Quick-release connecting mechanism applied to humanoid robot

Abstract

The invention discloses a quick-release connecting mechanism applied to a humanoid robot, and relates to the technical field of robots, the quick-release connecting mechanism comprises a spherical bearing, and the spherical bearing is mounted on a robot arm through a bearing seat and a bearing seat cover plate; an inner hole of the spherical bearing is tightly connected with the quick release structure base; a threaded cover plate is mounted at the bottom of an inner hole of the spherical bearing through threads; the quick-release structure further comprises a quick-release structure base. The universal quick-release bionic wrist can serve as a universal quick-release bionic wrist of a humanoid robot, the universal swing function of the wrist is achieved through the spherical bearing, and quick connection and disassembly of a dexterous hand and the wrist are achieved through a conical surface positioning and inclined surface locking structure; meanwhile, the problems of line connection and signal transmission of the dexterous hand or other executing mechanisms are solved; the connecting structure is suitable for the humanoid robot, can also be matched with an industrial robot execution tail end, can be used as other industrial connecting structures, and meets the requirements of different fields for the flexibility, convenience and stability of connecting parts.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a quick-release connection mechanism applied to a humanoid robot. Background Art

[0002] Humanoid robots have shown broad application prospects in many fields such as industry, services, and medical care. In industrial scenarios, they can undertake tasks such as precision assembly and material handling; in the service field, they can realize functions such as navigation and delivery; in the medical field, operations such as auxiliary rehabilitation treatment also cannot be separated from the participation of humanoid robots. Similarly, industrial robots undertake production tasks with high repetitiveness and strict precision requirements in the manufacturing industry, and the flexibility and convenience of their execution terminals have a key impact on production efficiency and product quality.

[0003] However, the existing various types of robot wrists and industrial connection structures have problems such as insufficient flexibility and cumbersome disassembly and assembly, making it difficult to meet the increasingly complex task requirements and diversified industrial production scenarios.

[0004] Traditional humanoid robot wrists are mostly fixedly connected, which makes the wrists less flexible and incapable of performing complex movements. Moreover, this fixed connection method is cumbersome, time-consuming and laborious when it is necessary to maintain or replace the wrist or its connecting parts.

[0005] At the same time, the existing wrist swing angle is limited, which makes it difficult to meet the needs of complex tasks for multi-angle operation. For example, in medical rehabilitation assistance scenarios, if you want to help patients perform detailed joint activity training, the limited wrist swing angle cannot accurately simulate various rehabilitation movements.

[0006] In industrial production, the limitations of traditional industrial robots' execution terminals also hinder the further improvement of production efficiency and the application of new processes.

[0007] Therefore, developing a universal connection mechanism with universal functions and rapid disassembly and assembly capabilities is of great significance to improving the comprehensive performance of humanoid robots and industrial robots and optimizing other industrial connection structures. Summary of the invention

[0008] The purpose of the present invention is to solve the defects in the prior art and propose a quick-release connection mechanism for humanoid robots. It is not only suitable for humanoid robots, but also can be adapted to the end effector of industrial robots and used as other industrial connection structures to meet the requirements of different fields for the flexibility, convenience and stability of connection components.

[0009] In order to achieve the above object, the present invention adopts the following technical solutions:

[0010] A quick-release connection mechanism for a humanoid robot comprises a spherical bearing, wherein the spherical bearing is mounted on a robot arm through a bearing seat and a bearing seat cover plate; the inner hole of the spherical bearing is tightly connected to a quick-release structure base; a threaded cover plate is threadedly mounted on the bottom of the inner hole of the spherical bearing;

[0011] It also includes a quick-release structural base, which is connected to the inner hole of the spherical bearing for fixing the spherical bearing, and the quick-release structural base is provided with a conical interface matching the conical connecting rod, and a column pin and a connecting groove matching the conical connecting rod are arranged in the conical interface of the quick-release structural base;

[0012] It also includes a conical connecting rod, which is used to connect the actuator and the connecting mechanism. One end of the conical connecting rod is provided with a conical structure. The conical structure of the conical connecting rod is positioned and connected with the conical interface of the quick-release structure base. A column pin groove matching the column pin is provided on the conical section of the conical connecting rod.

[0013] A bevel groove is also provided on the conical connecting rod, and the bevel groove is used to cooperate with the bevel locking piece. A central wire hole is provided at the center of the conical connecting rod, and a fixed connector is installed in the central wire hole.

[0014] It also includes an inclined locking piece, which is connected to the quick-release structure base through a spring;

[0015] A release button is also included, and the release button is used to control the movement of the ramp locking member.

[0016] Furthermore, a quick-detachable structure base cover plate is detachably mounted on the top of the quick-detachable structure base.

[0017] Furthermore, a central thread hole is also provided at the center of the threaded cover plate.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Universal function: Universal swing is achieved through spherical bearings, and the swing angle can reach 23°. Compared with the traditional connection structure, it significantly improves the flexibility, allowing humanoid robots and industrial robots to adapt to various complex environments and task requirements more flexibly during operation, and can also meet the angle adjustment requirements of other industrial connection structures under different working conditions.

[0020] 2. Quick disassembly and assembly: With the cone positioning and inclined locking structure, operators can easily and quickly connect and disassemble the actuators and the connecting mechanisms, which greatly shortens the time required for maintenance and replacement of parts, improves the use efficiency of robots and related industrial equipment, and during the disassembly and assembly process, the line connection processing method is also very convenient and does not affect the overall operation process.

[0021] 3. Compact structure: The overall design is compact and reasonable. It can be perfectly adapted to the forearm structure of a humanoid robot, the executive arm of an industrial robot, or other industrial connection entities. After installation, it will not affect the overall coordination of the appearance of the equipment, nor will it have a negative impact on the movement performance of the equipment. The design of the wire holes and connectors is cleverly integrated into the overall structure without taking up extra space.

[0022] 4. High reliability: The locking is achieved by the elastic force of the spring. This structural design is simple, without complex mechanical transmission parts, which reduces the probability of failure and has high reliability. At the same time, the protrusion and groove design of the conical connecting rod and the quick-release base further enhances the stability of the connection and avoids loose connection due to accidental rotation. The line passes through the center wire hole and is connected with the help of connectors, which ensures the stability of signal and power transmission and reduces failures caused by line problems.

[0023] 5. Wide application: This mechanism is cleverly designed and highly compatible. It can not only be used as a bionic wrist of a humanoid robot, effectively improving the operational flexibility and task execution capability of the humanoid robot; it can also be used at the execution end of an industrial robot to optimize the operating accuracy and efficiency of the industrial robot; at the same time, it can also play its advantages in other industrial connection structures, providing more reliable and flexible connection solutions for industrial production, greatly expanding its application scope and market value.

[0024] To summarize, the present invention can be used as a universal quick-release bionic wrist for a humanoid robot, which realizes the universal swing function of the wrist through a spherical bearing, and adopts a conical positioning and bevel locking structure to realize the quick connection and disassembly of the dexterous hand and the wrist; at the same time, it solves the line connection and signal transmission problems of the dexterous hand or other actuators; it is not only suitable for humanoid robots, but also can be adapted to the execution end of industrial robots, and can be used as other industrial connection structures to meet the requirements of different fields for the flexibility, convenience and stability of connection components. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 A top view of the present invention;

[0028] Figure 3 It is a cross-sectional view II of the present invention;

[0029] Figure 4 It is the EE cross-sectional view of the present invention;

[0030] Figure 5 for Figure 4 A magnified view of the structure of part C in the middle;

[0031] Figure 6 It is the FF cross-sectional view of the present invention;

[0032] Figure 7 for Figure 2 Internal cross-sectional view of the base of the medium quick-release structure.

[0033] In the figure: 1 spherical bearing, 1.1 bearing seat, 1.2 bearing seat cover, 1.3 threaded cover, 2 quick-release structure base, 2.1 pin, 2.2 quick-release structure base cover, 3 conical connecting rod, 3.1 center wire hole, 3.2 bevel groove, 4 bevel locking piece, 5 release button, 6 spring. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention;

[0035] Reference Figure 1-7 A quick-release connection mechanism for a humanoid robot includes a spherical bearing 1, which is mounted on a robot arm via a bearing seat 1.1 and a bearing seat cover 1.2; the inner hole of the spherical bearing 1 is tightly connected to a quick-release structure base 2; a threaded cover 1.3 is threadedly mounted on the bottom of the inner hole of the spherical bearing 1;

[0036] The inner hole of the spherical bearing 1 is tightly connected to the quick-release structure base 2, and the outer surface is firmly connected to the forearm structure of the humanoid robot bionic arm, the industrial robot execution arm or other industrial connection body. With the special structure of the spherical bearing 1, the connection mechanism can achieve a universal swing function with a swing angle of up to 23°, which can meet the needs of a variety of complex movements.

[0037] It also includes a quick-release structure base 2, which is connected to the inner hole of the spherical bearing 1 for fixing the spherical bearing 1, and the quick-release structure base 2 is provided with a conical interface matching the conical connecting rod 3, and a column pin 2.1 and a connecting groove matching the conical connecting rod 3 are arranged in the conical interface of the quick-release structure base 2;

[0038] The main function of the quick-release structure base 2 is to fix the spherical bearing 1 to ensure its stable operation. At the same time, it also provides a special conical interface for the conical connecting rod 3, which is a key part for connecting the actuator (such as the dexterous hand) with the connecting mechanism.

[0039] It also includes a conical connecting rod 3, which is used to connect the actuator and the connecting mechanism. One end of the conical connecting rod 3 is provided with a conical structure. The conical structure of the conical connecting rod 3 is positioned and connected with the conical interface of the quick-release structure base 2. A column pin groove matching the column pin 2.1 is provided on the conical section of the conical connecting rod 3. In the process of matching with the conical interface of the quick-release structure base 2, the column pin 2.1 is matched with the column pin groove to achieve the purpose of preventing rotation.

[0040] A bevel groove 3.2 is also provided on the conical connecting rod 3. The bevel groove 3.2 is used to cooperate with the bevel locking member 4 and plays an important role in the connection and disassembly process. In particular, a central wire hole 3.1 is provided in the center of the conical connecting rod 3. This central wire hole 3.1 can ensure that the control wires, power wires and traction wires of the actuator components such as the dexterous hand or other actuators can pass smoothly. In addition, a fixed connector is installed in the central wire hole 3.1; thereby, the electrical signal connection between the base end and one end of the actuator is realized, ensuring stable communication and power transmission between the components.

[0041] It also includes a bevel locking piece 4, which is connected to the quick-release structure base 2 through a spring 6; when in a connected state, the bevel of the bevel locking piece 4 can be smoothly pressed into the bevel groove 3.2 on the conical connecting rod 3 under the elastic force of the spring 6, thereby realizing a locking function; the elastic force continuously applied by the spring 6 will cause the bevel locking piece 4 to press the conical connecting rod 3 to move downward, thereby further enhancing the degree of fit between the conical interface of the quick-release structure base 2 and the conical section of the conical connecting rod 3, thereby effectively preventing the conical connecting rod 3 from accidentally withdrawing from the quick-release structure base 2.

[0042] The release button 5 is also included, and the release button 5 is used to control the movement of the inclined locking member 4. When the actuator needs to be disassembled, the release button 5 only needs to be pressed, and the spring 6 is compressed, and the inclined locking member 4 will retreat, and the conical interface of the quick-release structure base 2 and the conical section of the conical connecting rod 3, which were originally tightly matched, will be separated, thereby realizing the rapid disassembly of the actuator.

[0043] Furthermore, a quick-detachable structure base cover plate 2.2 is detachably mounted on the top of the quick-detachable structure base 2.

[0044] Furthermore, a central thread hole 3.1 is also provided at the center of the threaded cover plate 1.3.

[0045] The connection process of the present invention:

[0046] First, accurately insert the conical end of the conical connecting rod 3 into the conical interface of the quick-release structure base 2, so that the column pin groove on the conical connecting rod 3 matches the column pin 2.1 of the quick-release structure base 2 to prevent the two from rotating relative to each other. At the same time, the control line, power line and traction harness that need to be passed through are passed through the center wire hole 3.1 of the conical connecting rod 3 in turn, and the fixed connector is connected as needed to complete the line and signal connection. Then, under the elastic force of the spring 6, the inclined surface of the inclined surface locking piece 4 is pressed into the inclined surface groove 3.2 on the conical connecting rod 3. Finally, the spring 6 prompts the inclined surface locking piece 4 to press the conical connecting rod 3 to move downward, so that the cone fits more tightly, completing the entire connection process.

[0047] Disassembly process of the present invention:

[0048] When the actuator needs to be disassembled, the release button 5 is pressed, the spring 6 is squeezed and compressed, and the inclined locking member 4 moves backward. At this time, the bevel of the inclined locking member 4 is disengaged from the bevel groove 3.2 on the conical connecting rod 3, the connector is disconnected first, and then the conical connecting rod 3 is smoothly withdrawn from the quick-release structure base 2 to complete the disassembly operation, which is convenient for the arrangement and maintenance of the circuit.

Claims

1. A quick-release connection mechanism for a humanoid robot, comprising a spherical bearing (1), characterized in that: The spherical bearing (1) is mounted on the robot arm via a bearing seat (1.1) and a bearing seat cover plate (1.2); the inner hole of the spherical bearing (1) is tightly connected to the quick-release structure base (2); a threaded cover plate (1.3) is threadedly mounted on the bottom of the inner hole of the spherical bearing (1); It also includes a quick-release structural base (2), the quick-release structural base (2) being connected to the inner hole of the spherical bearing (1) for fixing the spherical bearing (1), the quick-release structural base (2) being provided with a conical interface matching the conical connecting rod (3), and a column pin (2.1) and a connecting groove matching the conical connecting rod (3) being provided in the conical interface of the quick-release structural base (2); It also comprises a conical surface connecting rod (3), the conical surface connecting rod (3) being used to connect the actuator and the connecting mechanism, one end of the conical surface connecting rod (3) being provided with a conical surface structure, the conical surface structure of the conical surface connecting rod (3) being positioned and connected with the conical surface interface of the quick-release structure base (2), and a column pin groove matching with the column pin (2.1) being provided on the conical surface section of the conical surface connecting rod (3); A bevel groove (3.2) is also provided on the conical connecting rod (3), and the bevel groove (3.2) is used to cooperate with the bevel locking member (4). A central wire hole (3.1) is provided at the center of the conical connecting rod (3), and a fixed connector is installed in the central wire hole (3.1); It also includes an inclined locking member (4), wherein the inclined locking member (4) is connected to the quick-release structure base (2) via a spring (6); It also comprises a release button (5), wherein the release button (5) is used to control the movement of the bevel locking member (4).

2. A quick-release connection mechanism for a humanoid robot according to claim 1, characterized in that: A quick-detachable structure base cover plate (2.2) is detachably mounted on the top of the quick-detachable structure base (2).

3. A quick-release connection mechanism for a humanoid robot according to claim 1 or 2, characterized in that: The center of the threaded cover plate (1.3) is also provided with a center thread hole (3.1).

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