Modularized automatic quick-release interface for tail end of mechanical arm of lunar rover

Abstract

The invention discloses a modularized automatic quick-release interface for the tail end of a lunar rover mechanical arm, and belongs to the field of mechanical structure design. The problems that disassembly of an existing mechanical arm and an actuator is achieved through an electric drive system, complexity is high, response time is long, fault risks are increased, and more maintenance cost is possibly needed are solved. In the workpiece taking process, the mechanical arm is controlled to drive the mechanical arm connector assembly connected with the mechanical arm to stretch into the tool box, the tool connector assembly to be taken out is inserted into the mechanical arm connector assembly, and after the taken-out tool connector assembly and the mechanical arm connector assembly are locked through the locking mechanism, the mechanical arm is controlled to take out the locked tool connector assembly. In the workpiece conveying process, the mechanical arm is controlled to drive the mechanical arm connector assembly and the tool connector assembly to stretch into the tool box, when the top face of the tool box makes contact with an unlocking mechanism on the mechanical arm connector assembly, the unlocking mechanism unlocks the mechanical arm connector assembly and the tool connector assembly, and the tool connector assembly falls into the tool box. The tool feeding device is used for feeding or taking tools.

Description

Technical Field

[0001] The invention relates to the field of mechanical structure design. Background Art

[0002] As the lunar exploration project shifts from a short-term scientific expedition to a long-term residency paradigm, it will inevitably enter the lunar base construction stage in the future. During this stage, the lunar rover will undertake multiple tasks such as base construction, resource development, and scientific research. The actuators at the end of its robotic arm need to have a high degree of flexibility and diversity to adapt to different operational needs. However, the existing lunar rover robotic arm end effectors usually have a fixed structure and a single function, which makes it difficult to meet the needs of complex tasks. Due to the particularity of the lunar environment, the replacement and maintenance of the actuators must be simple and fast to reduce the impact on the mission. In recent years, the disassembly of the robotic arm and actuators has relied on an electric drive system, which may become a problem when the lunar rover has limited energy. In addition, the use of an electric drive system for disassembly makes the disassembly method more complicated and the response time longer, which increases the risk of failure and may require more maintenance costs.

[0003] In the construction of the lunar base, the toolbox is an important device for storing and replacing actuators, and its design is also crucial. This project requires an adaptable and efficient toolbox that can not only safely store a variety of actuators, but also perfectly integrate with the quick-release interface at the end of the lunar rover's robotic arm to achieve quick replacement and automatic locking functions.

[0004] In the future, the construction of lunar bases will gradually shift from large machinery to small machinery. Small machinery has higher flexibility and adaptability, and can better perform tasks in complex terrain and small spaces. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the disassembly of the existing robotic arm and actuator is achieved by using an electric drive system, which is complex, has a long response time, increases the risk of failure, and may require more maintenance costs. A modular automatic quick-release interface for the end of the lunar rover robotic arm is proposed.

[0006] A modular automatic quick-release interface for the end of a lunar rover robotic arm, the interface comprising a robotic arm interface assembly 1, a plurality of tool joint assemblies 2, a locking mechanism 3, an unlocking mechanism 4 and a tool box;

[0007] A plurality of tool connector assemblies 2 and a plurality of tools are placed in the tool box, and each tool connector assembly 2 is used to connect a tool;

[0008] The end of the robotic arm is fixedly connected to the robotic arm interface assembly 1;

[0009] During the process of taking out the tool, the robot arm is controlled to drive the robot arm interface assembly 1 connected thereto to extend into the tool box, the tool joint assembly 2 to be taken out is inserted into the robot arm interface assembly 1, and after the taken out tool joint assembly 2 and the robot arm interface assembly 1 are locked by the locking mechanism 3, the robot arm is controlled to take out the locked tool joint assembly 2;

[0010] During the delivery process, the robot arm is controlled to drive the tool connector assembly 2 plugged into the robot arm interface assembly 1 into the tool box. When the top surface of the tool box touches the unlocking mechanism 4 on the robot arm interface assembly 1, the unlocking mechanism 4 unlocks the locking mechanism 3, thereby separating the robot arm interface assembly 1 and the tool connector assembly 2, and the tool connector assembly 2 falls off into the tool box.

[0011] Preferably, the unlocking mechanism 4 comprises a first linkage member 4-1 and a second linkage member 4-2;

[0012] The first linkage member 4 - 1 is used to be triggered by being touched by the top surface of the tool box, thereby driving the second linkage member 4 - 2 to move and unlock the self-locking mechanism 3 .

[0013] Preferably, the tool joint assembly 2 comprises a column base 2-1, a connecting column sleeve 2-2 and a connecting seat plate 2-3;

[0014] The second linkage 4-2 is realized by a sliding ball;

[0015] The column base 2-1, the sliding ball, the connecting column sleeve 2-2 and the connecting seat plate 2-3 are all arranged in the tool box;

[0016] The inner ring of the connecting seat plate 2-3 is used for sleeve tools, and the upper plate surface of the connecting seat plate 2-3 is evenly provided with a plurality of connecting column sleeves 2-2 along the circumferential direction, and a column base 2-1 is inserted into each connecting column sleeve 2-2, and a sliding ball is sleeved on the lower column of each column base 2-1, and a groove is provided at the bottom end of the upper column of each column base 2-1, and the sliding ball can slide along the lower column of each column base 2-1 to the groove, and the upper half of the sliding ball is embedded in the groove, and the outer arc surface of the embedded sliding ball is used to unlock the self-locking mechanism 3;

[0017] The upper column of each column platform 2 - 1 is used to be inserted into the self-locking mechanism 3 and the robot arm interface assembly 1 in sequence.

[0018] Preferably, the robot arm interface assembly 1 comprises a housing 1-1, a plurality of connecting sleeves 1-2, an upper connecting flange 1-3 and a dial 1-4;

[0019] The upper part of each connecting sleeve 1-2 is inserted into each through hole of the upper connecting flange 1-3, and the lower part of each connecting sleeve 1-2 is connected to a self-locking mechanism 3. The self-locking mechanism 3 can be extended along the lower wall of the connecting sleeve 1-2 into the connecting sleeve 1-2 to lock the upper column of the column platform 2-1 inserted into the connecting sleeve 1-2;

[0020] The dial 1-4 comprises a hollow cylinder 1-4-1, a helical gear ring 1-4-3 and a guide plate 1-4-2;

[0021] The bottom surface of the hollow cylinder 1-4-1 is connected to the guide plate 1-4-2, and an oblique gear ring 1-4-3 is sleeved on the outer wall of the hollow cylinder 1-4-1. The oblique teeth on the oblique gear ring 1-4-3 are opposite to the first linkage member 4-1. Guide grooves 1-4-2-1 are evenly arranged on the side wall of the guide plate 1-4-2, and a ball sliding groove 1-4-2-2 for placing a sliding ball is arranged on the guide plate 1-4-2 between every two guide grooves 1-4-2-1;

[0022] A first linkage member 4-1 is sleeved on each connecting sleeve 1-2, and a plurality of first linkage members 4-1 are connected to the helical gear ring 1-4-3;

[0023] The casing 1-1 is covered on the outside of a plurality of matching sleeves 1-2, an upper connecting flange 1-3 and a dial 1-4, and the top end of the hollow cylinder passes through the upper connecting flange 1-3 and the top surface of the casing 1-1 in sequence, and is rotatably connected to a mechanical arm outside the casing 1-1.

[0024] Preferably, the locking mechanism 3 comprises a matching sleeve 3-1 and four first locking tongue mechanisms 3-2;

[0025] The bottom surface of each connecting sleeve 1-2 is connected to the inner bottom of a matching sleeve 3-1, and four through holes 3-1-1 are evenly arranged on the wall of each matching sleeve 3-1. One end of the auxiliary lock tongue 3-2-1 of each first lock tongue mechanism 3-2 extends from each through hole 3-1-1 to the outside of the matching sleeve 3-1. The free end of the main lock tongue 3-2-2 of each first lock tongue mechanism 3-2 is a rising wedge-shaped and telescopes along the inside and outside of the connecting sleeve 1-2. The rising wedge-shaped ends of the four first lock tongue mechanisms 3-2 are butt-jointed.

[0026] Preferably, the first linkage member 4-1 comprises a linkage rod 4-1-1, a plurality of lock tongue shells 4-1-2, a locking ring 4-1-3, a second lock tongue mechanism 4-1-4 and a paddle 4-1-5;

[0027] Each connecting sleeve 1-2 is sleeved with a lock tongue housing 4-1-2, and the lock tongue housing 4-1-2 is communicated with the connecting sleeve 1-2;

[0028] A plurality of lock tongue shells 4-1-2 are docked with the hollow cylinder 1-4-1, and two long grooves are provided on the top surface of each lock tongue shell 4-1-2 near the docking end. The locking ring 4-1-3 and the second lock tongue mechanism are both arranged in the lock tongue shell 4-1-2, and the locking ring 4-1-3 is sleeved on the second lock tongue mechanism 4-1-4, and the T-shaped rod 4-1-3-1 and the lock tongue of the second lock tongue mechanism 4-1-4 are exposed at both ends of the locking ring 4-1-3, and the lock tongue is pushed by the top of the tool box with an upper opening, and the T-shaped rod 4-1-3-1 and the linkage rod 4-1-1 are respectively sleeved in the two long grooves, and the T-shaped rod and the T-shaped linkage rod upper rod are exposed on the top surface of each lock tongue shell 4-1-2, and the cross bars of the two can be telescoped along the long groove to the inside and outside of the lock tongue shell 4-1-2 for alternately pushing the bevel teeth on the bevel gear ring 1-4-2, and a paddle 4-1-5 is sleeved on the two to achieve linkage.

[0029] Preferably, the first linkage 4-1 further comprises 2 tracks;

[0030] Two tracks are arranged on the inner bottom surface of each lock tongue housing 4-1-2, and the T-shaped rod and the linkage rod slide along the two tracks respectively.

[0031] Preferably, the guide groove 1-4-2-1 is an eight-shaped groove.

[0032] Preferably, the helical teeth on the helical gear ring 1-4-3 are opened in a counterclockwise direction; the helical gear ring 1-4-3 rotates counterclockwise;

[0033] The helical teeth include multiple pairs of teeth, and the two teeth in each pair of teeth have different shapes and are triggered by the T-shaped rod and the connecting rod of the second locking tongue mechanism 4-1-4 respectively.

[0034] The beneficial effects of the present invention are:

[0035] When it is necessary to take out an item, the robot arm interface assembly is inserted into the tool box through the robot arm, and the connecting column presses the first locking tongue mechanism to shrink it to the specified position, completing the fixing of the lower end of the connecting column, and controlling the robot arm to take out the locked tool joint assembly. When it is necessary to deliver an item, the robot arm continues to probe into the tool box, and the top of the tool box presses the second locking tongue mechanism, thereby pushing the T-shaped rod of the second locking tongue mechanism to push a tooth on the bevel tooth, and when the robot arm moves upward, the second locking tongue mechanism is released, driving the T-shaped rod of the second locking tongue mechanism to retract, and then the linkage rod extends to push another tooth on the bevel tooth, and the guide plate is pushed, driving the sliding ball to reach the top of the groove along the guide groove and enter the groove at the bottom end of the column on the column platform, and the outer arc of the sliding ball unlocks the self-locking mechanism, thereby realizing the separation of the robot arm interface assembly and the tool joint assembly, and the tool joint assembly falls off into the tool box.

[0036] The modular automatic quick-release interface of the present invention realizes the functions of quick replacement and automatic locking through the mechanical structure design, thereby ensuring efficient and convenient operation;

[0037] The transmission mechanism of the present invention is simple, and the connection and release process between the mechanical arm and the tool box does not need to rely on electricity or a complex electronic control system, which reduces energy loss and improves energy utilization, thereby improving the stability and reliability of task execution;

[0038] The mechanical structure of the present invention is simple in design, which reduces the cost and makes it more suitable for application scenarios with strict space and weight restrictions, such as lunar rovers. At the same time, the highly integrated compact design can reduce the volume and weight, which can effectively increase the space utilization of the toolbox; the modular design that can be quickly replaced improves the versatility and flexibility of the actuator; through optimized design and selection of high-strength materials, the maintenance cost of the present invention is reduced, the environmental adaptability is enhanced, and it can adapt to the complex and changeable environmental conditions on the lunar surface, making it have significant economic benefits and practical value in practical applications.

[0039] The lightweight mechanical design of the present invention reduces the overall weight, improves maneuverability and transportation efficiency, and is more suitable for future small-scale machinery.

[0040] The invention utilizes the pull plate to lock and can complete the turning operation without any terrain restriction.

[0041] The invention utilizes a lock tongue for locking, and has high reliability and high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of a modular automatic quick-release interface structure for the end of a lunar rover robotic arm;

[0043] Figure 2 for Figure 1 A longitudinal cross-sectional view of

[0044] Figure 3 is a schematic diagram of the structure of a tool joint assembly;

[0045] Figure 4 is a structural diagram of a dial;

[0046] Figure 5 This is the perspective diagram of the guide plate rotation. In the figure, Figure 5 (a) is the first motion perspective of the guide plate rotation. Figure 5 (b) is the second motion perspective diagram of the guide plate rotation. Figure 5 (c) is the third motion perspective diagram of the guide plate rotation;

[0047] Figure 6 It is a schematic diagram of the helical gear ring structure;

[0048] Figure 7 It is a structural schematic diagram of the matching sleeve of the locking mechanism and the lock tongue housing of the first linkage member;

[0049] Figure 8 is an exploded view of a first linkage member of the locking mechanism;

[0050] Fig. 9 for Figure 1 The top view of the middle linkage rod and T-shaped rod. Fig. 9 (a) is the perspective view of the connecting rod fully extended to push a bevel gear. Fig. 9 (b) is a perspective view showing that the linkage rod is gradually retracted and the T-shaped rod is gradually extended; Fig. 9 (c) is a perspective view of the linkage rod being fully retracted and the T-bar being fully extended;

[0051] Fig.10 It is the side view motion diagram of the connecting rod and the T-shaped rod. In the figure, Fig.10 (a) is the perspective view of the T-bar fully extended to push another bevel gear. Fig.10 (b) is a perspective view showing that the T-shaped rod is gradually retracted and the linkage rod is gradually extended; Fig.10 (c) is a perspective view of the T-bar being fully retracted and the linkage bar being extended;

[0052] Fig.11 This is a perspective view of the connecting rod and the T-shaped rod;

[0053] Fig.12 This is an exploded view of the robot arm interface assembly;

[0054] Fig.13 It is a three-dimensional view of the robot arm interface component;

[0055] Fig.14 It is the action diagram of the first linkage. In the figure, Fig.14 (a) is a top view of the connecting rod pushing the bevel gear while the T-shaped rod contracts. Fig.14 (b) is a top view showing the linkage rod gradually retracting and the T-shaped rod gradually extending. Fig.14 (c) is a top view of the T-shaped rod pushing the bevel gear while the connecting rod contracts. Fig.14 (d) is a side view of the connecting rod pushing the bevel gear while the T-shaped rod contracts. Fig.14 (e) is a side view showing the linkage rod gradually retracting and the T-shaped rod gradually extending. Fig.14 (f) is a side view showing the T-bar pushing the bevel gear while the connecting rod contracts. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0058] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0059] Example:

[0060] A modular automatic quick-release interface for the end of a lunar rover robotic arm, the interface comprising a robotic arm interface assembly 1, a plurality of tool joint assemblies 2, a locking mechanism 3, an unlocking mechanism 4 and a tool box;

[0061] A plurality of tool connector assemblies 2 and a plurality of tools are placed in the tool box, and each tool connector assembly 2 is used to connect a tool;

[0062] The end of the robotic arm is fixedly connected to the robotic arm interface assembly 1;

[0063] During the process of taking out the tool, the robot arm is controlled to drive the robot arm interface assembly 1 connected thereto to extend into the tool box, the tool joint assembly 2 to be taken out is inserted into the robot arm interface assembly 1, and after the taken out tool joint assembly 2 and the robot arm interface assembly 1 are locked by the locking mechanism 3, the robot arm is controlled to take out the locked tool joint assembly 2;

[0064] During the delivery process, the robot arm is controlled to drive the tool connector assembly 2 plugged into the robot arm interface assembly 1 into the tool box. When the top surface of the tool box touches the unlocking mechanism 4 on the robot arm interface assembly 1, the unlocking mechanism 4 unlocks the locking mechanism 3, thereby separating the robot arm interface assembly 1 and the tool connector assembly 2, and the tool connector assembly 2 falls off into the tool box.

[0065] Specifically, a tool represents an actuator.

[0066] The unlocking mechanism 4 comprises a first linkage member 4-1 and a second linkage member 4-2;

[0067] It is further defined that the first linkage member 4 - 1 is used to be triggered by being touched by the top surface of the tool box, thereby driving the second linkage member 4 - 2 to move and unlock the self-locking mechanism 3 .

[0068] Specifically, Figure 1As shown, the first linkage 4 - 1 is arranged on the robot arm interface assembly 1 , and the second linkage 4 - 2 is arranged on the tool joint assembly 2 .

[0069] It is further defined that the tool joint assembly 2 includes a column base 2-1, a connecting column sleeve 2-2 and a connecting seat plate 2-3;

[0070] The second linkage 4-2 is realized by a sliding ball;

[0071] The column base 2-1, the sliding ball, the connecting column sleeve 2-2 and the connecting seat plate 2-3 are all arranged in the tool box;

[0072] The inner ring of the connecting seat plate 2-3 is used for sleeve tools, and the upper plate surface of the connecting seat plate 2-3 is evenly provided with a plurality of connecting column sleeves 2-2 along the circumferential direction, and a column base 2-1 is inserted into each connecting column sleeve 2-2, and a sliding ball is sleeved on the lower column of each column base 2-1, and a groove is provided at the bottom end of the upper column of each column base 2-1, and the sliding ball can slide along the lower column of each column base 2-1 to the groove, and the upper half of the sliding ball is embedded in the groove, and the outer arc surface of the embedded sliding ball is used to unlock the self-locking mechanism 3;

[0073] The upper column of each column platform 2 - 1 is used to be inserted into the self-locking mechanism 3 and the robot arm interface assembly 1 in sequence.

[0074] Specifically, Figure 1 As shown, the column base 2-1, the connecting column sleeve 2-2 and the connecting seat plate 2-3 in the tool joint assembly 2 are fixedly connected in sequence, and only the sliding ball is set on the lower column of the column base 2-1 and can slide up and down along the lower column of the column base 2-1. Figure 1 As shown, the structure of the column base 2-1 is a structure that is wide at the top and narrow at the bottom.

[0075] It is further defined that the manipulator interface assembly 1 includes a housing 1-1, a plurality of connecting sleeves 1-2, an upper connecting flange 1-3 and a dial 1-4;

[0076] The upper part of each connecting sleeve 1-2 is inserted into each through hole of the upper connecting flange 1-3, and the lower part of each connecting sleeve 1-2 is connected to a self-locking mechanism 3. The self-locking mechanism 3 can be extended along the lower wall of the connecting sleeve 1-2 into the connecting sleeve 1-2 to lock the upper column of the column platform 2-1 inserted into the connecting sleeve 1-2;

[0077] The dial 1-4 comprises a hollow cylinder 1-4-1, a helical gear ring 1-4-3 and a guide plate 1-4-2;

[0078] The bottom surface of the hollow cylinder 1-4-1 is connected to the guide plate 1-4-2, and an oblique gear ring 1-4-3 is sleeved on the outer wall of the hollow cylinder 1-4-1. The oblique teeth on the oblique gear ring 1-4-3 are opposite to the first linkage member 4-1. Guide grooves 1-4-2-1 are evenly arranged on the side wall of the guide plate 1-4-2, and a ball sliding groove 1-4-2-2 for placing a sliding ball is arranged on the guide plate 1-4-2 between every two guide grooves 1-4-2-1;

[0079] A first linkage member 4-1 is sleeved on each connecting sleeve 1-2, and a plurality of first linkage members 4-1 are connected to the helical gear ring 1-4-3;

[0080] The casing 1-1 is covered on the outside of a plurality of matching sleeves 1-2, an upper connecting flange 1-3 and a dial 1-4, and the top end of the hollow cylinder passes through the upper connecting flange 1-3 and the top surface of the casing 1-1 in sequence, and is rotatably connected to a mechanical arm outside the casing 1-1.

[0081] Specifically, in addition to this, in order to ensure that the docking device can work properly, there is theoretically a serial port power supply between it and the freedom robot arm, and there should be a visual recognition and electrical interface with the actuator to ensure docking and power supply, so a through hole is reserved. This embodiment is mainly aimed at the realization of docking and quick release functions, so it mainly focuses on the mechanical structure design and movement mode of the device.

[0082] It is further defined that the locking mechanism 3 includes a matching sleeve 3-1 and four first locking tongue mechanisms 3-2;

[0083] The bottom surface of each connecting sleeve 1-2 is connected to the inner bottom of a matching sleeve 3-1, and four through holes 3-1-1 are evenly arranged on the wall of each matching sleeve 3-1. One end of the auxiliary lock tongue 3-2-1 of each first lock tongue mechanism 3-2 extends from each through hole 3-1-1 to the outside of the matching sleeve 3-1. The free end of the main lock tongue 3-2-2 of each first lock tongue mechanism 3-2 is a rising wedge-shaped and telescopes along the inside and outside of the connecting sleeve 1-2. The rising wedge-shaped ends of the four first lock tongue mechanisms 3-2 are butt-jointed.

[0084] Specifically, Figure 8 As shown, when the column is inserted into the matching sleeve 3-1, the column can push open the four main lock tongues 3-2-2 of the first lock tongue mechanism, so that the four main lock tongues 3-2-2 lock the column.

[0085] It is further defined that the first linkage member 4-1 includes a linkage rod 4-1-1, a plurality of lock tongue shells 4-1-2, a locking ring 4-1-3, a second lock tongue mechanism 4-1-4 and a paddle 4-1-5;

[0086] Each connecting sleeve 1-2 is sleeved with a lock tongue housing 4-1-2, and the lock tongue housing 4-1-2 is communicated with the connecting sleeve 1-2;

[0087] A plurality of lock tongue shells 4-1-2 are docked with the hollow cylinder 1-4-1, and two long grooves are provided on the top surface of each lock tongue shell 4-1-2 near the docking end. The locking ring 4-1-3 and the second lock tongue mechanism are both arranged in the lock tongue shell 4-1-2, and the locking ring 4-1-3 is sleeved on the second lock tongue mechanism 4-1-4, and the T-shaped rod 4-1-3-1 and the lock tongue of the second lock tongue mechanism 4-1-4 are exposed at both ends of the locking ring 4-1-3, and the lock tongue is pushed by the top of the tool box with an upper opening, and the T-shaped rod 4-1-3-1 and the linkage rod 4-1-1 are respectively sleeved in the two long grooves, and the T-shaped rod and the T-shaped linkage rod upper rod are exposed on the top surface of each lock tongue shell 4-1-2, and the cross bars of the two can be telescoped along the long groove to the inside and outside of the lock tongue shell 4-1-2 for alternately pushing the bevel teeth on the bevel gear ring 1-4-2, and a paddle 4-1-5 is sleeved on the two to achieve linkage.

[0088] It is further defined that the first linkage 4-1 also includes 2 tracks;

[0089] Two tracks are arranged on the inner bottom surface of each lock tongue housing 4-1-2, and the T-shaped rod and the linkage rod slide along the two tracks respectively.

[0090] Specifically, in order to facilitate the extension and retraction of the T-shaped rod and the connecting rod of the second locking tongue mechanism, the T-shaped rod and the connecting rod of the second locking tongue mechanism can be allowed to slide on the track.

[0091] It is further defined that the guide groove 1-4-2-1 is an eight-shaped groove.

[0092] It is further defined that the helical teeth on the helical gear ring 1-4-3 are arranged in a counterclockwise direction; the helical gear ring 1-4-3 rotates counterclockwise;

[0093] The helical teeth include multiple pairs of teeth, and the two teeth in each pair of teeth have different shapes and are triggered by the T-shaped rod and the connecting rod of the second locking tongue mechanism 4-1-4 respectively.

[0094] Specifically, in the initial state, the hollow cylinder is connected to the robot arm to ensure the rotation characteristics, which can also be referred to as a bearing connection.

[0095] This embodiment is an automatic quick-release interface device for the end of the lunar rover mechanical arm. Figure 1 , Figure 2 The following will describe how the grabber can be quickly connected, installed and disassembled through this device.

[0096] When the robot arm enters the tool box to grab the tool:

[0097] Step A1: The robotic arm is inserted. The robotic arm and the robotic arm interface assembly connected thereto are inserted into the tool box.

[0098] Step A2: Pressing the first locking tongue mechanism. The connecting stud is inserted into the first locking tongue mechanism, so that the first locking tongue mechanism is retracted to a specified position, thereby locking the robot arm interface assembly and the tool joint assembly, and controlling the robot arm to grab the tool joint assembly and the tool.

[0099] When the robot arm enters the tool box and puts its upper tool joint assembly and tools back into the tool box:

[0100] Step B1: The robotic arm is inserted. The robotic arm and the robotic arm interface assembly connected thereto are inserted into the tool box.

[0101] Step B2: Pressing the first locking tongue mechanism. The connecting column head is inserted into the first locking tongue mechanism, so that the first locking tongue mechanism is retracted to a specified position;

[0102] Step B3: Press the second locking tongue mechanism. The robot arm continues to press the tool joint assembly downward. After the second locking tongue mechanism on the robot arm interface assembly touches the top of the toolbox, the top of the toolbox squeezes the locking tongue of the second locking tongue mechanism, causing the locking tongue of the second locking tongue mechanism to shrink, thereby driving the T-shaped rod of the second locking tongue mechanism 4-1-4 to extend and push a tooth on the bevel tooth. When the robot arm moves upward, the locking tongue of the second locking tongue mechanism is released, driving the T-shaped rod of the second locking tongue mechanism 4-1-4 to shrink, and then the linkage rod extends to push another tooth on the bevel tooth, driving the guide plate to be pushed, thereby driving the sliding ball to reach the top of the groove along the guide groove and enter the groove at the bottom end of the column on the column base 2-1. The outer arc surface of the sliding ball unlocks the self-locking mechanism 3, thereby realizing the unlocking of the robot arm interface assembly and the tool joint assembly, and the tool falls off into the toolbox.

[0103] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A modular automatic quick-release interface for the end of a lunar rover robotic arm, characterized in that: The interface comprises a robot arm interface assembly (1), a plurality of tool joint assemblies (2), a locking mechanism (3), an unlocking mechanism (4) and a tool box; A plurality of tool connector assemblies (2) and a plurality of tools are placed in the tool box, and each tool connector assembly (2) is used to connect a tool; The end of the robotic arm is fixedly connected to the robotic arm interface assembly (1); During the process of taking out the tool, the robot arm is controlled to drive the robot arm interface component (1) connected thereto to extend into the tool box, the tool joint component (2) to be taken out is inserted into the robot arm interface component (1), and after the tool joint component (2) to be taken out and the robot arm interface component (1) are locked by the locking mechanism (3), the robot arm is controlled to take out the locked tool joint component (2); During the delivery process, the robot arm is controlled to drive the tool connector assembly (2) plugged into the robot arm interface assembly (1) to extend into the tool box together. When the top surface of the tool box touches the unlocking mechanism (4) on the robot arm interface assembly (1), the unlocking mechanism (4) unlocks the locking mechanism (3), so that the robot arm interface assembly (1) and the tool connector assembly (2) are separated, and the tool connector assembly (2) falls off into the tool box.

2. A modular automatic quick-release interface for the end of a lunar rover mechanical arm according to claim 1, characterized in that: The unlocking mechanism (4) comprises a first linkage member (4-1) and a second linkage member (4-2); The first linkage member (4-1) is used to be triggered by being touched by the top surface of the tool box, thereby driving the second linkage member (4-2) to move and unlock the self-locking mechanism (3).

3. The modular automatic quick-release interface for the end of a lunar rover mechanical arm according to claim 2, characterized in that: The tool joint assembly (2) comprises a column base (2-1), a connecting column sleeve (2-2) and a connecting seat plate (2-3); The second linkage member (4-2) is realized by a sliding ball; The column base (2-1), the sliding ball, the connecting column sleeve (2-2) and the connecting seat plate (2-3) are all arranged in the tool box; The inner ring of the connecting seat plate (2-3) is used for sleeve tools, and the upper plate surface of the connecting seat plate (2-3) is evenly arranged with a plurality of connecting column sleeves (2-2) along the circumferential direction, and a column base (2-1) is inserted into each connecting column sleeve (2-2), and a sliding ball is sleeved on the lower column of each column base (2-1), and a groove is provided at the bottom end of the upper column of each column base (2-1), and the sliding ball can slide along the lower column of each column base (2-1) to the groove, and the upper half of the sliding ball is embedded in the groove, and the outer arc surface of the sliding ball after being embedded is used to unlock the self-locking mechanism (3); The upper column of each column platform (2-1) is used to be inserted into the self-locking mechanism (3) and the mechanical arm interface component (1) in sequence.

4. The modular automatic quick-release interface for the end of a lunar rover mechanical arm according to claim 3, characterized in that: The mechanical arm interface assembly (1) comprises a housing (1-1), a plurality of connecting sleeves (1-2), an upper connecting flange (1-3) and a dial (1-4); The upper part of each connecting sleeve (1-2) is inserted into each through hole of the upper connecting flange (1-3), and the lower part of each connecting sleeve (1-2) is connected to a self-locking mechanism (3). The self-locking mechanism (3) can be extended and retracted into the connecting sleeve (1-2) along the lower wall of the connecting sleeve (1-2) to lock the upper column of the column platform (2-1) inserted into the connecting sleeve (1-2); The dial (1-4) comprises a hollow cylinder (1-4-1), a helical gear ring (1-4-3) and a guide plate (1-4-2); The bottom surface of the hollow cylinder (1-4-1) is connected to the guide plate (1-4-2); an oblique tooth ring (1-4-3) is sleeved on the outer wall of the hollow cylinder (1-4-1); the oblique teeth on the oblique tooth ring (1-4-3) are opposite to the first linkage member (4-1); guide grooves (1-4-2-1) are evenly arranged on the side wall of the guide plate (1-4-2); and a ball sliding groove (1-4-2-2) for accommodating a ball sliding is arranged on the guide plate (1-4-2) between every two guide grooves (1-4-2-1); A first linkage member (4-1) is sleeved on each connecting sleeve (1-2), and a plurality of first linkage members (4-1) are all connected to the helical gear ring (1-4-3); The casing (1-1) is covered on the outside of a plurality of matching sleeves (1-2), an upper connecting flange (1-3) and a dial (1-4); the top end of the hollow cylinder sequentially passes through the upper connecting flange (1-3) and the top surface of the casing (1-1), and is rotatably connected to a mechanical arm outside the casing (1-1).

5. The modular automatic quick-release interface for the end of a lunar rover mechanical arm according to claim 4, characterized in that: The locking mechanism (3) comprises a matching sleeve (3-1) and four first locking tongue mechanisms (3-2); The bottom surface of each connecting sleeve (1-2) is connected to the inner bottom of a matching sleeve (3-1); four through holes (3-1-1) are evenly arranged on the wall of each matching sleeve (3-1); one end of an auxiliary locking tongue (3-2-1) of each first locking tongue mechanism (3-2) extends from each through hole (3-1-1) to the outside of the matching sleeve (3-1); the free end of a main locking tongue (3-2-2) of each first locking tongue mechanism (3-2) is in a rising wedge shape and is telescopic along the inside and outside of the connecting sleeve (1-2); and the rising wedge ends of the four first locking tongue mechanisms (3-2) are butt-jointed together.

6. The modular automatic quick-release interface for the end of a lunar rover mechanical arm according to claim 5, characterized in that: The first linkage member (4-1) comprises a linkage rod (4-1-1), a plurality of lock tongue shells (4-1-2), a locking ring (4-1-3), a second lock tongue mechanism (4-1-4) and a paddle (4-1-5); One lock tongue shell (4-1-2) is sleeved on each connecting sleeve (1-2), and the lock tongue shell (4-1-2) is communicated with the connecting sleeve (1-2); A plurality of lock tongue shells (4-1-2) are butt-jointed to the hollow cylinder (1-4-1), two long grooves are provided on the top surface of each lock tongue shell (4-1-2) near the butt-jointed end, a locking ring (4-1-3) and a second lock tongue mechanism are both arranged in the lock tongue shell (4-1-2), the locking ring (4-1-3) is sleeved on the second lock tongue mechanism (4-1-4), and a T-shaped rod (4-1-3-1) and a lock tongue of the second lock tongue mechanism (4-1-4) are exposed on the locking ring (4-1-3 ), the lock tongue is pushed by the top of the tool box with an upper opening, the T-shaped rod (4-1-3-1) and the linkage rod (4-1-1) are respectively sleeved in two long grooves, the T-shaped rod and the upper rod of the T-shaped linkage rod are exposed on the top surface of each lock tongue shell (4-1-2), the cross bars of the two can be telescoped along the long groove to the inside and outside of the lock tongue shell (4-1-2) for alternately pushing the bevel teeth on the bevel tooth ring (1-4-2), and a paddle (4-1-5) is sleeved on the two to achieve linkage.

7. The modular automatic quick-release interface for the end of a lunar rover mechanical arm according to claim 1, characterized in that: The first linkage (4-1) also includes two tracks; Two tracks are arranged on the inner bottom surface of each lock tongue housing (4-1-2), and the T-shaped rod and the linkage rod slide along the two tracks respectively.

8. The modular automatic quick-release interface for the end of a lunar rover mechanical arm according to claim 3, characterized in that: The guide groove (1-4-2-1) is an eight-shaped groove.

9. The modular automatic quick-release interface for the end of a lunar rover mechanical arm according to claim 3, characterized in that: The helical teeth on the helical gear ring (1-4-3) are opened in a counterclockwise direction; the helical gear ring (1-4-3) rotates in a counterclockwise direction; The oblique teeth include a plurality of pairs of teeth, the two teeth in each pair of teeth have different shapes and are respectively triggered by the T-shaped rod and the linkage rod of the second locking tongue mechanism (4-1-4).

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