The bomb disposal manipulator of a tracked robot

Abstract

The present invention relates to the technical field of robotic arms, and particularly to an explosive disposal robotic arm for a tracked robot, which includes a robotic arm main body composed of a base, a first arm body, a second arm body, and a third arm body that are sequentially movably connected to form a robotic arm structure capable of moving within an operating radius; an execution part, where the execution part is a clamping mechanical claw, a camera, or a shovel; a connection part, and the connection part is used to connect and fix the execution part to the third arm body. The connection part includes an interface base fixed on the execution part and a joint base installed on the third arm body. Through the setting of the connection part in the present invention, when the execution part is connected to the third arm body through the connection part, it is only necessary to insert the joint base into the interface base and rotate the drive ring on the joint base to complete the connection. The operation is convenient and fast, the structure is delicate, and with such a connection, the interface base is a rotatable structure, so that the execution part installed on the interface base can also rotate.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and specifically to an explosive disposal robotic arm for a tracked robot. Background Art

[0002] An explosive disposal robot is a special equipment used by explosive disposal personnel to dispose of or destroy suspicious explosive objects, avoiding unnecessary casualties. It can be used for explosive disposal in various complex terrains, mainly used to replace explosive disposal personnel to carry and transfer suspicious explosive objects and other harmful dangerous goods; replace explosive disposal personnel to use explosives to destroy dangerous objects; replace on-site security personnel to conduct on-site inspections and transmit on-site images; and can be equipped with detection equipment to inspect dangerous places and dangerous goods.

[0003] The Chinese patent application with the publication number CN108381517A discloses a robotic arm mechanism for an explosive disposal robot, including a mechanical boom. One end of the mechanical boom is connected to a rotating turret through a robotic arm support, the other end of the mechanical boom is connected to one end of a mechanical forearm, the other end of the mechanical forearm is connected to a robotic claw support, a camera is arranged at the end of the robotic claw support, a robotic claw is arranged at the upper end of the robotic claw support, and a robotic claw opening and closing mechanism is installed on the robotic claw; between the mechanical boom and the robotic arm support, between the mechanical boom and the mechanical forearm, between the mechanical forearm and the robotic claw support, and between the robotic claw support and the robotic claw, a first servo motor, a second servo motor, a third servo motor, and a fourth servo motor for providing steering power are respectively arranged; the camera transmits the received information to a controller, and the controller controls the operation of the rotating turret and the servo motors.

[0004] As in the above application, for the existing explosive disposal robotic arm, an execution part is installed at the end of the robotic arm. The execution part includes a clamping robotic claw, a camera, or a shovel, which are respectively used for different explosive disposal scenarios. The existing installation method mostly uses bolts for fixation, and screws are used to install the execution part on the robotic arm. When replacing the execution part, the screws need to be disassembled first, which takes a long time and results in low work efficiency. Secondly, there are many scattered fixing parts and they are easy to lose. Moreover, the fixing method is simple and can only be directly fixed, and it is impossible to change the fixing method according to the usage requirements during work. Summary of the Invention

[0005] In order to solve the above problems, the present invention provides an explosive disposal robotic arm for a tracked robot.

[0006] The present invention adopts the following technical solutions. An explosive disposal robotic arm for a tracked robot includes:

[0007] A robotic arm main body, which is composed of a base, a first arm body, a second arm body, and a third arm body that are sequentially movably connected, forming a robotic arm structure capable of moving within the working radius;

[0008] An execution part, where the execution part is a clamping robotic claw, a camera, or a shovel;

[0009] A connecting part, which is used to connect and fix the execution part to the third arm body. The connecting part includes an interface base fixed on the execution part and a joint base installed on the third arm body;

[0010] Wherein, a connecting component is arranged in the joint base body, and through the connecting component, the interface base body and the joint base body can be rotatably connected. Secondly, a locking component is arranged on the interface base body, and through the locking component, the interface base body and the joint base body can be positioned and locked and fixed;

[0011] The joint base body is of a cylindrical structure, and the outer diameter of the joint base body is adapted to the inner diameter of the circular groove. An annular movable groove is opened in the joint base body along the length direction. An annular linkage groove is opened at one end of the outer wall of the joint base body close to the interface base body, and the annular linkage groove is communicated with the annular movable groove. A sector-shaped notch is opened at one end of the outer wall of the joint base body far from the interface base body, and the sector-shaped notch is communicated with the annular movable groove. And there are three sector-shaped notches in total, and the three sector-shaped notches are distributed at equal angles in a ring.

[0012] As a further description of the above technical solution: The interface base body is of a cylindrical structure. A circular groove is opened at the center of one end of the interface base body close to the joint base body, and an annular positioning groove is opened along the circumferential direction of the inner wall of the circular groove.

[0013] As a further description of the above technical solution: The connecting component includes a driving ring, a transmission ring, a wedge-shaped locking block and a wedge-shaped driving block. The driving ring is threadedly connected to the outer wall of the joint base body. The transmission ring is movably arranged in the annular movable groove. There are three wedge-shaped locking blocks in total, and the three wedge-shaped locking blocks are distributed at equal intervals in a ring in the annular linkage groove. The wedge-shaped driving block is movably arranged in the sector-shaped notch.

[0014] As a further description of the above technical solution: A fixed groove is opened on the outer wall of one end of the transmission ring far from the interface base body, and the position of the fixed groove is misaligned with that of the wedge-shaped driving block. A first spring is welded on the inner wall of the fixed groove, and the other end of the first spring is welded and fixed to the inner wall of the annular movable groove.

[0015] As a further description of the above technical solution: A strip-shaped groove is opened on the outer wall of one end of the joint base body close to the interface base body. There are three strip-shaped grooves in total, and the three strip-shaped grooves are distributed at equal angles in a ring. The strip-shaped groove is communicated with the annular linkage groove. A slider is welded on the outer wall of the wedge-shaped locking block, and the slider is slidably connected to the strip-shaped groove. A second spring is welded on the outer wall of the slider, and the other end of the second spring is welded and fixed to the inner wall of the strip-shaped groove.

[0016] As a further description of the above technical solution: a first bevel surface is provided at the inner wall port of one end of the driving ring close to the interface base body, and a second bevel surface is provided at the outer wall port of one end of the wedge-shaped driving block close to the driving ring.

[0017] As a further description of the above technical solution: the wedge-shaped driving block is slidably connected to the inner wall of the fan-shaped notch. There are three wedge-shaped driving blocks in total, and the three wedge-shaped driving blocks are annularly and equiangularly distributed in the three fan-shaped notches.

[0018] As a further description of the above technical solution: the locking assembly includes an annular limiting groove and a locking ring. An annular limiting groove is provided on the outer wall of the interface base body along the length direction. A locking ring is slidably arranged in the annular limiting groove. A positioning hole is provided on the outer wall of the annular limiting groove, and the positioning hole penetrates through the interface base body and extends into the annular positioning groove. A locking hole is provided on the outer wall of the wedge-shaped locking block. A positioning pin is threadedly connected to the outer wall of the locking ring. Rotate the positioning pin so that it extends into the locking hole through the positioning hole to position and lock the interface base body and the joint base body.

[0019] As a further description of the above technical solution: third bevel surfaces for cooperating with the wedge-shaped locking block and the wedge-shaped driving block are provided at both outer wall ports of the transmission ring along the length direction.

[0020] Beneficial effects:

[0021] For the explosive disposal robotic arm of a tracked robot provided by the present invention, through the setting of the connecting portion, when the execution portion is connected to the third arm body through the connecting portion, only need to insert the joint base body into the interface base body and rotate the driving ring on the joint base body to complete the connection. The operation is convenient and fast, the structure is delicate, and with such connection, the interface base body is a rotatable structure, so that the execution portion installed on the interface base body can also rotate. And this connection method does not require the setting of screw fixation and there are no scattered parts. The connection and disassembly are very convenient, labor-saving and fast. And with the cooperation of the locking assembly, the connection method can be adaptively selected as a fixed connection or a rotational connection according to the operation requirements of the execution portion, further improving its actual use effect. Description of the drawings

[0022] The present invention will be further explained below with reference to the drawings and embodiments:

[0023] Figure 1 It is a schematic structural diagram of an explosive disposal robotic arm of a tracked robot provided by an embodiment of the present invention;

[0024] Figure 2 It is a schematic structural diagram of the connecting portion provided by an embodiment of the present invention;

[0025] Figure 3Schematic diagram of the split structure of the connection part provided by the embodiment of the present invention;

[0026] Figure 4 Cross-sectional view of the connection part provided by the embodiment of the present invention;

[0027] Figure 5 Cross-sectional view of the interface base body provided by the embodiment of the present invention;

[0028] Figure 6 Cross-sectional view of the joint base body provided by the embodiment of the present invention;

[0029] Figure 7 Schematic diagram of the connection structure between the connection component and the joint base body provided by the embodiment of the present invention;

[0030] Figure 8 Schematic diagram of the structure of the wedge-shaped locking block provided by the embodiment of the present invention;

[0031] Figure 9 Schematic diagram of the structure of the transmission ring provided by the embodiment of the present invention;

[0032] Figure 10 Schematic diagram of the structure of the transmission ring, the wedge-shaped locking block and the wedge-shaped driving block provided by the embodiment of the present invention;

[0033] Figure 11 For the present invention Figure 4 Enlarged view of area A in.

[0034] Reference numerals: 1, base; 2, first arm body; 3, second arm body; 4, third arm body; 5, connection part; 6, joint base body; 601, annular movable groove; 602, annular linkage groove; 603, sector-shaped notch; 604, strip-shaped groove; 61, driving ring; 62, transmission ring; 622, fixed groove; 623, first spring; 63, wedge-shaped locking block; 64, slider; 65, second spring; 66, locking hole; 67, wedge-shaped driving block; 671, first inclined plane; 672, second inclined plane; 673, third inclined plane; 7, interface base body; 71, annular limiting groove; 72, locking ring; 73, positioning pin; 74, positioning hole; 75, circular groove; 76, annular positioning groove; 8, execution part. Detailed implementation manners

[0035] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below with reference to specific drawings. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0036] Embodiment 1

[0037] Please refer to Figures 1 - 11, an embodiment of the present invention provides a technical solution: a bomb disposal robotic arm for a tracked robot, comprising:

[0038] A robotic arm main body, which is composed of a base 1, a first arm body 2, a second arm body 3 and a third arm body 4 that are sequentially movably connected, forming a robotic arm structure capable of moving within the working radius;

[0039] An execution part 8, and the execution part 8 is a clamping mechanical claw, a camera or a shovel.

[0040] A connecting part 5, and the connecting part 5 is used to connect and fix the execution part 8 to the third arm body 4. The connecting part 5 includes an interface base body 7 fixed on the execution part 8 and a joint base body 6 installed on the third arm body 4;

[0041] Wherein, a connecting component is arranged in the joint base body 6, and through the connecting component, the interface base body 7 can be rotatably connected to the joint base body 6. Secondly, a locking component is arranged on the interface base body 7, and through the locking component, the interface base body 7 can be positioned and locked to the joint base body 6.

[0042] The interface base body 7 is of a cylindrical structure. A circular groove 75 is opened at the center of one end of the interface base body 7 close to the joint base body 6, and an annular positioning groove 76 is opened along the circumferential direction of the inner wall of the circular groove 75.

[0043] The joint base body 6 is of a cylindrical structure, and the outer diameter of the joint base body 6 is adapted to the inner diameter of the circular groove 75. An annular movable groove 601 is opened in the joint base body 6 along the length direction. An annular linkage groove 602 is opened at one end of the outer wall of the joint base body 6 close to the interface base body 7, and the annular linkage groove 602 communicates with the annular movable groove 601. A sector-shaped notch 603 is opened at one end of the outer wall of the joint base body 6 far from the interface base body 7, and the sector-shaped notch 603 communicates with the annular movable groove 601. And three sector-shaped notches 603 are provided, and the three sector-shaped notches 603 are distributed at equal angles in a ring shape.

[0044] The connecting component includes a driving ring 61, a transmission ring 62, a wedge-shaped locking block 63 and a wedge-shaped driving block 67. The driving ring 61 is threadedly connected to the outer wall of the joint base body 6. The transmission ring 62 is movably arranged in the annular movable groove 601. Three wedge-shaped locking blocks 63 are provided, and the three wedge-shaped locking blocks 63 are distributed at equal intervals in a ring shape in the annular linkage groove 602. The wedge-shaped driving block 67 is movably arranged in the sector-shaped notch 603. The wedge-shaped driving block 67 can be slidably connected to the inner wall of the sector-shaped notch 603 through a sliding seat, so that the wedge-shaped driving block 67 is movably arranged in the sector-shaped notch 603 and can move up and down in the sector-shaped notch 603.

[0045] On the outer wall of one end of the transmission ring 62 away from the interface base 7, a fixing groove 622 is provided, and the position of the fixing groove 622 is misaligned with that of the wedge-shaped driving block 67. A first spring 623 is welded on the inner wall of the fixing groove 622, and the other end of the first spring 623 is fixedly welded to the inner wall of the annular movable groove 601.

[0046] On the outer wall of one end of the joint base 6 close to the interface base 7, a strip-shaped groove 604 is provided. There are three strip-shaped grooves 604 in total, and the three strip-shaped grooves 604 are distributed at equal angles in a ring shape. The strip-shaped groove 604 communicates with the annular linkage groove 602. A slider 64 is welded on the outer wall of the wedge-shaped locking block 63, and the slider 64 is slidably connected to the strip-shaped groove 604. A second spring 65 is welded on the outer wall of the slider 64, and the other end of the second spring 65 is welded to the inner wall of the strip-shaped groove 604.

[0047] It should be noted that the second spring 65 is a tension spring (extension spring). In the initial state, under the pulling force of the second spring 65, the slider 64 is driven to move to one end of the strip-shaped groove 604 close to the axis of the joint base 6, so that the wedge-shaped locking block 63 is separated from the annular positioning groove 76. When the transmission ring 62 is driven to move towards the interface base 7, the third inclined plane 673 at one end of the transmission ring 62 close to the wedge-shaped locking block 63 will squeeze the wedge-shaped locking block 63, and the wedge-shaped locking block 63 expands towards the outside of the joint base 6, so that the outside of the wedge-shaped locking block 63 moves into the annular positioning groove 76, thereby realizing the connection between the joint base 6 and the interface base 7. Therefore, when the wedge-shaped locking block 63 is no longer squeezed, under the pulling force of the second spring 65, the slider 64 is driven to move to one end of the strip-shaped groove 604 close to the axis of the joint base 6, so that the wedge-shaped locking block 63 is separated from the annular positioning groove 76, realizing automatic disassembly of the connection.

[0048] At the inner wall port of one end of the driving ring 61 close to the interface base 7, a first inclined plane 671 is provided. At the port of one end of the outer wall of the wedge-shaped driving block 67 close to the driving ring 61, a second inclined plane 672 is provided.

[0049] It should be noted that in the initial state, under the elastic pulling force of the first spring 623, the transmission ring 62 is close to the joint base 6, squeezing the wedge-shaped driving block 67 to move upward and extend out from the fan-shaped notch 603. The settings of the first inclined plane 671 and the second inclined plane 672 make it so that when the driving ring 61 is rotated and moved towards the interface base 7, the wedge-shaped driving block 67 does not block the movement of the driving ring 61.

[0050] The wedge-shaped driving block 67 is slidably connected to the inner wall of the fan-shaped notch 603. There are three wedge-shaped driving blocks 67 in total, and the three wedge-shaped driving blocks 67 are distributed at equal angles in a ring shape in the three fan-shaped notches 603.

[0051] At both outer wall ports at the two ends of the transmission ring 62 along the length direction, third inclined planes 673 for cooperating with the wedge-shaped locking blocks 63 and the wedge-shaped driving blocks 67 are provided.

[0052] Specifically, the connection mode of the execution part 8 and the third arm body 4 through the connection part 5 is as follows: First, an interface base body 7 is installed on the execution part 8, and a joint base body 6 is installed on the third arm body 4. When connecting, the joint base body 6 is inserted into the circular groove 75 opened on the interface base body 7. When the joint base body 6 is completely inserted into the circular groove 75, the position of the annular linkage groove 602 opened on the joint base body 6 corresponds to that of the annular positioning groove 76. Then, the driving ring 61 on the joint base body 6 is rotated, and the driving ring 61 moves towards the interface base body 7, and then the wedge-shaped driving blocks 67 located in the sector-shaped notch 603 are squeezed, so that the three wedge-shaped driving blocks 67 move towards the axis of the joint base body 6. The three wedge-shaped driving blocks 67 push the transmission ring 62 movably arranged in the annular moving groove 601 to move towards the interface base body 7. The transmission ring 62 squeezes the wedge-shaped locking blocks 63 to expand towards the outside of the joint base body 6, so that the outside of the wedge-shaped locking blocks 63 moves into the annular positioning groove 76, thereby realizing the connection between the joint base body 6 and the interface base body 7. In such a connection mode, the joint base body 6 and the interface base body 7 are rotationally connected, that is, the interface base body 7 is a rotatable structure, so that the execution part 8 installed on the interface base body 7 can also rotate. And in this connection mode, there is no need to set screws for fixing, and there are no scattered parts. When fixing, the joint base body 6 is inserted into the interface base body 7, and the driving ring 61 on the joint base body 6 is rotated to complete the connection. The connection and disassembly are both very convenient, labor-saving and fast.

[0053] In this embodiment, through the setting of the connection part 5, when the execution part 8 is connected to the third arm body 4 through the connection part 5, only the joint base body 6 needs to be inserted into the interface base body 7, and the driving ring 61 on the joint base body 6 is rotated to complete the connection. The operation is convenient and fast, the structure is delicate, and a locking component is cooperatively provided, which can adaptively select the connection mode as a fixed connection or a rotational connection according to the operation requirements of the execution part 8, further improving its actual use effect.

[0054] Embodiment 2

[0055] Please refer to Figures 1 - 5 , on the basis of the above embodiment, this embodiment further discloses a locking component;

[0056] The locking assembly includes an annular limiting groove 71 and a locking ring 72. An annular limiting groove 71 is formed in the outer wall of the interface base body 7 along the length direction. A locking ring 72 is slidably arranged in the annular limiting groove 71. A positioning hole 74 is formed in the outer wall of the annular limiting groove 71 and penetrates through the interface base body 7 and extends into the annular positioning groove 76. A locking hole 66 is formed in the outer wall of the wedge-shaped locking block 63. A positioning pin 73 is threadedly connected to the outer wall of the locking ring 72. Rotate the positioning pin 73 so that it extends into the locking hole 66 through the positioning hole 74 to positionally lock and fix the interface base body 7 and the joint base body 6.

[0057] In this embodiment, on the basis of Embodiment 1, when the joint base body 6 is inserted into the interface base body 7 and the driving ring 61 on the joint base body 6 is rotated to complete the connection, the connection method at this time is rotational connection. When a fixed connection is required, then push the locking ring 72 to move in the annular limiting groove 71 so that the position of the positioning pin 73 corresponds to the position of the positioning hole 74, and then rotate the positioning pin 73 so that it extends into the locking hole 66 through the positioning hole 74 to positionally lock and fix the interface base body 7 and the joint base body 6.

[0058] That is, when the execution part 8 and the third arm body 4 are connected and fixed through the connecting part 5, according to the working requirements of the execution part 8, the connection method can be automatically selected as a fixed connection or a rotational connection. When a fixed connection is selected, the interface base body 7 and the joint base body 6 can be positionally locked and fixed through the locking assembly.

[0059] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The descriptions in the above embodiments and the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An explosive disposal manipulator for a tracked robot, characterized in that, Comprising: A robotic arm main body, which consists of a base (1), a first arm body (2), a second arm body (3) and a third arm body (4) that are sequentially movably connected, forming a robotic arm structure capable of moving within the working radius; An execution part (8), and the execution part (8) is a clamping robotic claw, a camera or a shovel; A connection part (5), and the connection part (5) is used to connect and fix the execution part (8) to the third arm body (4). The connection part (5) includes an interface base body (7) fixed on the execution part (8) and a joint base body (6) installed on the third arm body (4); Wherein, a connection assembly is arranged in the joint base body (6), and through the connection assembly, the interface base body (7) can be rotatably connected to the joint base body (6). Secondly, a locking assembly is arranged on the interface base body (7), and through the locking assembly, the interface base body (7) can be positioned and locked to the joint base body (6); The joint base body (6) is of a cylindrical structure, and the outer diameter of the joint base body (6) is adapted to the inner diameter of the circular groove (75). An annular movable groove (601) is opened in the joint base body (6) along the length direction. An annular linkage groove (602) is opened at one end of the outer wall of the joint base body (6) close to the interface base body (7), and the annular linkage groove (602) communicates with the annular movable groove (601). A sector-shaped notch (603) is opened at one end of the outer wall of the joint base body (6) far from the interface base body (7), and the sector-shaped notch (603) communicates with the annular movable groove (601). And three sector-shaped notches (603) are provided, and the three sector-shaped notches (603) are distributed at equal angles in a ring; The connection assembly includes a driving ring (61), a transmission ring (62), a wedge-shaped locking block (63) and a wedge-shaped driving block (67). The driving ring (61) is threadedly connected to the outer wall of the joint base body (6). The transmission ring (62) is movably arranged in the annular movable groove (601). Three wedge-shaped locking blocks (63) are provided, and the three wedge-shaped locking blocks (63) are distributed at equal intervals in a ring in the annular linkage groove (602). The wedge-shaped driving block (67) is movably arranged in the sector-shaped notch (603); Third inclined planes (673) for using with the wedge-shaped locking block (63) and the wedge-shaped driving block (67) are opened at both outer wall ports of the transmission ring (62) along the length direction; 2. The explosive disposal robotic arm of a tracked robot according to claim 1, characterized in that, The interface base body (7) is of a cylindrical structure. A circular groove (75) is opened at the center of one end of the interface base body (7) close to the joint base body (6), and an annular positioning groove (76) is opened along the circumference of the inner wall of the circular groove (75); 3. The explosive disposal robotic arm of a tracked robot according to claim 1, characterized in that, A fixing groove (622) is opened on the outer wall of one end of the transmission ring (62) far from the interface base body (7), and the position of the fixing groove (622) is misaligned with that of the wedge-shaped driving block (67). A first spring (623) is welded on the inner wall of the fixing groove (622), and the other end of the first spring (623) is welded and fixed to the inner wall of the annular movable groove (601); 4. The explosive disposal robotic arm of a tracked robot according to claim 2, characterized in that, A strip-shaped groove (604) is formed on the outer wall of one end of the joint base body (6) close to the interface base body (7). A total of three strip-shaped grooves (604) are formed, and the three strip-shaped grooves (604) are distributed at equal angles in a ring shape. The strip-shaped groove (604) communicates with the annular linkage groove (602). A sliding block (64) is welded on the outer wall of the wedge-shaped locking block (63), and the sliding block (64) is slidably connected with the strip-shaped groove (604). A second spring (65) is welded on the outer wall of the sliding block (64), and the other end of the second spring (65) is fixedly welded with the inner wall of the strip-shaped groove (604).

5. The explosive disposal robotic arm of a tracked robot according to claim 2, characterized in that, A first inclined surface (671) is formed at the inner wall port of one end of the driving ring (61) close to the interface base body (7). A second inclined surface (672) is formed at the outer wall port of one end of the wedge-shaped driving block (67) close to the driving ring (61).

6. The explosive disposal robotic arm of a tracked robot according to claim 2, characterized in that, The wedge-shaped driving block (67) is slidably connected with the inner wall of the sector-shaped notch (603). A total of three wedge-shaped driving blocks (67) are provided, and the three wedge-shaped driving blocks (67) are distributed at equal angles in a ring shape in the three sector-shaped notches (603).

7. The explosive disposal manipulator of a tracked robot according to claim 2, characterized in that, The locking assembly includes an annular limiting groove (71) and a locking ring (72). An annular limiting groove (71) is formed on the outer wall of the interface base body (7) along the length direction. A locking ring (72) is slidably arranged in the annular limiting groove (71). A positioning hole (74) is formed on the outer wall of the annular limiting groove (71), and the positioning hole (74) penetrates through the interface base body (7) and extends into the annular positioning groove (76). A locking hole (66) is formed on the outer wall of the wedge-shaped locking block (63). A positioning pin (73) is threadedly connected to the outer wall of the locking ring (72). Rotate the positioning pin (73) so that it extends into the locking hole (66) through the positioning hole (74) to positionally lock and fix the interface base body (7) and the joint base body (6).

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