes the cam 131 to rotate clockwise, bringing its highest point toward the first clamping member 12. This reduces the distance between the first clamping member 12 and the second connecting end 1101, allowing the first clamping member 12 and the first contact surface 1102 to encircle and clamp the limb assembly 21. Pushing the handle 132 counterclockwise causes the cam 131 to rotate counterclockwise, bringing its lowest point toward the first clamping member 12. This increases the distance between the first clamping member 12 and the second connecting end 1101, releasing the limb assembly 21 from the first clamping member 12 and the first contact surface 1102.

[0055] Exemplarily, the first end 1300 of the first connector is detachably connected to the second connecting end 1101. This allows the cam handle assembly 13 to be removed, facilitating the disassembly of the first clamping member 12 and thus the maintenance and repair of the connecting assembly 10. Exemplarily, the first end 1300 of the first connector is screwed to the second connecting end 1101.

[0056] For example, such as Figure 5 and Figure 6 As shown, the cam handle assembly 13 also includes an abutment block 133. The abutment block 133 has a third through hole 1330. The second end 1301 of the first connector passes through the first through hole 120 and the third through hole 1330 in sequence and is rotatably connected to the cam 131. The surface of the abutment block 133 facing the first clamping member 12 abuts against the first clamping member 12, and the surface of the abutment block 133 facing the cam 131 abuts against the circumferential side of the cam 131. The abutment block 133 can uniformly transmit the pressure applied by the cam 131 to the first clamping member 12, so that the first clamping member 12 is subjected to uniform force, and the first clamping member 12 is not easily damaged due to direct line contact with the circumferential side of the cam 131. After the abutment block 133 wears out, it can be replaced.

[0057] For example, such as Figure 5 and Figure 6 As shown, the handle 132 has an elongated shape. Exemplarily, the cam 131 and the handle 132 can be integrally formed.

[0058] The connecting component 10 provided in this embodiment adjusts the distance between the first clamping member 12 and the second connecting end 1101 by rotating the cam 131. It has a simple structure and is easy to manufacture and assemble. Since the limb component 21 is usually disassembled and assembled frequently, clamping or releasing the limb component 21 by rotating the cam 131 is easy to operate and improves the user experience. Furthermore, by providing a handle 132, the cam 131 can be easily rotated, reducing the force required to rotate it and making the cam 131 easier to rotate.

[0059] In some embodiments, such as Figure 2 and Figure 3 As shown, the first clamping member 12 and the first contact surface 1102 form a first opening 101. The first opening 101 communicates with the first receiving space 100 and is used to allow the limb assembly 21 to extend into the first receiving space 100. The first contact surface 1102 has one or more elongated first limiting portions 1103, which extend in a direction perpendicular to the opening of the first opening 101.

[0060] The limb assembly 21 has one or more elongated second limiting portions 210. When the first clamping member 12 and the first contact surface 1102 clamp the limb assembly 21, the extending direction of the second limiting portion 210 is parallel to the extending direction of the first limiting portion 1103. The first limiting portion 1103 and the second limiting portion 210 engage to restrict the movement of the limb assembly 21 along the opening direction of the first opening 101.

[0061] For example, the opening direction of the first opening 101 can be the direction of movement of the limb assembly 21 during its insertion into the first receiving space 100. For example, the opening direction of the first opening 101 can be parallel to the extension direction of the rotation axis L.

[0062] When the first clamping member 12 and the first contact surface 1102 clamp the limb assembly 21, the first limiting part 1103 extends in the opening direction perpendicular to the first opening 101, and the extension direction of the second limiting part 210 is parallel to the extension direction of the first limiting part 1103. This allows the first limiting part 1103 and the second limiting part 210 to engage in a concave-convex fit, restricting the movement of the limb assembly 21 in the opening direction of the first opening 101. It also increases the contact area between the first contact surface 1102 and the limb assembly 21, which helps to increase the clamping force of the connecting component 10 on the limb assembly 21, making the fixation of the limb assembly 21 more secure and reliable.

[0063] For example, such as Figure 7 As shown, the second limiting part 210 can be provided on the circumferential side of the limb assembly 21 and extend along the circumferential direction of the limb assembly 21.

[0064] In some embodiments, the first limiting portion 1103 may be a groove, and the second limiting portion 210 may be a protrusion. In other embodiments, the first limiting portion 1103 may be a protrusion, and the second limiting portion 210 may be a groove.

[0065] For example, such as Figure 2 As shown, the contact surface between the first clamping member 12 and the limb assembly 21 may have an elongated ninth limiting portion 121. The ninth limiting portion 121 may extend in a direction perpendicular to the opening direction of the first opening 101. When the first clamping member 12 and the first contact surface 1102 clamp the limb assembly 21, the extending direction of the ninth limiting portion 121 may be parallel to the extending direction of the second limiting portion 210, and the ninth limiting portion 121 may engage with the second limiting portion 210 to restrict the movement of the limb assembly 21 along the opening direction of the first opening 101.

[0066] In some embodiments, such as Figure 2 and Figure 7As shown, the first contact surface 1102 also has a third limiting portion 1104, which has a first side surface 1105 and a second side surface 1106 disposed opposite to each other along the opening direction perpendicular to the first opening 101. The limb assembly 21 has a fourth limiting portion 211, which has a third side surface 2110 and a fourth side surface 2111 disposed opposite to each other. When the first clamping member 12 and the first contact surface 1102 clamp the limb assembly 21, the first side surface 1105 abuts against the third side surface 2110, and the second side surface 1106 abuts against the fourth side surface 2111.

[0067] In some implementations, the third limiting portion 1104 may be a groove, and the fourth limiting portion 211 may be a protrusion. In other implementations, the third limiting portion 1104 may be a protrusion, and the fourth limiting portion 211 may be a groove. Exemplarily, when the first clamping member 12 and the first contact surface 1102 clamp the limb assembly 21, the third limiting portion 1104 may extend into the fourth limiting portion 211, or the fourth limiting portion 211 may extend into the third limiting portion 1104. Exemplarily, the fourth limiting portion 211 is located on the circumferential side of the limb assembly 21. There may be multiple third limiting portions 1104 and fourth limiting portions 211.

[0068] Since the first side 1105 and the second side 1106 are arranged opposite each other along the opening direction perpendicular to the first opening 101, when the first clamping member 12 and the first contact surface 1102 clamp the limb assembly 21, the first side 1105 can abut against the third side 2110, and the second side 1106 can abut against the fourth side 2111. This restricts the limb assembly 21 from rotating along the extension direction of the first limiting part 1103, avoids damage to the connection between the limb assembly 21 and the connecting assembly 10 due to vibration generated during the operation of the limb assembly 21, and further increases the reliability of the connecting assembly 10.

[0069] For example, such as Figure 2 As shown, the contact surface between the first clamping member 12 and the limb assembly 21 may have a tenth limiting portion 122. The tenth limiting portion 122 may have a ninth side surface 1220 and a tenth side surface 1221 disposed opposite each other along the opening direction perpendicular to the first opening 101. When the first clamping member 12 and the first contact surface 1102 clamp the limb assembly 21, the ninth side surface 1220 may abut against the third side surface 2110, and the tenth side surface 1221 may abut against the fourth side surface 2111.

[0070] For example, at least one of the robot body 20 and the limb assembly 21 may be a drive unit. Furthermore, at least one of the robot body 20 and the limb assembly 21 may be a rotary motor or a joint module.

[0071] In some embodiments, such as Figure 1 and Figure 3 As shown, the bionic robot 1 includes a humanoid robot, which includes a robot body 20 and two limb components 21.

[0072] The robot body 20 includes a torso assembly 22, and the limb assembly 21 includes a leg assembly 23 or an arm assembly. The connecting body 11 includes two first connecting parts 110, and the connecting assembly 10 includes two first clamping members 12 and two cam handle assemblies 13.

[0073] The connecting component 10 can connect the two arm components to the torso component 22, and also connect the two leg components 23 to the torso component 22. Since the leg components 23 and arm components are typically used to perform complex movements and bear large torque loads, maintenance is relatively frequent. The connecting component 10 provided in this embodiment facilitates the assembly and disassembly of the leg components 23 and arm components, improving the efficiency of the humanoid robot's assembly, maintenance, and repair. It also allows users to replace the leg components 23 and arm components themselves, enhancing the user experience.

[0074] For example, the torso assembly 22 can be used to form the torso of a humanoid robot, the torso including the waist and shoulders.

[0075] In some embodiments, such as Figures 1 to 4 As shown, the connecting body 11 further includes a second connecting portion 111, which is connected to the first connecting portion 110. The second connecting portion 111 includes two third connecting ends 1110 and a second contact surface 1111 disposed between the two third connecting ends 1110.

[0076] The connecting assembly 10 further includes a second clamping member 14 and at least one adjusting assembly 15. The second clamping member 14 is connected to two third connecting ends 1110 and forms a second receiving space 102 with a second contact surface 1111. The robot body 20 can extend into the second receiving space 102 so that the second clamping member 14 and the second contact surface 1111 can clamp the robot body 20. The adjusting assembly 15 is connected to or abuts against the third connecting ends 1110 and the second clamping member 14 to change the distance between the third connecting ends 1110 and the second clamping member 14, so that the second clamping member 14 and the second contact surface 1111 can clamp the robot body 20.

[0077] For example, the number of adjusting components 15 can be one. The second clamping member 14 can be directly connected to one third connecting end 1110 and connected to another third connecting end 1110 via adjusting components 15. For example, the second clamping member 14 can be detachably or rotatably connected to one third connecting end 1110.

[0078] For example, there can be two adjustment components 15. One adjustment component 15 connects and adjusts the distance between the second clamping member 14 and a third connecting end 1110. The other adjustment component 15 connects and adjusts the distance between the second clamping member 14 and another third connecting end 1110. This arrangement increases the clamping force of the second clamping member 14 and the second contact surface 1111 on the robot body 20, thereby increasing the connection strength between the robot body 20 and the connecting component 10.

[0079] For example, the adjustment component 15 may include one or more combinations of screws, cam locking structures, snap-locking structures, and ratchet pawl locking structures.

[0080] For example, the structure of the adjusting component 15, the second connecting part 111 and the second clamping member 14 can also refer to the structure of the cam handle assembly 13, the first connecting part 110 and the first clamping member 12.

[0081] The connecting component 10 provided in this embodiment has a second connecting part 111 connected to a first connecting part 110. A second clamping member 14 is connected to two third connecting ends 1110 of the second connecting part 111 and forms a second accommodating space 102 with the second contact surface 1111 between the two third connecting ends 1110. The robot body 20 can extend into the second accommodating space 102. The adjusting component 15 is connected to or abuts against the third connecting ends 1110 and the second clamping member 14, which can change the distance between the third connecting ends 1110 and the second clamping member 14, so that the second clamping member 14 and the second contact surface 1111 can clamp or release the robot body 20, realizing the connection with the robot body 20. The structure is simple and also facilitates the disassembly and assembly of the robot body 20 in the bionic robot 1, making the robot body 20 easy to repair and replace.

[0082] In some embodiments, the adjustment assembly 15 includes a screw 150, a second clamping member 14 having a second through hole, and a third connecting end 1110 having a threaded hole 1112. The screw 150 passes through the second through hole and is screwed into the threaded hole 1112 to achieve the connection between the second clamping member 14 and the third connecting end 1110.

[0083] The distance between the second clamping member 14 and the third connecting end 1110 can be adjusted by rotating the screw 150. The structure is simple and easy to operate. Since the robot body 20 is not frequently repaired or replaced, connecting the second clamping member 14 and the third connecting end 1110 with the screw 150 can increase the connection strength between the robot body 20 and the connecting assembly 10.

[0084] In some embodiments, the third connecting end 1110, the second connecting end 1101, and the first connecting end 1100 are connected sequentially. This arrangement allows the cam handle assembly 13 to be positioned closer to the third connecting end 1110, which is also closer to the robot body 20. This makes the cam handle assembly 13 less likely to be accidentally touched by external objects, improving the safety of the bionic robot, and also enhancing its aesthetics without appearing too obtrusive.

[0085] In some embodiments, the second clamping member 14 and the second contact surface 1111 form a second opening 103. The second opening 103 communicates with the second receiving space 102 and is used for the robot body 20 to extend into the second receiving space 102.

[0086] The second contact surface 1111 has one or more elongated fifth limiting portions 1113, which extend in a direction perpendicular to the opening of the second opening 103. The robot body 20 has one or more elongated sixth limiting portions 200. When the second clamping member 14 and the second contact surface 1111 clamp the robot body 20, the extending direction of the fifth limiting portion 1113 is parallel to the extending direction of the sixth limiting portion 200, and the fifth limiting portion 1113 and the sixth limiting portion 200 engage in a concave-convex fit to restrict the movement of the robot body 20 along the opening direction of the second opening 103.

[0087] The structure, working principle and technical effect of the fifth limiting part 1113 and the sixth limiting part 200 can be referred to the structure, working principle and technical effect of the first limiting part 1103 and the second limiting part 210, and will not be repeated here.

[0088] In some embodiments, the second contact surface 1111 has a seventh limiting portion 1114, which has a fifth side surface 1115 and a sixth side surface 1116 disposed opposite to each other along the opening direction perpendicular to the second opening 103. The robot body 20 has an eighth limiting portion, which has a seventh side surface and an eighth side surface disposed opposite to each other. When the second clamping member 14 and the second contact surface 1111 clamp the robot body 20, the fifth side surface 1115 abuts against the seventh side surface, and the sixth side surface 1116 abuts against the eighth side surface.

[0089] The structure, working principle and technical effect of the seventh limit part 1114 and the eighth limit part can be referred to the structure, working principle and technical effect of the third limit part 1104 and the fourth limit part 211, and will not be repeated here.

[0090] For example, the second clamping member 14 may also be provided with a limiting portion similar to the ninth limiting portion 121 and the tenth limiting portion 122.

[0091] This application also provides a bionic robot 1. The bionic robot 1 includes: a robot body 20, a limb assembly 21, and a connection component 10 mentioned in the above embodiments. The connection component 10 is used to connect the robot body 20 and the limb assembly 21.

[0092] Since the bionic robot 1 includes the connecting component 10, the bionic robot 1 has all the technical features and effects of the connecting component 10, which will not be described in detail here.

[0093] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “featuring,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0094] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0095] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0096] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A connection assembly, characterized in that This is applied to biomimetic robots, which include a connected robot body and at least one limb assembly, the connecting assembly comprising: A connecting body is capable of being connected to the robot body. The connecting body includes at least one first connecting part, the first connecting part including a first connecting end, a second connecting end, and a first contact surface disposed between the first connecting end and the second connecting end. At least one first clamping member is rotatably connected to the first connecting end about a rotation axis, connected to the second connecting end, and surrounds the first contact surface to form a first receiving space. The limb assembly can extend into the first receiving space. The extension direction of the rotation axis is intersected with the embracing direction of the first clamping member and the first contact surface surrounding the limb assembly. At least one cam handle assembly is connected to or abuts against the second connecting end and the first clamping member to change the distance between the second connecting end and the first clamping member, so that the first clamping member and the first contact surface can encircle and clamp the limb assembly.

2. The connection assembly of claim 1, wherein, The first clamping member has a first through hole, and the cam handle assembly includes: A first connector, wherein a first end of the first connector is connected to a second connector; A cam is rotatably connected to the second end of the first connector that passes through the first through hole. The first clamping member is located in the circumferential direction of the cam. The cam has a high point and a low point. When the high point is rotated toward the first clamping member, the distance between the first clamping member and the second connector is less than the distance between the first clamping member and the second connector when the low point is rotated toward the first clamping member. A handle is provided on the circumferential side of the cam.

3. The connection assembly of claim 1, wherein, The first clamping member and the first contact surface form a first opening, which communicates with the first receiving space for the limb assembly to extend into the first receiving space. The first contact surface has one or more elongated first limiting portions, which extend in a direction perpendicular to the opening of the first opening. The limb assembly has one or more elongated second limiting portions. When the limb assembly is clamped by the first clamping member and the first contact surface, the extension direction of the second limiting portion is parallel to the extension direction of the first limiting portion. The first limiting portion and the second limiting portion are in a concave-convex fit to restrict the movement of the limb assembly along the opening direction of the first opening.

4. The connection assembly of claim 3, wherein, The first contact surface also has a third limiting part, which has a first side surface and a second side surface disposed opposite to each other along the opening direction perpendicular to the first opening. The limb assembly has a fourth limiting portion, which has a third side and a fourth side disposed opposite to each other. When the first clamping member and the first contact surface clamp the limb assembly, the first side abuts against the third side, and the second side abuts against the fourth side.

5. The connection assembly according to any one of claims 1 to 4, characterized in that The bionic robot includes a humanoid robot, which includes a robot body and two limb components. The robot body includes a torso component, and the limb components include a leg component or an arm component. The connecting body includes two first connecting parts, and the connecting assembly includes two first clamping members and two cam handle assemblies.

6. The connection assembly according to any one of claims 1 to 4, characterized in that The connecting body further includes a second connecting part, which is connected to the first connecting part. The second connecting part includes two third connecting ends and a second contact surface disposed between the two third connecting ends. The connection component further includes: The second clamping member is connected to the two third connecting ends and forms a second receiving space with the second contact surface. The robot body can extend into the second receiving space so that the second clamping member and the second contact surface can clamp the robot body. At least one adjustment component is connected to or abuts against the third connecting end and the second clamping member to change the distance between the third connecting end and the second clamping member, so that the second clamping member and the second contact surface can clamp the robot body.

7. The connecting component according to claim 6, characterized in that, The adjustment assembly includes a screw, the second clamping member has a second through hole, and the third connecting end has a threaded hole. The screw passes through the second through hole and is screwed into the threaded hole to achieve the connection between the second clamping member and the third connecting end.

8. The connecting component according to claim 6, characterized in that, The third connection end, the second connection end, and the first connection end are connected in sequence.

9. The connection assembly of claim 6, wherein, The second clamping member and the second contact surface form a second opening, which communicates with the second receiving space and is used for the robot body to extend into the second receiving space; Wherein, the second contact surface has one or more elongated fifth limiting portions extending along an opening direction perpendicular to the second opening; the robot body has one or more elongated sixth limiting portions; when the second clamping member and the second contact surface clamp the robot body, the extending direction of the fifth limiting portion is parallel to the extending direction of the sixth limiting portion; the fifth limiting portion and the sixth limiting portion engage in a concave-convex fit to restrict the movement of the robot body along the opening direction of the second opening; and / or, The second contact surface has a seventh limiting portion, which has a fifth side and a sixth side disposed opposite to each other along the opening direction perpendicular to the second opening. The robot body has an eighth limiting portion, which has a seventh side and an eighth side disposed opposite to each other. When the second clamping member and the second contact surface clamp the robot body, the fifth side abuts against the seventh side, and the sixth side abuts against the eighth side.

10. A biomimetic robot, characterized in that, include: Robot body; At least one limb component; The connection component according to any one of claims 1 to 9 is used to connect the robot body and at least one of the limb components.

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