Modular automatic quick release interface for lunar rover robotic arm end

Abstract

A kind of modular automatic quick release interface for the end of lunar rover mechanical arm, mechanical structural design field.The disassembly of existing mechanical arm and actuator is achieved by using power drive system, which is complex, long response time, increases the risk of failure and may require more maintenance costs.The taking process is that the mechanical arm is controlled to drive the mechanical arm interface assembly connected thereto to extend into the tool box, the tool joint assembly to be taken is inserted into the mechanical arm interface assembly, the tool joint assembly and the mechanical arm interface assembly are locked by the locking mechanism after the tool joint assembly is inserted, and then the mechanical arm is controlled to take out the locked tool joint assembly.The sending process is that the mechanical arm is controlled to drive the mechanical arm interface assembly and the tool joint assembly to extend into the tool box, and when the top surface of the tool box touches the unlocking mechanism on the mechanical arm interface assembly, the unlocking mechanism unlocks the mechanical arm interface assembly and the tool joint assembly, and the tool joint assembly falls off into the tool box.The present application is used for sending tools or taking tools.

Description

Technical Field

[0001] This invention relates to the field of mechanical structure design. Background Technology

[0002] As lunar exploration projects shift from short-term scientific expeditions to long-term deployments, the future will inevitably enter the lunar base construction phase. In this phase, lunar rovers will undertake multiple tasks, including base construction, resource development, and scientific research. The actuators at the end of their robotic arms need to possess high flexibility and versatility to adapt to diverse operational needs. However, existing lunar rover robotic arm end effectors are typically structurally fixed and functionally limited, making them unsuitable for complex tasks. Due to the unique lunar environment, actuator replacement and maintenance must be simple and quick to minimize mission impact. Recent disassembly of robotic arms and actuators has relied on electric drive systems, which could pose a problem given the limited energy resources available to lunar rovers. Furthermore, using electric drive systems for disassembly makes the process more complex, increases response time, raises the risk of failure, and may lead to higher maintenance costs.

[0003] In the construction of the lunar base, the toolbox, as a crucial piece of equipment for storing and replacing actuators, is of paramount importance in its design. This project requires a suitable and efficient toolbox that can not only safely store multiple actuators but also seamlessly integrate with the quick-release interface at the end of the lunar rover's robotic arm, enabling rapid replacement and automatic locking.

[0004] Future lunar base construction will gradually shift from large-scale machinery to smaller machinery. Smaller machinery offers greater flexibility and adaptability, enabling it to perform tasks better in complex terrain and confined spaces. Summary of the Invention

[0005] The purpose of this invention is to address the problem that the disassembly of existing robotic arms and actuators is achieved using an electric drive system, which is complex, has a long response time, increases the risk of failure, and may require higher maintenance costs. This invention proposes a modular automatic quick-release interface for the end effector of a lunar rover robotic arm.

[0006] A modular automatic quick-release interface for the end effector of a lunar rover's robotic arm, the interface comprising a robotic arm interface assembly 1, multiple tool connector assemblies 2, a locking mechanism 3, an unlocking mechanism 4, and a toolbox;

[0007] The toolbox contains multiple tool connector assemblies 2 and various tools, each tool connector assembly 2 being used to connect one type of tool;

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

[0009] In the taking process, the mechanical arm is controlled to drive the mechanical arm interface assembly 1 connected thereto to extend into the tool box, the tool joint assembly 2 taken out is inserted into the mechanical arm interface assembly 1, the tool joint assembly 2 taken out and the mechanical arm interface assembly 1 are locked through the locking mechanism 3, and then the mechanical arm takes out the tool joint assembly 2 after locking;

[0010] In the taking process, the mechanical arm is controlled to drive the mechanical arm interface assembly 1 connected thereto to extend into the tool box, the tool joint assembly 2 taken out is inserted into the mechanical arm interface assembly 1, the tool joint assembly 2 taken out and the mechanical arm interface assembly 1 are locked through the locking mechanism 3, and then the mechanical arm takes out the tool joint assembly 2 after locking;

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

[0012] The first linkage 4-1 is used to be triggered by the top surface of the tool box to drive the second linkage 4-2 to act, so as to unlock the locking mechanism 3.

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

[0014] The second linkage 4-2 is realized by a sliding bead.

[0015] The column 2-1, the sliding bead, the connecting column sleeve 2-2 and the connecting seat disc 2-3 are all arranged in the tool box.

[0016] The inner ring of the connecting seat disc 2-3 is used to set a tool, the upper disc surface of the connecting seat disc 2-3 is uniformly provided with a plurality of connecting column sleeves 2-2 in the circumferential direction, one column 2-1 is inserted into each connecting column sleeve 2-2, a sliding bead is sleeved on the lower column body of each column 2-1, a groove is formed at the bottom end of the upper column body of each column 2-1, the sliding bead can slide along the lower column body of each column 2-1 to the groove, the upper half of the sliding bead is embedded in the groove, and the outer arc surface of the embedded sliding bead is used to unlock the locking mechanism 3.

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

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

[0019] Each connecting sleeve 1-2 is sleeved into each through hole of the upper connecting flange 1-3, and each connecting sleeve 1-2 is connected with one locking mechanism 3 at the lower part, and the locking mechanism 3 can be telescopically extended into the connecting sleeve 1-2 along the lower sleeve wall of the connecting sleeve 1-2 to lock the column body on the column 2-1 inserted into the connecting sleeve 1-2;

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

[0021] The bottom surface of the hollow cylinder 1-4-1 is connected with the guide disc 1-4-2, the outer wall of the hollow cylinder 1-4-1 is sleeved with the bevel gear ring 1-4-3, the bevel gear ring 1-4-3 is opposite to the first linkage 4-1, and the side wall of the guide disc 1-4-2 is uniformly provided with guide grooves, and the guide disc 1-4-2 between every two guide grooves is provided with a sliding ball groove for placing a sliding ball;

[0022] Each connecting sleeve 1-2 is sleeved with one first linkage 4-1, and the plurality of first linkages 4-1 are all butted to the bevel gear ring 1-4-3;

[0023] The casing 1-1 covers the plurality of connecting sleeves 1-2, the upper connecting flange 1-3 and the dial 1-4, 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 rotationally connected with the mechanical arm outside the casing 1-1.

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

[0025] The bottom surface of each connecting sleeve 1-2 is connected with the inner cylinder bottom of one matching sleeve 3-1, the cylinder wall of each matching sleeve 3-1 is uniformly provided with four through holes, one end of the auxiliary lock tongue 3-2-1 of each first lock tongue mechanism 3-2 extends to the outside of the matching sleeve 3-1 from each through hole, the free end of the main lock tongue 3-2-2 of each first lock tongue mechanism 3-2 is in the shape of an ascending wedge and is telescopically extended along the inside and outside of the connecting sleeve 1-2, and the ascending wedge ends of the four first lock tongue mechanisms 3-2 are butted together.

[0026] Preferably, the first linkage 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 dial piece 4-1-5;

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

[0028] The plurality of lock tongue shells 4-1-2 are all butted against the hollow cylinder 1-4-1, two long grooves are formed on the top surface of each lock tongue shell 4-1-2 near the butting end, the locking ring 4-1-3 and the second lock tongue mechanism are 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 the T-shaped rod 4-1-4-1 and the lock tongue 4-1-4-2 of the second lock tongue mechanism 4-1-4 are exposed at both ends of the locking ring 4-1-3, the lock tongue 4-1-4-2 is pushed by the top end of the tool box with an upper opening, the T-shaped rod 4-1-4-1 and the connecting rod 4-1-1 are sleeved in the two long grooves respectively, and the T-shaped rod 4-1-4-1 and the T-shaped connecting rod 4-1-1 are exposed on the top surface of each lock tongue shell 4-1-2, and the horizontal rods of the two can be telescoped in and out of the lock tongue shell 4-1-2 along the long grooves for alternately pushing the inclined teeth on the inclined tooth ring 1-4-3, and a push piece 4-1-5 is sleeved on the two, so as to realize linkage.

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

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

[0031] Preferably, the guide groove is a figure-eight groove.

[0032] Preferably, the inclined teeth on the inclined tooth ring 1-4-3 are arranged in counterclockwise direction; and the inclined tooth ring 1-4-3 rotates in counterclockwise direction.

[0033] The inclined teeth comprise a plurality of pairs of teeth, the two teeth in each pair of teeth are different in shape, and are triggered to act by the T-shaped rod 4-1-4-1 and the connecting rod 4-1-1 of the second lock tongue mechanism 4-1-4 respectively.

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

[0035] When the tool is needed, the mechanical arm interface assembly is inserted into the tool box through the mechanical arm, the connecting column head is pressed to make the first lock tongue mechanism retract to the specified position, the lower end of the connecting column head is fixed, and the tool joint assembly is taken out after the mechanical arm is controlled. When the tool is needed, the mechanical arm continuously inserts into the tool box, the second lock tongue mechanism is pressed at the top end of the tool box, so that the T-shaped rod of the second lock tongue mechanism pushes one of the teeth on the inclined tooth, and when the mechanical arm moves upward, the second lock tongue mechanism is released, the T-shaped rod of the second lock tongue mechanism is retracted, and then the connecting rod is extended to push the other tooth on the inclined tooth, the guide disc is pushed, the sliding ball is driven to reach the top of the guide groove along the guide groove, enters the groove at the bottom end of the column body on the column table, and the outer arc surface of the sliding ball unlocks the locking mechanism, so that the mechanical arm interface assembly and the tool joint assembly are separated, and the tool joint assembly falls into the tool box.

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

[0037] The transmission mechanism of the application is simple, and the connection and release process of the mechanical arm and the tool box does not need to rely on power or a complex electronic control system, thereby reducing energy loss and improving energy utilization, thereby improving the stability and reliability of task execution.

[0038] The mechanical structure design of the application is simple, which reduces the cost and makes it more suitable for application scenarios such as lunar rovers that have strict restrictions on space and weight. At the same time, the compact design of high integration can reduce the volume and weight, which can effectively increase the space utilization rate of the tool box; the modular design of quick replacement improves the versatility and flexibility of the actuator; through optimization design and selection of high-strength materials, the maintenance cost of the application is reduced, the environmental adaptability is enhanced, and it can adapt to the complex and changeable environmental conditions on the lunar surface, so that it has significant economic benefits and practical value in actual application.

[0039] The lightweight mechanical design of the application reduces the overall weight, improves the mobility and transportation efficiency, and is more suitable for small-sized machines in the future.

[0040] The application can complete the overturning operation by using the pull disc locking, without terrain restriction.

[0041] The application uses a lock tongue to lock, which has high reliability and stability. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is a schematic diagram of a modular automatic quick release interface structure for the end of a lunar rover mechanical arm.

[0043] Figure 2 It is a longitudinal sectional view of Figure 1

[0044] Figure 3 It is a structural schematic diagram of a tool joint assembly.

[0045] Figure 4 It is a structural schematic diagram of a dial.

[0046] Figure 5 It is a guide disc rotation view, in which, Figure 5 (a) of is a first kind of motion view of the guide disc rotation, Figure 5 (b) of is a second kind of motion view of the guide disc rotation, Figure 5 (c) of is a third kind of motion view of the guide disc rotation.

[0047] Figure 6 It is a structural schematic diagram of a helical tooth ring.

[0048] ​Figure 7 Structure diagram of the matching sleeve of the locking mechanism and the lock tongue shell of the first linkage;

[0049] Figure 8 Exploded view of the first linkage of the locking mechanism;

[0050] Figure 9 Figure 1 Top view of the movement of the linkage rod and the T-shaped rod, in which, Figure 9 (a) of FIG. 1 is a perspective view of the linkage rod fully extended to push one bevel gear, Figure 9 (b) of FIG. 1 is a perspective view of the linkage rod gradually retracted while the T-shaped rod gradually extended, Figure 9 (c) of FIG. 1 is a perspective view of the linkage rod fully retracted while the T-shaped rod fully extended,

[0051] Figure 10 Side view of the movement of the linkage rod and the T-shaped rod, in which, Figure 10 (a) of FIG. 2 is a perspective view of the T-shaped rod fully extended to push the other bevel gear, Figure 10 (b) of FIG. 2 is a perspective view of the T-shaped rod gradually retracted while the linkage rod gradually extended, Figure 10 (c) of FIG. 2 is a perspective view of the T-shaped rod fully retracted while the linkage rod extended,

[0052] Figure 11 Perspective view of the linkage rod and the T-shaped rod;

[0053] Figure 12 Exploded view of the mechanical arm interface assembly;

[0054] Figure 13 Three-dimensional view of the mechanical arm interface assembly;

[0055] Figure 14 Movement diagram of the first linkage, in which, Figure 14 (a) of FIG. 3 is a top view of the linkage rod pushing the bevel gear while the T-shaped rod retracted, Figure 14 (b) of FIG. 3 is a top view of the linkage rod gradually retracted while the T-shaped rod gradually extended, Figure 14 (c) of FIG. 3 is a top view of the T-shaped rod pushing the bevel gear while the linkage rod retracted, Figure 14 (d) of FIG. 3 is a side view of the linkage rod pushing the bevel gear while the T-shaped rod retracted, Figure 14 (e) of FIG. 3 is a side view of the linkage rod gradually retracted while the T-shaped rod gradually extended, Figure 14 (f) of FIG. 3 is a side view of the T-shaped rod pushing the bevel gear while the linkage rod retracted. DETAILED DESCRIPTION

[0056] ​With reference to the drawings and embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0057] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be further described below in combination with the drawings and specific embodiments, but is not limited to the present application.

[0058] Embodiment:

[0059] A modular automatic quick-release interface for the end of a lunar rover mechanical arm, the interface comprising a mechanical arm interface assembly 1, a plurality of tool joint assemblies 2, a locking mechanism 3, an unlocking mechanism 4, and a tool box;

[0060] The tool box contains a plurality of tool joint assemblies 2 and a plurality of tools, each tool joint assembly 2 being used to connect a tool;

[0061] The mechanical arm interface assembly 1 is fixedly connected to the end of the mechanical arm;

[0062] During the picking process, the mechanical arm is controlled to extend into the tool box together with the mechanical arm interface assembly 1 connected thereto, the picked tool joint assembly 2 is inserted into the mechanical arm interface assembly 1, the picked tool joint assembly 2 and the mechanical arm interface assembly 1 are locked by the locking mechanism 3, and then the mechanical arm is controlled to pick up the locked tool joint assembly 2;

[0063] During the delivery process, the mechanical arm is controlled to extend into the tool box together with the tool joint assembly 2 inserted on the mechanical arm interface assembly 1, when the top surface of the tool box touches the unlocking mechanism 4 on the mechanical arm interface assembly 1, the unlocking mechanism 4 unlocks the locking mechanism 3, the mechanical arm interface assembly 1 and the tool joint assembly 2 are separated, and the tool joint assembly 2 falls into the tool box.

[0064] Specifically, the tool represents an actuator.

[0065] The unlocking mechanism 4 comprises a first linkage 4-1 and a second linkage 4-2;

[0066] Further limited, the first linkage 4-1 is used to be triggered by the top surface of the tool box to drive the second linkage 4-2 to act, and unlock the locking mechanism 3.

[0067] Specifically, as shown in Figure 1 The first linkage 4-1 is arranged on the mechanical arm interface assembly 1, and the second linkage 4-2 is arranged on the tool joint assembly 2.

[0068] Further limited, the tool joint assembly 2 includes a column base 2-1, a connecting column sleeve 2-2 and a connecting seat disc 2-3;

[0069] The second linkage 4-2 is realized by a sliding ball;

[0070] The column base 2-1, the sliding ball, the connecting column sleeve 2-2 and the connecting seat disc 2-3 are all arranged in the tool box;

[0071] The inner ring of the connecting seat disc 2-3 is used for sleeving the tool, the upper disc surface of the connecting seat disc 2-3 is uniformly provided with a plurality of connecting column sleeves 2-2 in the circumferential direction, one column base 2-1 is inserted into each connecting column sleeve 2-2, one sliding ball is sleeved on the lower column body of each column base 2-1, and a groove is formed at the bottom end of the upper column body of each column base 2-1, the sliding ball can slide to the groove along the lower column body of each column base 2-1, the upper half of the sliding ball is embedded in the groove, and the outer arc surface of the embedded sliding ball is used for unlocking the locking mechanism 3;

[0072] The upper column body of each column base 2-1 is used for being sequentially inserted into the locking mechanism 3 and the mechanical arm interface assembly 1.

[0073] Specifically, as shown in Figure 1 The column base 2-1, the connecting column sleeve 2-2 and the connecting seat disc 2-3 in the tool joint assembly 2 are sequentially fixedly connected, only the sliding ball is sleeved on the lower column body of the column base 2-1 and can slide up and down along the lower column body of the column base 2-1. As shown in Figure 1 The structure of the column base 2-1 is wide at the top and thin at the bottom.

[0074] Further limited, the mechanical arm interface assembly 1 includes a shell 1-1, a plurality of connecting sleeves 1-2, an upper connecting flange 1-3 and a dial 1-4;

[0075] Each connecting sleeve 1-2 is sleeved into each through hole of the upper connecting flange 1-3, and each connecting sleeve 1-2 is connected with one locking mechanism 3 at the lower part, and the locking mechanism 3 can be extended into the connecting sleeve 1-2 along the lower sleeve wall of the connecting sleeve 1-2 to lock the upper column body of the column base 2-1 inserted into the connecting sleeve 1-2;

[0076] The dial 1-4 includes a hollow cylinder 1-4-1, a helical tooth ring 1-4-3 and a guide disc 1-4-2;

[0077] The bottom surface of the hollow cylinder 1-4-1 is connected with the guide disc 1-4-2, the helical tooth ring 1-4-3 is sleeved on the outer wall of the hollow cylinder 1-4-1, the helical teeth on the helical tooth ring 1-4-3 are opposite to the first linkage 4-1, the side wall of the guide disc 1-4-2 is uniformly provided with guide grooves, and the guide disc 1-4-2 between every two guide grooves is provided with a sliding ball groove for placing a sliding ball;

[0078] A first linkage 4-1 is sleeved on each connecting sleeve 1-2, and the plurality of first linkages 4-1 are all butted to the bevel gear ring 1-4-3;

[0079] The shell 1-1 covers the plurality of connecting sleeves 1-2, the upper connecting flange 1-3 and the dial 1-4, the top end of the hollow cylinder passes through the upper connecting flange 1-3 and the top surface of the shell 1-1 in turn, and is rotationally connected with the mechanical arm outside the shell 1-1.

[0080] Specifically, in addition to this, in order to ensure that the docking device can work normally, there is theoretically a serial port power supply between it and the degree of freedom mechanical arm, and there should be visual identification and electrical interface between the actuator to ensure docking and power supply, so a middle through hole is reserved. The embodiment mainly aims at the functions of docking and quick release, so the mechanical structure design and movement mode of the device are mainly described.

[0081] Further limitation, the locking mechanism 3 includes a matching sleeve 3-1 and four first lock tongue mechanisms 3-2;

[0082] The bottom surface of each connecting sleeve 1-2 is connected with the inner cylinder bottom of one matching sleeve 3-1, four through holes are uniformly arranged on the cylinder wall of each matching sleeve 3-1, the auxiliary lock tongue 3-2-1 of each first lock tongue mechanism 3-2 extends from each through hole 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 an ascending wedge shape and can extend and retract along the inside and outside of the connecting sleeve 1-2, and the ascending wedge-shaped ends of the four first lock tongue mechanisms 3-2 are butted together.

[0083] Specifically, as shown in Figure 8 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.

[0084] Further limitation, the first linkage 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 push piece 4-1-5;

[0085] One lock tongue shell 4-1-2 is sleeved on each connecting sleeve 1-2, and the lock tongue shell 4-1-2 communicates with the connecting sleeve 1-2;

[0086] The plurality of lock tongue shells 4-1-2 are all butted against the hollow cylinder 1-4-1, two long grooves are formed on the top surface of each lock tongue shell 4-1-2 near the butting end, the locking ring 4-1-3 and the second lock tongue mechanism are 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 the T-shaped rod 4-1-4-1 and the lock tongue 4-1-4-2 of the second lock tongue mechanism 4-1-4 are exposed at both ends of the locking ring 4-1-3, the lock tongue 4-1-4-2 is pushed by the top end of the tool box with an upper opening, the T-shaped rod 4-1-4-1 and the connecting rod 4-1-1 are sleeved in the two long grooves respectively, and the T-shaped rod 4-1-4-1 and the connecting rod 4-1-1 are exposed on the top surface of each lock tongue shell 4-1-2, and the horizontal rods of the two can be telescoped in and out of the lock tongue shell 4-1-2 for alternately pushing the inclined teeth on the inclined tooth ring 1-4-3, and a push piece 4-1-5 is sleeved on the horizontal rods of the two, so as to realize linkage.

[0087] Further limited, the first linkage 4-1 further includes two tracks;

[0088] Two tracks are arranged on the inner bottom surface of each lock tongue shell 4-1-2, and the T-shaped rod 4-1-4-1 and the connecting rod 4-1-1 slide along the two tracks respectively.

[0089] Specifically, in order to facilitate the telescoping of the T-shaped rod 4-1-4-1 and the connecting rod 4-1-1 of the second lock tongue mechanism, the T-shaped rod 4-1-4-1 and the connecting rod 4-1-1 of the second lock tongue mechanism are allowed to slide on the tracks.

[0090] Further limited, the guide groove is a figure-eight groove.

[0091] Further limited, the inclined teeth on the inclined tooth ring 1-4-3 are formed in a counterclockwise direction; and the inclined tooth ring 1-4-3 rotates in a counterclockwise direction.

[0092] The inclined teeth include a plurality of pairs of teeth, the two teeth in each pair of teeth are different in shape, and are triggered to act by the T-shaped rod 4-1-4-1 and the connecting rod 4-1-1 of the second lock tongue mechanism 4-1-4.

[0093] Specifically, in the initial state, the hollow cylinder is connected with the mechanical arm to ensure the rotation feature, and the bearing connection can also be referred to.

[0094] The embodiment is an automatic quick release interface device for the end of a mechanical arm of a lunar rover, as shown in Figure 1 、 Figure 2 The following will describe the quick docking and undocking cycle process of the device.

[0095] When the mechanical arm enters the tool box to grab the tool:

[0096] Step A1 : Mechanical arm probe. The mechanical arm and the mechanical arm interface assembly connected thereon probe into the inside of the tool box.

[0097] Step A2: First lock mechanism press. The connecting column head is inserted into the first lock mechanism, so that the first lock mechanism is contracted to the designated position, thus the mechanical arm interface assembly and the tool joint assembly are locked, the control mechanical arm takes out the tool joint assembly and the tool.

[0098] When the mechanical arm puts the tool joint assembly and the tool on it back into the tool box:

[0099] Step B1 : Mechanical arm probe. The mechanical arm and the mechanical arm interface assembly connected thereon probe into the inside of the tool box.

[0100] Step B2: First lock mechanism press. The connecting column head is inserted into the first lock mechanism, so that the first lock mechanism is contracted to the designated position;

[0101] Step B3: Second lock mechanism press. The mechanical arm continues to press the tool joint assembly downward, after the second lock mechanism on the mechanical arm interface assembly touches the top end of the tool box, the top end of the tool box extrudes the lock of the second lock mechanism, so that the lock of the second lock mechanism is contracted, thus the T-shaped rod 4-1-4-1 of the second lock mechanism 4-1-4 is extended to push one of the inclined teeth, and when the mechanical arm moves upward, the lock of the second lock mechanism is released, the T-shaped rod 4-1-4-1 of the second lock mechanism 4-1-4 is contracted, and then the connecting rod is extended to push the other inclined tooth, thus the guide disc is pushed, so that the sliding ball reaches the top of the guide groove along the guide groove, enters the groove at the bottom end of the column body on the column 2-1, the outer arc surface of the sliding ball is unlocked to the locking mechanism 3, so as to realize the unlocking of the mechanical arm interface assembly and the tool joint assembly, and the tool is dropped into the tool box.

[0102] Although the present application has been described herein with reference to particular embodiments thereof, it is to be understood that the examples are merely illustrative of the principles and applications of the present application. It is therefore to be understood that numerous modifications can be made to the illustrative examples and that other arrangements can be devised without departing from the spirit and scope of the present application as defined by the appended claims. It is to be understood that all features that are described in relation to one example can be combined with features described in relation to other examples. It is to be understood that features described in relation to separate examples can be used in other described examples.

Claims

1. A modular automatic quick release interface for the end of a lunar rover robotic arm, characterized by, The interface comprises a mechanical arm interface assembly (1), a plurality of tool joint assemblies (2), a locking mechanism (3), an unlocking mechanism (4) and a tool box; The tool box is provided with a plurality of tool joint assemblies (2) and a plurality of tools, and each tool joint assembly (2) is used for connecting one tool; The mechanical arm is fixedly connected with the mechanical arm interface assembly (1); During the taking process, the mechanical arm drives the mechanical arm interface assembly (1) connected therewith to extend into the tool box, the tool joint assembly (2) taken out is inserted into the mechanical arm interface assembly (1), the taken-out tool joint assembly (2) and the mechanical arm interface assembly (1) are locked through the locking mechanism (3), and then the mechanical arm takes out the locked tool joint assembly (2); During the sending process, the mechanical arm drives the tool joint assembly (2) inserted into the mechanical arm interface assembly (1) to extend into the tool box, when the top surface of the tool box touches the unlocking mechanism (4) on the mechanical arm interface assembly (1), the unlocking mechanism (4) unlocks the locking mechanism (3), the mechanical arm interface assembly (1) and the tool joint assembly (2) are separated, and the tool joint assembly (2) falls into the tool box; The tool joint assembly (2) comprises a column table (2-1), a connecting column sleeve (2-2) and a connecting seat disc (2-3); The unlocking mechanism (4) comprises a first linkage (4-1) and a second linkage (4-2); The first linkage (4-1) is used for being triggered by the top surface of the tool box to drive the second linkage (4-2) to act and unlock the locking mechanism (3); The second linkage (4-2) is realized by a sliding ball; The column table (2-1), the sliding ball, the connecting column sleeve (2-2) and the connecting seat disc (2-3) are arranged in the tool box; The inner ring of the connecting seat disc (2-3) is used for sleeving a tool, a plurality of connecting column sleeves (2-2) are uniformly arranged on the upper disc surface of the connecting seat disc (2-3) in the circumferential direction, one column table (2-1) is inserted into each connecting column sleeve (2-2), one sliding ball is sleeved on the lower column body of each column table (2-1), a recess is formed in the bottom end of the upper column body of each column table (2-1), the sliding ball can slide along the lower column body of each column table (2-1) to the recess, the upper half of the sliding ball is embedded in the recess, and the outer arc surface of the embedded sliding ball is used for unlocking the locking mechanism (3); The upper column body of each column table (2-1) is used for being sequentially inserted into the locking mechanism (3) and the mechanical arm interface assembly (1).

2. The modular automatic quick release interface for the end of a lunar rover robotic arm of claim 1, wherein, The mechanical arm interface assembly (1) comprises a shell (1-1), a plurality of connecting sleeves (1-2), an upper connecting flange (1-3) and a dial (1-4); Each connecting sleeve (1-2) is sleeved into each through hole of the upper connecting flange (1-3) in the upper part, each connecting sleeve (1-2) is connected with one locking mechanism (3) in the lower part, and the locking mechanism (3) can be telescopically extended into the connecting sleeve (1-2) along the lower sleeve wall of the connecting sleeve (1-2) to lock the upper column body of the column table (2-1) inserted into the connecting sleeve (1-2); The dial (1-4) comprises a hollow cylinder (1-4-1), a bevel gear ring (1-4-3) and a guide disc (1-4-2); The hollow cylinder (1-4-1) is connected with a guide disc (1-4-2) at the bottom, a helical gear ring (1-4-3) is sleeved on the outer wall of the hollow cylinder (1-4-1), the helical gears on the helical gear ring (1-4-3) are opposite to the first linkage (4-1), guide grooves are evenly arranged on the side wall of the guide disc (1-4-2), and a sliding ball groove for placing a sliding ball is arranged on the guide disc (1-4-2) between every two guide grooves; A first linkage (4-1) is sleeved on each connecting sleeve (1-2), and the plurality of first linkages (4-1) are all butted to the helical gear ring (1-4-3); The shell (1-1) covers the plurality of connecting sleeves (1-2), the upper connecting flange (1-3) and the dial (1-4) outside, the top end of the hollow cylinder passes through the top surface of the upper connecting flange (1-3) and the shell (1-1) in sequence, and the top end is rotationally connected with a mechanical arm outside the shell (1-1).

3. The modular automatic quick release interface for the end of a lunar rover robotic arm of claim 2, wherein, The locking mechanism (3) comprises a matching sleeve (3-1) and four first lock tongue mechanisms (3-2); The bottom of each connecting sleeve (1-2) is connected with the inner cylinder bottom of one matching sleeve (3-1), four through holes are evenly arranged on the cylinder wall of each matching sleeve (3-1), the auxiliary lock tongue (3-2-1) of each first lock tongue mechanism (3-2) extends from each through hole 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 in the shape of an ascending wedge and can be telescopically arranged on the inner and outer connecting sleeve (1-2), and the ascending wedge ends of the four first lock tongue mechanisms (3-2) are butted together.

4. The modular automatic quick disconnect interface for the end of a lunar rover robotic arm of claim 3, wherein, The first linkage (4-1) comprises a linkage rod (4-1-1), a plurality of lock tongue housings (4-1-2), a locking ring (4-1-3), a second lock tongue mechanism (4-1-4) and a dial piece (4-1-5); One lock tongue housing (4-1-2) is sleeved on each connecting sleeve (1-2), and the lock tongue housing (4-1-2) is communicated with the connecting sleeve (1-2); The plurality of lock tongue housings (4-1-2) are all butted to the hollow cylinder (1-4-1), two long grooves are arranged on the top surface of each lock tongue housing (4-1-2) close to the butted end, the locking ring (4-1-3) and the second lock tongue mechanism are arranged in the lock tongue housing (4-1-2), the locking ring (4-1-3) is sleeved on the second lock tongue mechanism (4-1-4), the T-shaped rod (4-1-4-1) and the lock tongue (4-1-4-2) of the second lock tongue mechanism (4-1-4) are exposed at both ends of the locking ring (4-1-3), the lock tongue (4-1-4-2) of the second lock tongue mechanism is pushed by the top end of the tool box with an upper opening, the T-shaped rod (4-1-4-1) and the linkage rod (4-1-1) are respectively sleeved in the two long grooves, the T-shaped rod (4-1-4-1) and the T-shaped linkage rod (4-1-1) are exposed on the top surface of each lock tongue housing (4-1-2), the cross rods of the two can be telescopically arranged in and out of the lock tongue housing (4-1-2), the cross rods of the two are used for alternately pushing the helical gears on the helical gear ring (1-4-3), and one dial piece (4-1-5) is sleeved on the two, so as to realize linkage.

5. The modular automatic quick disconnect interface for the end of a lunar rover robotic arm of claim 4, wherein, The first linkage (4-1) further comprises two tracks. Two tracks are arranged on the bottom surface of each lock tongue shell (4-1-2), and the T-shaped rod (4-1-4-1) and the connecting rod (4-1-1) slide along the two tracks respectively.

6. The modular automatic quick disconnect interface for the end of a lunar rover robotic arm of claim 5, wherein, The guide groove is a figure-of-eight groove.

7. The modular automatic quick disconnect interface for the end of a lunar rover robotic arm of claim 4, wherein, The helical teeth on the helical tooth ring (1-4-3) are arranged in a counterclockwise direction, and the helical tooth ring (1-4-3) rotates in a counterclockwise direction. The helical teeth include multiple pairs of teeth, and the two teeth in each pair of teeth are different in shape and are triggered by the T-shaped rod (4-1-4-1) and the connecting rod (4-1-1) of the second lock tongue mechanism (4-1-4) to act.

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