High-speed robotic telescopic device and robot

Abstract

The present invention discloses a telescopic device for a robot capable of high speed operation, comprising a fixed frame, said fixed frame comprising a bottom mounting plate, a top plate and two side mounting plates on both sides, a head mounting member for mounting a head is provided on the inside of said top plate, said top plate is provided with a head avoidance hole for passing the head through, a limb mounting member for mounting a limb is provided on the inside of said side mounting plates, said side mounting plates have limb avoidance holes for passing the limbs through, said fixed frame is provided with a drive unit for moving the head mounting member and the limb mounting member and contracting the head and the limb at least partially into said fixed frame, said drive unit including a servo motor fixed to the bottom mounting plate and a rotating rack which is rotationally driven by the servo motor and moves the head mounting member and the limb mounting member.

Description

[Technical Field]

[0001] The present invention relates to the field of robots, and more particularly to a telescopic device for a robot capable of high-speed operation, and a robot. [Background technology]

[0002] Currently, in the field of intelligent learning robots for children, many robots with anthropomorphic or animal-like appearances have appeared, but these robots have protruding parts such as heads and upper limbs, which are easily damaged if the robot falls or tumbles.

[0003] In the prior art, a Chinese patent with publication number CN109015695A discloses a children's learning robot, which includes a movable robot body, a robot fixing base provided on the outer surface of the lower end of the movable robot body, a heating device for preventing frostbite on the front outer surface of the robot fixing base, a hidden stationery retraction mechanism provided on the outer surfaces of both sides of the movable robot body, a retractable hidden learning lighting device provided on the outer surface of the rear end of the movable robot body, robot movable palms provided on both sides of the hidden stationery retraction mechanism, a robot movable arm fixedly disposed on the outer surface of one side of the lower end of the robot movable palm, a robot arm rotation shaft provided on the outer surface of one end of the robot movable arm, a movable connecting rod fixedly connected to the outer surface of the middle of the robot movable arm, and a rotation shaft provided on the outer surface of one end of the movable connecting rod. is fixedly connected to the rotating shaft, a hidden stationery retractable movable cover is provided on the upper end of the rotating shaft, a hidden stationery retractable movable cover is provided on the outer surface of the lower end of the hidden stationery retractable movable cover, a first rotating shaft is provided between the rotating connecting rod and the hidden stationery retractable movable cover, the outer surface of the lower end of the rotating connecting rod is movably connected to the outer surface of one end of the rotating connecting rod via the first rotating shaft, the inner surface of a middle part of the rotating connecting rod is movably connected to the outer surface of the rotating shaft, a second rotating shaft is provided between the rotating connecting rod and the movable connecting rod, the outer surface of the other end of the rotating connecting rod is movably connected to the outer surface of one end of the movable connecting rod via the second rotating shaft, a third rotating shaft is provided between the movable connecting rod and the robot's movable arm, and the outer surface of the other end of the movable connecting rod is movably connected to the outer surface of a middle part of the robot's movable arm via the third rotating shaft. A fixed base is provided at the bottom of the robot to lower the center of gravity of the robot, reducing the possibility of the robot tipping over or falling, but it restricts the robot's mechanical layout.

[0004] The prior art also includes a communication learning robot for children, which includes a surveillance camera, a screen, a switch panel, a body, a somatosensory interactive support, a speaker, and a spherical head, as disclosed in a Chinese patent with publication number CN109940637A. a spherical head is provided at the top end of the body, a screen is provided at the front end of the spherical head, the surveillance camera is attached to the screen, the switch panel is provided at the front end of the body, speakers are provided on both sides of the body, and the speakers and the body are interference-fitted together; a somatosensory interactive support is provided at the bottom of the body, the somatosensory interactive support is composed of a somatosensory feedback mechanism, a turntable, a positioning device, and a suction cup, the turntable is provided at the top of the positioning mechanism, the turntable and the positioning mechanism are movably connected, the suction cup is provided at the bottom of the positioning mechanism, the somatosensory feedback mechanism is provided at the top of the turntable, the somatosensory feedback mechanism is composed of an elastic reset bracket, a universal movable support, a support, and a second bearing ring, the second bearing ring is provided at the bottom of the support, the universal movable support is provided at the top of the support, and the elastic reset bracket is provided at the top of the universal movable support. One solution to prevent the robot from falling over is to make the robot a tumbler structure, but this increases the overall weight of the robot, making it difficult to transport and move.

[0005] Although the robot structures disclosed in the two patents above can prevent the robot from tipping over or falling to some extent, once the robot tips over or falls, the protruding parts of the robot will still be damaged, and the robot with this structure will always have its head and / or limbs protruding, making it inconvenient to pack and transport.

[0006] In addition, although there is a technical solution in the prior art to directly design a robot into an oval shape, the shape of such a robot is not suitable for an intelligent learning robot for children. Summary of the Invention

[0007] SUMMARY OF THE INVENTION In order to solve the problems of the prior art, the present invention provides a robotic telescopic device and a robot capable of high speed operation.

[0008] A telescopic device for a robot capable of high-speed operation, comprising a fixed frame, the fixed frame including a bottom mounting plate, a top plate, and two side mounting plates on both sides, a head mounting member for mounting a head on the inside of the top plate, the top plate having a head avoidance hole for passing the head through, a limb mounting member for mounting a limb on the inside of the side mounting plates, the side mounting plates having limb avoidance holes for passing the limb through, The fixed frame is provided with a drive device for driving the movement of the head mounting member and the limb mounting member so as to at least partially retract the head and limb within the fixed frame, and the drive device includes a servo motor (servo) fixed to the mounting base plate and having a cliff sensor, and a rotating rack that is rotated by the servo motor to drive the movement of the head mounting member and the limb mounting member.

[0009] Specifically, the servo motor drives the carousel to rotate back and forth, and as the carousel rotates back and forth, the head mounting member and the limb mounting member perform extension and retraction movements, and the directions of movement of the head mounting member and the limb mounting member are perpendicular to each other. That is, the servo motor is used to realize two-way linear movement of the robot's head and limbs that are perpendicular to each other. The robot's limbs and head are fixed to the limb mounting members and head mounting members, respectively, and the mounting side panels and top panel are provided with limb escape holes and head escape holes. That is, the robot's head and limbs can be retracted into the fixed frame or extended from the fixed frame. Therefore, if the robot falls or tips over, when the cliff sensor detects that the robot is hanging or tipping over, it sends a trigger signal to the main control board. The main control board controls the servo motor to rotate quickly, causing the limbs and head to retract into the fixed frame, thereby preventing damage to the limbs and head. The limbs and head can also be retracted into the fixed frame during transportation, making it easier to pack and transport the robot.

[0010] Compared to using a structure that combines a high-speed DC servo motor and a ball screw to drive the rotation of a carousel, using a servo motor to drive the rotation of a carousel is less expensive, and compared to using a structure that combines a traditional DC servo motor and a gearbox to drive the rotation of a carousel, the servo motor's volume is smaller and easier to install. Therefore, considering all aspects, using a servo motor to drive the rotation of a carousel is the best solution.

[0011] In addition, in order to allow the top plate to follow the shape of the robot, the top plate and the mounting side plate are connected via a shoulder connecting plate that slopes downward from the top plate toward the mounting side plate.

[0012] Preferably, two of the rotary racks are provided on opposite sides of the servo motor, and the two rotary racks are provided near the sides of the fixed frame where the mounting side plates are not attached, and the head mounting member and limb mounting member are both driven by the two rotary racks.

[0013] Specifically, both the limb attachment member and the head attachment member have a plate structure, and the structure uses two rotating racks to drive the movement of the limb attachment member and the head attachment member, which effectively ensures the stability and consistency of the limb attachment member and the head attachment member, thereby ensuring the stability and consistency of the movement of the limb attached to the limb attachment member and the head attached to the head attachment member.

[0014] Preferably, the head mounting member and the rotating rack are movably connected via a head connector, and the limb mounting member and the rotating rack are movably connected via a limb connector, The head connector and limb connector are both "H" shaped and include two connection boards and one transition board, and the two connection boards are fixed to both ends of the transition board, respectively, and each of the two connection boards is movably connected to one of the two rotating racks.

[0015] Specifically, the "H"-shaped limb connectors and head connectors are easy to fix to the two rotating racks, and the limb connectors and head connectors rotate during exercise. By arranging the limb connectors and head connectors in an "H" shape, interference between the limb connectors and head connectors and structures such as the rotating racks and servo motors can be effectively prevented during rotation.

[0016] Preferably, the head mounting member is movably connected to the fixed frame via a head guide mechanism, the head guide mechanism including a head guide column whose ends are fixed to the top plate and bottom mounting plate, respectively, the head guide column being perpendicular to the bottom mounting plate, two head guide columns being provided, the two head guide columns being attached to both side surfaces of the fixed frame that are not attached to the mounting side plates, and the head mounting member and head guide columns being movably connected via a head slide seat.

[0017] Specifically, with this structure, after the servo motor is started, the head slide seat is fitted (mounted) into the head guide column, so that the head mounting member moves the head along the axial direction of the head guide column, ensuring the stability of the movement of the head mounting member; that is, ensuring that the head mounting member moves along a direction perpendicular to the top plate, and preventing the head mounted on the head mounting member from interfering with the hole wall of the head avoidance hole and causing damage in both directions to the head and the hole wall of the head avoidance hole.

[0018] Preferably, the limb mounting member is movably connected to the fixed frame via a limb guide mechanism, the limb guide mechanism being arranged parallel to the mounting side plate and including a bracket fixed to the mounting bottom plate, and a limb guide column having both ends fixed to the bracket and the mounting side plate, the limb guide column being parallel to the mounting bottom plate, each limb guide mechanism including two limb guide columns, the two limb guide columns of the same limb guide mechanism being respectively provided on both side surfaces of the fixed frame where the mounting side plate is not provided, and the limb mounting member and limb guide column being movably connected via a limb slide seat.

[0019] Specifically, with this structure, the servo motor drives the limb attachment member to move the limb along the axial direction of the limb guide column, effectively ensuring stability in the direction of movement of the limb attachment member, preventing the limb attached to the limb attachment member from interfering with the hole wall of the limb avoidance hole and causing damage in both directions to the limb and the hole wall of the limb avoidance hole, and because the limb guide column is perpendicular to the head guide column, the direction of movement of the limb attachment member and the direction of movement of the head attachment member are always perpendicular to each other.

[0020] In addition, since the limb guide column and the mounting base plate are parallel to each other and the head guide column and the mounting base plate are perpendicular to each other, it is possible to effectively prevent the entire device from stopping during movement and the servo motor from stalling or being damaged.

[0021] Preferably, the head slide seat and the limb slide seat are both fitted to the limb guide column and the head guide column by linear bearings, and a retaining ring for axial positioning is provided between the head slide seat and the limb slide seat and the corresponding linear bearing.

[0022] Specifically, the head sliding seat and limb sliding seat are movably connected to the head guide column and limb guide column via linear bearings, allowing the head sliding seat and limb sliding seat to slide easily on the head guide column and limb guide column, i.e., facilitating movement of the limb mounting member and head mounting member. At the same time, if the connection between the head sliding seat and / or limb sliding seat and its corresponding linear bearing becomes unstable or falls off during movement, this may have a serious impact on the movement of the head mounting member and / or limb mounting member, and the head mounting member and / or limb mounting member may become stuck, or the entire telescopic device may become immobile. The structure of the shaft retaining ring can increase the stability of the connection between the head sliding seat and limb sliding seat and its corresponding linear bearing, and can effectively prevent the head sliding seat and / or limb sliding seat from falling off their corresponding linear bearings during operation.

[0023] Preferably, both the limb guide column and the head guide column are provided with rubber columns for shock absorption.

[0024] Specifically, as the servo motor rotates, the limb sliding seats and head sliding seats slide on the limb guide columns and head guide columns, and the movement of the limb sliding seats and head sliding seats moves the limb mounting members and head mounting members. However, as the limb sliding seats and head sliding seats slide, there is a possibility that they may collide with the mounting side plates and top plate. If this happens, it will not only cause obvious vibrations throughout the telescopic device, but will also lead to damage in both directions between the impacted parts and shorten the service life of the entire device. Furthermore, the structure of installing rubber columns on the limb guide columns and head guide columns effectively prevents impacts between the limb sliding seats and head sliding seats and the mounting side plates and top plate, thereby extending the service life of the entire device.

[0025] Preferably, the head sliding seat and the limb sliding seat each include an adapter board and a mating board, the adapter board and the mating board are fixed to each other to form an "L" shape, the end of the adapter board is fixed to the limb mounting member or the head mounting member, and the mating board is provided with a mating hole that is fitted with the limb guide column or the head guide column.

[0026] Preferably, the servo motor is provided with a steering wheel, the rotating rack is fixed to the steering wheel, and the rotating rack is in the shape of a cross or "⊥".

[0027] Specifically, the steering wheel can quickly transmit the rotational movement of the servo motor, and since the rotating rack is fixed to the steering wheel, the steering wheel causes the rotating rack to rotate back and forth, moving the head mounting member and the limb mounting member. The cross-shaped or "⊥"-shaped rotating rack effectively reduces the weight of the rotating rack, making it easier to rotate, while also effectively reducing the possibility of interference between the rotating rack and the limb connector and head connector.

[0028] In addition, by designing the rotating rack into a cross-shaped or "⊥"-shaped structure, the angle between the limb connection frame and head connection frame connected to the rotating rack can be made 90°, and the angle between two limb connection frames connected to the rotating rack can be made 180°.

[0029] The telescopic device for a robot capable of high-speed operation is used in a robot capable of high-speed operation.

[0030] Specifically, if a robot with this type of structure tips over or falls, when the cliff sensor detects that the robot is hanging or tipping over, it sends a trigger signal to the main control board, which controls the servo motor to rotate quickly, causing the rotating rack to start rotating.As the rotating rack rotates, the limb connector and head connector move together, and the limb connector and head connector drive the limb mounting member and head mounting member to move in a linear direction toward the servo motor.Since the limb is fixed to the limb mounting member and the head is fixed to the head mounting member, the limb mounting member and head mounting member drive the limb and head to contract inside the fixed frame, and neither the head nor the limb of the robot contracted inside the fixed frame will collide hard with a wall, the ground, etc., greatly reducing the possibility of damage to the robot's head or limbs due to tipping or falling.

[0031] Compared with the prior art, the advantages of the present invention are as follows: (1) By rotating the rotary rack of the drive device, the limb attachment member and the head attachment member are extended and retracted in directions perpendicular to each other, that is, linear motion in two directions perpendicular to each other is realized using a servo motor. (2) The limbs and head of the robot are fixed to the limb mounting members and head mounting members, respectively, and the mounting side panels and top panel are provided with limb avoidance holes and head avoidance holes, respectively, so that the head and limbs of the robot can be retracted into the fixed frame or extended therefrom. When the robot falls or tumbles, the servo motors are quickly started, and the limbs and head are retracted into the fixed frame to prevent damage to the limbs and head. During transportation, the limbs and head can also be retracted into the fixed frame, making it easier to pack and transport the robot. [Brief explanation of the drawings]

[0032] [Figure 1] FIG. 1 is a schematic diagram of the three-dimensional structure of a telescopic device for a robot capable of high-speed operation provided by the present invention. [Figure 2] FIG. 2 is a schematic diagram of a limb linking structure of a telescopic device for a robot capable of high speed operation provided by the present invention. [Figure 3] FIG. 3 is a schematic diagram of the drive unit and head linkage structure of the telescopic device for a robot capable of high speed operation provided by the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0033] The present invention will now be further described in conjunction with the accompanying drawings and specific examples.

[0034] As shown in FIG. 1, this is a telescopic device for a robot capable of high-speed operation, and includes a fixed frame, which includes a bottom mounting plate 11, a top plate 13, and two side mounting plates 12 on either side. The top plate 13 is provided with a head mounting member 32 on the inside for mounting a head, and the top plate 13 is provided with a head escape hole 15 for passing the head through. The side mounting plates 12 are provided with limb mounting members 43 on the inside for attaching limbs, and the side mounting plates 12 have limb escape holes 14 for passing the limbs through.

[0035] The fixed frame is provided with a drive device that moves the head mounting member 32 and the limb mounting member 43 and retracts the head and limbs at least partially within the fixed frame, and the drive device includes a servo motor 21 fixed to the mounting base plate 11 and having a cliff sensor, and a rotating rack 22 that is rotated by the servo motor 21 and moves the head mounting member 32 and the limb mounting member 43.

[0036] The servo motor 21 is started to rotate the rotating rack 22 back and forth, and the back and forth rotation of the rotating rack 22 causes the head mounting member 32 and the limb mounting member 43 to move in an expanding and contracting motion, so that the movement direction of the head mounting member 32 and the movement direction of the limb mounting member 43 are mutually orthogonal. In other words, the servo motor 21 is used to realize the linear movement of the robot's head and limbs in two directions that are mutually orthogonal. The limbs and head of the robot are fixed to the limb mounting member 43 and the head mounting member 32, respectively. The mounting side plates 12 and the top plate 13 have limb avoidance holes 14 and head avoidance holes 15, respectively. That is, the head and limbs of the robot can be retracted into the fixed frame or extended from the fixed frame. Therefore, if the robot falls or topples, when the cliff sensor detects that the robot is hanging or toppling, it transmits a trigger signal to the main control board, which controls the servo motors 21 to rotate quickly, thereby retracting the limbs and head into the fixed frame, thereby preventing damage to the limbs and head. During transportation, the limbs and head can also be retracted into the fixed frame, facilitating packaging and transportation of the robot.

[0037] In order to allow the top plate 13 to follow the shape of the robot, the top plate 13 and the mounting side plate 12 are connected via a shoulder connecting plate 16 that slopes downward from the top plate 13 toward the mounting side plate 12.

[0038] Two rotating racks 22 are provided on opposite sides of the servo motor 21, and each of the two rotating racks 22 is provided near the side of the fixed frame to which the mounting side plate 12 is not attached, and both the head mounting member 32 and the limb mounting member 43 are driven by the two rotating racks 22.

[0039] Both the limb attachment member 43 and the head attachment member 32 have a plate structure, and the structure of using two rotating racks 22 to drive the movement of the limb attachment member 43 and the head attachment member 32 effectively ensures stability and consistency during movement of the limb attachment member 43 and the head attachment member 32, thereby ensuring stability and consistency in the movement of the limb attached to the limb attachment member 43 and the head attached to the head attachment member 32.

[0040] As shown in Fig. 3, the head mounting member 32 and the carousel 22 are movably connected via a head connector 31. As shown in Fig. 2, the limb mounting member 43 and the carousel 22 are movably connected via a limb connector 42.

[0041] Both the head connector 31 and the limb connector 42 are "H" shaped and include two connection boards and one transition board, with the two connection boards fixed to both ends of the transition board, and the two connection boards movably connected to different rotating racks 22, respectively.

[0042] The "H"-shaped limb connectors 42 and head connector 31 can be easily fixed to the two carousels 22, allowing the limb connectors 42 and head connector 31 to rotate during exercise. Arranging the limb connectors 42 and head connector 31 in an "H" shape effectively prevents the limb connectors 42 and head connector 31 from interfering with structures such as the carousel 22 and servo motor 21 during rotation. The head mounting member 32 is movably connected to the fixed frame via a head guide mechanism. The head guide mechanism 33 includes a head guide column 33 whose ends are fixed to the top plate 13 and the mounting base plate 11, respectively. The head guide column 33 is perpendicular to the mounting base plate 11. Two head guide columns 33 are provided, one attached to each side of the fixed frame where the mounting side plate 12 is not attached, and the head mounting member 32 and the head guide column 33 are movably connected via a head slide seat 34.

[0043] With this structure, after the servo motor 21 starts, the head slide seat 34 is fitted into the head guide column 33, so that the head mounting member 32 moves the head along the axial direction of the head guide column 33, ensuring the stability of the movement of the head mounting member 32; that is, it ensures that the head mounting member 32 moves along a direction perpendicular to the top plate 13, preventing the head mounted on the head mounting member 32 from interfering with the hole wall of the head avoidance hole 15 and causing damage in both directions to the head and the hole wall of the head avoidance hole 15.

[0044] The limb mounting member 43 is movably connected to the fixed frame via a limb guide mechanism, which is arranged parallel to the mounting side plate 12 and includes a bracket 41 fixed to the mounting bottom plate 11, and a limb guide column 44 whose both ends are fixed to the bracket 41 and the mounting side plate 12, the limb guide column 44 is parallel to the mounting bottom plate 11, each limb guide mechanism includes two limb guide columns 44, and the two limb guide columns 44 of the same limb guide mechanism are respectively provided on both side surfaces of the fixed frame where the mounting side plate 12 is not provided, and the limb mounting member 43 and limb guide column 44 are movably connected via a limb slide seat 45.

[0045] With this structure, by driving the servo motor 21, the limb attachment member 43 moves the limb along the axial direction of the limb guide column 44, which effectively ensures stability in the direction of movement of the limb attachment member 43, preventing the limb attached to the limb attachment member 43 from interfering with the hole wall of the limb avoidance hole 14 and causing damage in both directions to the limb and the hole wall of the limb avoidance hole 14.In addition, because the limb guide column 44 is perpendicular to the head guide column 33, the direction of movement of the limb attachment member 43 and the direction of movement of the head attachment member 32 are always perpendicular to each other.

[0046] Furthermore, since the limb guide column 44 and the mounting base plate 11 are parallel to each other, and the head guide column 33 and the mounting base plate 11 are perpendicular to each other, it is possible to effectively prevent the entire device from stopping during operation, and the servo motor 21 from stalling or being damaged.

[0047] Both the head slide seat 34 and the limb slide seat 45 are fitted to the limb guide column 44 and the head guide column 33 by linear bearings 51, and both the head slide seat 34 and the limb slide seat 45 are provided with axial retaining rings 52 for axial positioning between the corresponding linear bearings 51.

[0048] The head sliding seat 34 and the limb sliding seat 45 are movably connected to the head guide column 33 and the limb guide column 44 via the linear bearings 51, which allows the head sliding seat 34 and the limb sliding seat 45 to slide easily on the head guide column 33 and the limb guide column 44, i.e., facilitating the movement of the limb mounting member 43 and the head mounting member 32. At the same time, if the connection between the head sliding seat 34 and / or the limb sliding seat 45 and the corresponding linear bearings 51 becomes unstable or falls off during movement, this may have a serious impact on the movement of the head mounting member 32 and / or the limb mounting member 43, and may even cause the head mounting member 32 and / or the limb mounting member 43 to become stuck, and the entire telescopic device to become immobile. The structure of the shaft retaining ring 52 increases the stability of the connection between the head sliding seat 34 and the limb sliding seat 45 and the corresponding linear bearings 51, and effectively prevents the head sliding seat 34 and / or the limb sliding seat 45 from falling off the corresponding linear bearings 51 during movement.

[0049] Both the limb guide column 44 and the head guide column 33 are provided with rubber columns 53 for shock absorption.

[0050] As servo motor 21 rotates, limb mounting member 43 and head mounting member 32 slide on limb sliding seats 45 and head sliding seats 34, and the movement of limb sliding seats 45 and head sliding seats 34 moves limb mounting member 43 and head mounting member 32. However, as limb sliding seats 45 and head sliding seats 34 slide, there is a possibility that limb sliding seats 45 and head sliding seats 34 may collide with mounting side plate 12 and top plate 13. If this occurs, obvious vibration will occur throughout the telescopic device and bidirectional damage will occur between the impacted parts, shortening the service life of the entire device. Furthermore, the structure in which rubber columns 53 are installed on limb guide columns 44 and head guide columns 33 effectively prevents impacts between limb sliding seats 45 and head sliding seats 34 and mounting side plate 12 and top plate 13, thereby extending the service life of the entire device.

[0051] Both the head slide seat 34 and the limb slide seat 45 include an adapter board and a mating board, which are fixed to each other to form an "L" shape, with the end of the adapter board fixed to the limb mounting member 43 or the head mounting member 32, and the mating board has a mating hole that fits into the limb guide column 44 or the head guide column 33.

[0052] The servo motor 21 is provided with a steering wheel 23, and the rotary rack 22 is fixed to the steering wheel 23, so that the rotary rack 22 is cross-shaped.

[0053] The steering wheel 23 can quickly transmit the rotational movement of the servo motor 21, and as the rotating rack 22 is fixed to the steering wheel 23, the steering wheel 23 causes the rotating rack 22 to rotate back and forth, thereby moving the head mounting member 32 and the limb mounting member 43. The cross-shaped rotating rack 22 effectively reduces the weight of the rotating rack 22, making it easier to rotate, while also effectively reducing the possibility of interference between the rotating rack 22 and the limb connector 42 and head connector 31.

[0054] In addition, by designing the rotating rack 22 into a cross-shaped or "⊥"-shaped structure, the angle between the limb connection frame 42 connected to the rotating rack 22 and the head connection frame 31 can be made 90°, and the angle between the two limb connection frames 42 connected to the rotating rack 22 can be made 180°.

[0055] The telescopic device for a robot capable of high-speed operation is used in a robot capable of high-speed operation.

[0056] If a robot with this type of structure tips over or falls, when the cliff sensor detects that the robot is hanging or tipping over, it transmits a trigger signal to the main control board, which controls the servo motor 21 to rotate quickly, causing the carousel 22 to begin rotating. The rotation of the carousel 22 causes the limb connector 42 and head connector 31 to move together, and the limb connector 42 and head connector 31 drive the limb attachment member 43 and head attachment member 32 to move in a linear direction toward the servo motor 21. As the limb is fixed to the limb attachment member 43 and the head is fixed to the head attachment member 32, the limb attachment member 43 and head attachment member 32 retract the limb and head into the fixed frame, and neither the head nor the limb of the robot retracted inside the fixed frame will collide hard with a wall, the ground, etc., greatly reducing the possibility of damage to the robot's head or limbs due to a fall or tipping over.

Claims

1. A telescopic device for a robot capable of high speed operation, comprising a fixed frame, the fixed frame including a bottom mounting plate, a top plate, and two side mounting plates on both sides, a head mounting member for mounting a head on the inside of the top plate, the top plate having a head avoidance hole for passing the head through, a limb mounting member for mounting a limb on the inside of the side mounting plate, the side mounting plate having a limb avoidance hole for passing the limb through, A drive device is provided within the fixed frame for driving the movement of the head mounting member and the limb mounting member so as to at least partially retract the head and limb into the fixed frame, the drive device including a servo motor fixed to the mounting base plate and having a cliff sensor, and a rotating rack that is rotationally driven by the servo motor for driving the movement of the head mounting member and the limb mounting member; The two rotating racks are provided on opposite sides of the servo motor, and the two rotating racks are respectively provided near the sides of the fixed frame where the mounting side plates are not attached, and the head mounting member and the limb mounting member are both driven by the two rotating racks.

2. The head attachment member and the rotating rack are movably connected via a head connector, and the limb attachment member and the rotating rack are movably connected via a limb connector, 2. The telescopic device for a robot capable of high-speed operation according to claim 1, wherein the head connector and the limb connector are both in an "H" shape including two connection boards and one transition board, the two connection boards are fixed to both ends of the transition board, and each of the two connection boards is movably connected to one of the two rotating racks.

3. 2. The telescopic device for a robot capable of high-speed operation according to claim 1, wherein the head mounting member is movably connected to the fixed frame via a head guide mechanism, the head guide mechanism includes a head guide column having both ends fixed to the top plate and the bottom mounting plate, the head guide column being perpendicular to the bottom mounting plate, two head guide columns are provided, and the two head guide columns are attached to both side surfaces of the fixed frame to which the side mounting plates are not attached, and the head mounting member and head guide columns are movably connected via a head slide seat.

4. 4. A high-speed telescopic device for a robot according to claim 3, wherein said limb mounting members are movably connected to the fixed frame via limb guide mechanisms, said limb guide mechanisms being arranged parallel to the mounting side plates and including a bracket fixed to the mounting bottom plate, and a limb guide column having both ends fixed to the bracket and the mounting side plate, said limb guide columns being parallel to the mounting bottom plate, each limb guide mechanism including two limb guide columns, the two limb guide columns of the same limb guide mechanism being respectively provided on both side surfaces of the fixed frame where no mounting side plates are provided, and said limb mounting members and limb guide columns being movably connected via limb slide seats.

5. 5. The telescopic device for a robot capable of high-speed operation according to claim 4, wherein the head slide seat and the limb slide seat are both fitted to the limb guide column and the head guide column by linear bearings, and a retaining ring for axial positioning is provided between the head slide seat and the limb slide seat and the corresponding linear bearing.

6. 5. The telescopic device for a robot capable of high-speed operation according to claim 4, wherein both the limb guide column and the head guide column are provided with rubber columns for shock absorption.

7. 5. The telescopic device for a robot capable of high-speed operation according to claim 4, wherein the head sliding seat and the limb sliding seat each include an adapter board and a mating board, the adapter board and the mating board are fixed to each other to form an L-shape, an end of the adapter board is fixed to a limb mounting member or a head mounting member, and the mating board is provided with a mating hole to be mated with a limb guide column or a head guide column.

8. 2. The telescopic device for a robot capable of high-speed operation according to claim 1, wherein the servo motor is provided with a steering wheel, the rotating rack is fixed to the steering wheel, and the rotating rack is in a cross shape or a "⊥" shape.

9. A robot capable of high-speed operation, characterized in that it employs the telescopic device for a robot capable of high-speed operation according to any one of claims 1 to 8.

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