Wrist quick release device, manipulator and robot

Abstract

The invention discloses a wrist quick dismounting device, a manipulator and a robot, the wrist quick dismounting device comprises a cylindrical mounting seat, the mounting seat comprises an open end and a mounting end, the mounting end is used for connecting an end effector, the mounting end is provided with a check ring, the inner wall of the mounting seat is provided with an annular groove, and a locking assembly comprises a positioning seat, an abutting piece and an elastic piece. The positioning seat is sleeved with the mounting seat, a positioning structure is arranged between the bottom end of the positioning seat and the check ring, and the positioning structure is used for positioning the positioning seat and the mounting seat; the unlocking assembly comprises a movable sleeve and a pressing rod, the movable sleeve is connected with one end of the positioning seat and can rotate relative to the positioning seat, the pressing rod penetrates through the positioning seat, one end of the pressing rod can make contact with the elastic piece, and the other end of the pressing rod can make contact with the movable sleeve. When the movable sleeve rotates relative to the positioning seat, the pressing rod can be driven to press the elastic piece, so that the abutting piece is separated from the annular groove.

Description

Technical Field

[0001] The present invention relates to the technical field of prosthetics, and particularly to a wrist quick-release device, a robotic hand, and a robot. Background Art

[0002] As a key connecting component in a mechanical system, the connecting component is located between the end effector and the main body structure and plays a crucial role.

[0003] This component generally includes a base for stably connecting the main body structure, and a connecting member for mounting and fixing various end effectors. Modern connecting components are usually designed to provide multi-degree-of-freedom movements, including joint rotation, flexion and extension, and lateral bending functions, to simulate the range of motion of the natural human wrist, so as to complete complex operation tasks.

[0004] However, although there are various types of end effectors on the market at present, such as functional robotic hands, multi-fingered dexterous hands, special tool hands, and precision operation devices, which can meet the needs of users in different scenarios, when users switch different end effectors, they usually need to use special tools for disassembly and installation, and the operation process is cumbersome and time-consuming. Summary of the Invention

[0005] The main object of the present invention is to propose a wrist quick-release device, aiming to solve the problem of cumbersome operation process for switching different end effectors of the existing wrist device.

[0006] To achieve the above object, the present invention proposes a wrist quick-release device, which includes: A mounting seat, the mounting seat is arranged in a cylindrical shape, including an open end and a mounting end, the mounting end is used for connecting an end effector, a retaining ring is arranged at the mounting end, and an annular groove is formed on the inner wall of the mounting seat; A locking assembly, the locking assembly includes a positioning seat, a pressing member, and an elastic member, the positioning seat is sleeved on the mounting seat, a positioning structure is arranged between the bottom end of the positioning seat and the retaining ring, and the positioning structure is used for positioning the positioning seat and the mounting seat so that they cannot rotate relative to each other; there is a gap between the positioning seat and the mounting seat, the elastic member is located in the gap and abuts against the pressing member, and a part of the pressing member extends into the annular groove; An unlocking assembly, the unlocking assembly includes a driving sleeve and a pressing rod, the driving sleeve is connected to one end of the positioning seat and can rotate relative to the positioning seat, the pressing rod passes through the positioning seat, one end of the pressing rod can contact the elastic member, and the other end can contact the driving sleeve; when the driving sleeve rotates relative to the positioning seat, it can drive the pressing rod to press the elastic member, so that the pressing member is separated from the annular groove.

[0007] In some embodiments, the unlocking component further includes a driving sleeve, which is sleeved on the positioning seat and can move relative to the positioning seat. A protrusion is provided on the top surface of one end of the driving sleeve, and a dial block cooperating with the protrusion is provided on the actuating sleeve. The dial block cooperates with the protrusion to drive the actuating sleeve to move up and down; the other end of the pressure rod contacts the driving sleeve.

[0008] In some embodiments, a first through hole inclined relative to the axis is provided on the side wall of the positioning seat, and the pressure rod is located in the first through hole.

[0009] In some embodiments, a plurality of the first through holes are circumferentially arranged along the side wall of the positioning seat.

[0010] In some embodiments, the positioning structure includes at least one first abutting block axially provided on the retaining ring, and a groove located on the end face of the positioning seat facing the retaining ring and into which the first abutting block can be inserted.

[0011] In some embodiments, the abutting member is a ball, and the elastic member is annularly arranged.

[0012] In some embodiments, the locking component further includes a positioning sleeve connected to the positioning seat. The positioning sleeve is sleeved outside the positioning seat, and a plurality of second through holes for the abutting members to be exposed are provided on the side wall of the positioning sleeve.

[0013] In some embodiments, the actuating sleeve includes a rotating sleeve and a connecting sleeve. The connecting sleeve is threadedly connected to the top end of the positioning seat, and the rotating sleeve is rotatably connected to the top of the connecting sleeve.

[0014] The present invention further provides a manipulator, which includes an end effector and the wrist quick-release device of the foregoing embodiments.

[0015] The present invention further provides a robot, which includes the manipulator of the foregoing embodiments.

[0016] The beneficial effects of the technical solution of the present invention are as follows: The mounting seat is designed in a cylindrical shape, with one end being an open end and the other end being a mounting end connected to the end effector. The positioning seat in the locking component is relatively fixed to the mounting seat through the positioning structure to prevent rotation. At the same time, the elastic member drives the abutting member to extend into the annular groove to form a locked state, ensuring a firm and reliable connection. The actuating sleeve only needs to rotate to compress the elastic member through the pressure rod, so that the abutting member is separated from the annular groove, realizing quick unlocking. Without using any tools, simply rotating the actuating sleeve can complete the quick disassembly and assembly of the end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the wrist quick-release device in an embodiment of the present invention; Figure 2 Front view of the wrist quick-release device in an embodiment of the present invention; Figure 3 It is Figure 2 Schematic diagram of the structure of the sectional view at A-A from another perspective; Figure 4 Exploded view of the wrist quick-release device in an embodiment of the present invention; Figure 5 It is Figure 4 Enlarged view of part B in; Figure 6 It is Figure 4 Enlarged view of part C in; Figure 7 It is Figure 4 Enlarged view of part D in.

[0018] Explanation of the reference numerals in the drawings: 10. Wrist quick-release device; 100. Mounting base; 100a. Open end; 100b. Mounting end; 101. Retaining ring; 102. Annular groove; 200. Locking assembly; 201. Positioning seat; 201a. First through hole; 202. Thrust member; 203. Elastic member; 210. Positioning structure; 211. First thrust block; 212. Groove; 220. Positioning sleeve; 220a. Second through hole; 300. Unlocking assembly; 301. Actuating sleeve; 301a. Rotating sleeve; 301b. Connecting sleeve; 302. Pressing rod; 303. Driving sleeve; 303a. Protrusion; 303b. Pusher block; 20. End effector; 30. Manipulator; 40. Robot.

[0019] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0020] Next, the solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indication will also change accordingly.

[0022] It should also be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element present at the same time. When an element is referred to as "connected to" another element, it can be directly connected to the other element or there may be an intermediate element present at the same time.

[0023] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0024] Referring to Figure 1 、 Figure 2 and Figure 3 , an embodiment of the present invention provides a wrist quick-release device, which includes: A mounting seat 100, the mounting seat 100 is provided in a cylindrical shape, including an open end 100a and a mounting end 100b. The mounting end 100b is used to connect the end effector, a retaining ring 101 is provided at the mounting end 100b, and an annular groove 102 is formed on the inner wall of the mounting seat 100; A locking assembly 200, the locking assembly 200 includes a positioning seat 201, a pressing member 202 and an elastic member 203. The positioning seat 201 is sleeved with the mounting seat 100. A positioning structure 210 is provided between the bottom end of the positioning seat 201 and the retaining ring 101. The positioning structure 210 is used to position the positioning seat 201 and the mounting seat 100 so that the two cannot rotate relative to each other; there is a gap between the positioning seat 201 and the mounting seat 100. The elastic member 203 is located in the gap and presses the pressing member 202. A part of the pressing member 202 extends into the annular groove 102; The unlocking assembly 300 includes a driving sleeve 301 and a pressing rod 302. The driving sleeve 301 is connected to one end of the positioning seat 201 and can rotate relative to the positioning seat 201. The pressing rod 302 passes through the positioning seat 201, one end of which can contact the elastic member 203, and the other end can contact the driving sleeve 301. When the driving sleeve 301 rotates relative to the positioning seat 201, it can drive the pressing rod 302 to press the elastic member 203, so that the abutting member 202 is separated from the annular groove 102.

[0025] The function of the mounting seat 100 in this embodiment is to provide a mounting place for each component and at the same time serve as the connection interface between the end effector and the entire device. The mounting seat 100 is provided in a cylindrical shape and includes an open end 100a and a mounting end 100b. The mounting end 100b is used to connect the end effector, so that the end effector can be stably connected to the device. A retaining ring 101 is provided at the mounting end 100b. The retaining ring 101 not only plays a limiting role but also cooperates with the positioning structure 210 to ensure the relative position between the positioning seat 201 and the mounting seat 100 is fixed. An annular groove 102 is formed in the inner wall of the mounting seat 100. This annular groove 102 is the key structure for locking the abutting member 202 and provides a locking space for the abutting member 202.

[0026] It should be noted that the end effector in this embodiment can be a prosthetic hand, a mechanical clamp, a special tool head or other functional terminals. These end effectors can all be connected to the quick-release device of the present invention through the mounting seat 100 to achieve the purpose of quick replacement. The wrist quick-release device of this embodiment can be used for prosthetics, and of course, it can also be used in scenarios such as robotic arms, industrial robots, and medical auxiliary equipment, all of which are key components for connecting end effectors.

[0027] The locking assembly 200 includes a positioning seat 201, an abutting member 202, and an elastic member 203. The positioning seat 201 is sleeved with the mounting seat 100. A positioning structure 210 is provided between the bottom end of the positioning seat 201 and the retaining ring 101. The positioning structure 210 is used to position the positioning seat 201 and the mounting seat 100 so that the two cannot rotate relative to each other. That is, during the unlocking process, the driving sleeve 301 needs to rotate relative to the positioning seat 201. The positioning structure 210 makes the positioning seat 201 and the mounting seat 100 unable to rotate relative to each other, which can ensure effective unlocking and the successful implementation of the quick-release operation. The positioning structure 210 can be the cooperation of a card slot and a card block, or other structures that can prevent relative rotation, such as splines and key grooves.

[0028] There is a gap between the positioning seat 201 and the mounting seat 100. The elastic member 203 is located within the gap. The elastic member 203 is used to abut against the abutting member 202, such that at least a portion of the abutting member 202 extends into the annular groove 102 to achieve locking between the positioning seat 201 and the mounting seat 100. The elastic member 203 can be a compression spring or other elements with elastic recovery function. The abutting member 202 can be a spherical body, a cylindrical body or other suitable shapes, as long as it can extend into the annular groove 102 and provide sufficient locking force.

[0029] The unlocking assembly 300 includes an actuating sleeve 301 and a pressure rod 302. The actuating sleeve 301 is connected to one end of the positioning seat 201 and can rotate relative to the positioning seat 201. The actuating sleeve 301 can be designed into a shape convenient for hand holding, and anti-slip patterns can be provided on its surface to improve the operation convenience. The pressure rod 302 passes through the positioning seat 201, one end of which can contact the elastic member 203 and the other end can contact the actuating sleeve 301. The shape and length of the pressure rod 302 need to be reasonably designed to ensure that when the actuating sleeve 301 rotates, the force can be effectively transmitted to the elastic member 203.

[0030] During use, taking the application in the prosthetics field as an example for illustration. During the installation process, first connect the mounting seat 100 with the end effector (it should be noted that there are various end effectors with different functions, such as a grasping hand, a fine operation hand, a special tool hand, etc., and the mounting seat 100 can be provided on these end effectors with different functions), and then install the locking assembly 200 and the unlocking assembly 300 at the joint of the prosthetic limb.

[0031] During assembly, the user can directly sleeve the locking assembly 200 with the end effector equipped with the mounting seat 100, and the assembly can be completed by direct sleeving. Specifically, when the positioning seat 201 enters the mounting seat 100, the abutting member 202 will be pushed back into the mounting seat 100 under the action of the side wall of the mounting seat 100. At this time, the elastic member 203 will deform to avoid the abutting member 202; when the positioning seat 201 extends into the mounting seat 100 to a certain extent, the positioning structure 210 provided between the bottom end of the positioning seat 201 and the retaining ring 101 comes into play, keeping the positioning seat 201 and the mounting seat 100 relatively fixed. At the same time, the elastic member 203 abuts the abutting member 202 and extends it into the annular groove 102 to achieve locking, and the whole process is convenient and fast.

[0032] When it is necessary to replace the end effector with other functions, first, the current end effector needs to be disassembled, and then the above installation steps can be carried out. The specific disassembly process is as follows: The user operates the unlocking component 300 to make the driving sleeve 301 rotate relative to the positioning seat 201. During the rotation of the driving sleeve 301, it will push the pressure rod 302 downward. At this time, the pressure rod 302 will abut against the elastic member 203 and compress the elastic member 203 in the direction of the bottom end of the mounting seat 100. At this time, the abutting member 202 loses the abutting force of the elastic member 203 and thus disengages from the annular groove 102, and the positioning seat 201 can be separated from the mounting seat 100. In this way, the user can quickly complete the disassembly with one hand, facilitating the replacement of other end effectors.

[0033] Further, during the rotation, due to the existence of the positioning structure 210, the positioning seat 201 will not rotate relative to the mounting seat 100, ensuring the stability and reliability of the unlocking process. The positioning structure 210 can be designed in various forms. For example, it can be the cooperation between the convex block at the bottom end of the positioning seat 201 and the groove 212 on the retaining ring 101 of the mounting seat 100, or the cooperation between the positioning pin and the positioning hole, etc., as long as it can prevent the positioning seat 201 from rotating relative to the mounting seat 100.

[0034] The beneficial effects of the technical solution of the present invention are as follows: The mounting seat 100 is designed in a cylindrical shape, with one end being an open end 100a and the other end being a mounting end 100b connected to the end effector. The positioning seat 201 in the locking assembly 200 and the mounting seat 100 are relatively fixed through the positioning structure 210 to prevent rotation. At the same time, the elastic member 203 drives the abutting member 202 to extend into the annular groove 102 to form a locked state, ensuring a firm and reliable connection. The driving sleeve 301 only needs to rotate to compress the elastic member 203 through the pressure rod 302, so that the abutting member 202 is separated from the annular groove 102, realizing quick unlocking. Without using any tools, simply rotating the driving sleeve 301 can complete the quick disassembly and assembly of the end effector.

[0035] Refer to Figure 3 and Figure 4 In this embodiment, the unlocking component 300 further includes a driving sleeve 303. The driving sleeve 303 is sleeved on the positioning seat 201 and can move relative to the positioning seat 201. A protrusion 303a is provided on the top surface of one end of the driving sleeve 303, and the driving sleeve 301 is provided with a dial block 303b that cooperates with the protrusion 303a. The cooperation between the dial block 303b and the protrusion 303a can drive the driving sleeve 301 to move up and down; the other end of the pressure rod 302 contacts the driving sleeve 303.

[0036] In this embodiment, the unlocking assembly 300 includes, in addition to the actuating sleeve 301 and the pressing rod 302, a driving sleeve 303. The driving sleeve 303 is sleeved on the positioning seat 201 and can move relative to the positioning seat 201. It is mainly used to transmit the rotational motion of the actuating sleeve 301 into an axial motion and transmit this motion to the pressing rod 302. A protrusion 303a is provided on the top surface of one end of the driving sleeve 303. The protrusion 303a can be a plurality of bumps evenly distributed in a ring shape, and its function is to cooperate with the dial block 303b on the actuating sleeve 301 to convert the rotational motion into an axial motion.

[0037] The actuating sleeve 301 is provided with a dial block 303b that cooperates with the protrusion 303a. The dial block 303b is located on the side of the actuating sleeve 301 facing the positioning seat 201. When the actuating sleeve 301 rotates, the dial block 303b interacts with the protrusion 303a on the top surface of the driving sleeve 303, thereby driving the driving sleeve 303 to move axially. In this way, the rotational motion of the actuating sleeve 301 can be more smoothly and controllably converted into the axial motion of the driving sleeve 303.

[0038] One end of the pressing rod 302 contacts the elastic member 203, and the other end contacts the driving sleeve 303. When the driving sleeve 303 moves downward under the action of the dial block 303b and the protrusion 303a, it will push the pressing rod 302, and the pressing rod 302 will further compress the elastic member 203, causing the abutting member 202 to disengage from the annular groove 102, realizing unlocking.

[0039] It should be noted that a guiding structure can be provided between the driving sleeve 303 and the positioning seat 201, such as the cooperation of a guiding groove and a guiding block, to ensure that the driving sleeve 303 moves axially without rotating.

[0040] In use, taking the application in the field of prosthetics as an example for illustration. Similar to the foregoing embodiment, during the installation process, first connect the mounting seat 100 to the end effector, and then install the locking assembly 200 and the unlocking assembly 300 with the driving sleeve 303 at the joint of the prosthetic limb.

[0041] The assembly process is basically the same as that of the foregoing embodiment. The user can directly sleeve the locking assembly 200 on the end effector equipped with the mounting seat 100 to complete the assembly. The abutting member 202 extends into the annular groove 102 under the action of the elastic member 203 to realize locking.

[0042] When it is necessary to replace the end effector, the user operates the unlocking component 300 by rotating the driving sleeve 301. Different from the foregoing embodiments, in this embodiment, the rotational movement of the driving sleeve 301 is first converted into the axial movement of the driving sleeve 303 through the cooperation between the dial block 303b and the protrusion 303a. Specifically, when the driving sleeve 301 rotates, the dial block 303b provided on the surface of the driving sleeve 301 facing the positioning seat 201 will contact the protrusion 303a on the top surface of the driving sleeve 303 and slide along the protrusion 303a. Since the protrusion 303a has a certain height, the protrusion 303a is forced to move downward, thereby driving the driving sleeve 301 to move downward.

[0043] During the downward movement of the driving sleeve 301, it will push the driving sleeve 303 to move downward synchronously. When the driving sleeve 303 moves downward, it will push the pressure rod 302 in contact with it, and the pressure rod 302 will further push the elastic member 203 to be compressed, so that the abutting member 202 loses the supporting force of the elastic member 203 and disengages from the annular groove 102, realizing unlocking. At this time, the positioning seat 201 can be separated from the mounting seat 100, and the user can quickly complete the disassembly with one hand, so as to facilitate the replacement of other end effectors.

[0044] It should be noted that, due to the addition of the driving sleeve 303 as an intermediate transmission element, the rotation angle of the driving sleeve 301 can be smaller, and the user only needs to slightly rotate the driving sleeve 301 to complete the unlocking operation, which is especially friendly to users with less flexible hand functions. At the same time, the guiding structure between the driving sleeve 303 and the positioning seat 201 ensures the accuracy of the axial movement and avoids the possibility of misoperation.

[0045] Furthermore, the driving sleeve 303 can be designed with a protruding edge at the upper end, which can better abut against the pressure rod 302 when moving downward.

[0046] In this embodiment, by adding the driving sleeve 303 as an intermediate transmission element, a smooth conversion from the rotational movement of the driving sleeve 301 to the axial movement of the pressure rod 302 is achieved. This transmission method is more stable and reliable, reduces the operating force, improves the user experience, and is suitable for users with limited hand flexibility.

[0047] Secondly, the cooperation between the dial block 303b and the protrusion 303a can convert a small rotation angle into sufficient axial displacement, making the unlocking operation easier and faster.

[0048] Refer to Figure 3 In this embodiment, a first through hole 201a inclined relative to the axis is provided on the side wall of the positioning seat 201, and the pressure rod 302 is located in the first through hole 201a.

[0049] In this embodiment, the through hole inclined relative to the axis can better guide the movement of the pressure rod 302, so that the movement trajectory of the pressure rod 302 forms a certain angle with the compression direction of the elastic member 203. This inclined design enables the pressure rod 302 to generate a greater axial displacement at the same rotation angle, thereby improving the unlocking efficiency and reducing the operating force.

[0050] The design of the inclined through hole can also optimize the force transmission direction. When the moving sleeve 301 rotates to drive the pressure rod 302 to move, the pressure exerted by the pressure rod 302 on the elastic member 203 has not only an axial component force but also a radial component force. The radial component force helps the abutting member 202 to more smoothly disengage from the annular groove 102, reducing the jamming phenomenon and improving the reliability of unlocking.

[0051] Continue to refer to Figure 4 、 Figure 5 and Figure 6 In this embodiment, a plurality of first through holes 201a are circumferentially arranged along the side wall of the positioning seat 201.

[0052] In this embodiment, a plurality of first through holes 201a inclined relative to the axis are evenly distributed circumferentially on the side wall of the positioning seat 201, and a pressure rod 302 is arranged in each through hole. These pressure rods 302 cooperate with the same number of abutting members 202 and elastic members 203 to jointly participate in the locking and unlocking processes.

[0053] The arrangement of the plurality of first through holes 201a and the pressure rods 302 makes the abutting force more evenly distributed circumferentially, and the locking is more firm and reliable. When unlocking is required, the plurality of pressure rods 302 are simultaneously stressed and act on the elastic member 203 together, causing the plurality of abutting members 202 to synchronously disengage from the annular groove 102, realizing a more smooth and reliable unlocking operation.

[0054] Refer to Figure 4 In this embodiment, the positioning structure 210 includes at least one first abutting block 211 axially arranged on the retaining ring 101, and a groove 212 located on the end face of the positioning seat 201 facing the retaining ring 101 and into which the first abutting block 211 can be inserted.

[0055] In this embodiment, the positioning structure 210 includes at least one first abutting block 211 axially arranged on the retaining ring 101, and a groove 212 located on the end face of the positioning seat 201 facing the retaining ring 101 and into which the first abutting block 211 can be inserted.

[0056] In this way, the first abutting block 211 can extend into the groove 212 and abut against the elastic member 203, so that the elastic member 203 is reset, thereby applying a resisting force to the abutting member 202, and realizing the locking of the positioning seat 201 and the mounting seat 100. At the same time, the cooperation between the abutting block and the groove 212 can also prevent the relative rotation between the positioning seat 201 and the mounting seat 100, thereby ensuring the stability and reliability of the unlocking operation.

[0057] The first abutting block 211 can be designed to be cylindrical, square or other geometric shapes, as long as it can be well matched with the groove 212 to achieve the positioning and anti-rotation functions. The shape of the groove 212 matches the first abutting block 211 to ensure good plug-in fit and positioning effect.

[0058] When the positioning seat 201 is inserted into the mounting seat 100, the end surface of the positioning seat 201 facing the retaining ring 101 gradually approaches the retaining ring 101, and finally the groove 212 is aligned and matched with the first resisting block 211. After the first resisting block 211 extends into the groove 212, it pushes the elastic member 203 to return to its original position. After the elastic member 203 returns to its original position, it applies force to the resisting member 202, so that the resisting member 202 extends into the annular groove 102, thereby achieving locking.

[0059] The positioning method of this embodiment not only realizes the locking function, but also prevents the relative rotation between the positioning seat 201 and the mounting seat 100 through the cooperation between the first abutting block 211 and the groove 212, so that during the unlocking operation, the movable sleeve 301 can rotate smoothly relative to the positioning seat 201, while the positioning seat 201 and the mounting seat 100 remain relatively fixed.

[0060] See also Figure 4 and Figure 6 In this embodiment, the abutting member 202 is a ball, and the elastic member 203 is arranged in a ring shape.

[0061] In this embodiment, the abutting member 202 is a plurality of balls evenly distributed around the circumference of the positioning seat 201. The elastic member 203 is arranged in an annular shape and sleeved at a suitable position on the positioning seat 201, and can simultaneously apply radial force to all the balls.

[0062] The ball as the abutment member 202 has good rolling characteristics, can reduce friction, and make the locking and unlocking process smoother. The curved surface shape of the ball is also conducive to its smooth escape from the annular groove 102 during the unlocking process, avoiding the jamming phenomenon.

[0063] The annular elastic member 203 makes the force distribution more uniform, simplifies the structure and reduces the number of parts. The annular elastic member 203 can be an elastic ring made of spring steel, or an O-ring made of rubber or other elastic materials. The appropriate material is selected according to the specific application scenario and load requirements.

[0064] When the positioning seat 201 is sleeved with the mounting seat 100, the annular elastic member 203 simultaneously applies radial force to the plurality of balls, so that the balls partially extend into the annular groove 102, thereby realizing the locking function. Since the balls are evenly distributed, the locking force is also more evenly distributed in the circumferential direction, thereby improving the stability of the connection.

[0065] When unlocking, when the movable sleeve 301 is rotated to drive the pressure rod 302 to move, the pressure rod 302 compresses the annular elastic member 203 to shrink it, so that the ball loses its radial supporting force and can smoothly escape from the annular groove 102, thereby achieving unlocking.

[0066] See also Figure 7 In this embodiment, the locking assembly 200 further includes a positioning sleeve 220 connected to the positioning seat 201. The positioning sleeve 220 is sleeved on the outside of the positioning seat 201. The side wall of the positioning sleeve 220 is provided with a plurality of second through holes 220a for exposing the supporting member 202.

[0067] In this embodiment, the positioning sleeve 220 is mainly used to install a plurality of abutting members 202 (ball bearings) to the outer peripheral wall of the positioning seat 201 to form a complete locking mechanism.

[0068] The side wall of the positioning sleeve 220 is provided with a plurality of second through holes 220a for the push piece 202 to be exposed. The through holes are used to allow at least part of the push piece 202 to extend into the annular groove 102 to achieve the locking function. It should be noted that the second through hole 220a in this embodiment has a taper, that is, the push piece 202 can be partially extended, but will not completely fall out of the through hole. In this way, it is ensured that the push piece 202 can extend into the annular groove 102 to achieve locking, and the push piece 202 is prevented from falling off during operation, thereby improving the reliability and safety of the device.

[0069] Furthermore, the positioning sleeve 220 can be made of metal, engineering plastic or other appropriate materials, and the appropriate material can be selected according to the requirements of the specific application scenario. The positioning sleeve 220 and the positioning seat 201 can be fixed by thread connection, interference fit or other methods to ensure a stable connection between the two.

[0070] During the assembly process, a plurality of push members 202 (ball bearings) are first placed on the outer peripheral wall of the positioning seat 201, and then the positioning sleeve 220 is put on the positioning seat 201 and fixed, so that the push members 202 are confined in the space between the positioning seat 201 and the positioning sleeve 220 and can only partially extend through the second through hole 220a.

[0071] When the positioning seat 201 is sleeved with the mounting seat 100, the annular elastic member 203 applies radial force to the plurality of resisting members 202, so that the resisting members 202 partially extend through the second through hole 220a and extend into the annular groove 102 on the inner wall of the mounting seat 100, thereby achieving locking. Since the second through hole 220a has a tapered design, the resisting members 202 will not completely fall out of the through hole and will always remain in the positioning sleeve 220.

[0072] When unlocking, when the movable sleeve 301 rotates to drive the pressure rod 302 to move, the pressure rod 302 compresses the annular elastic member 203 to shrink it, so that the push member 202 loses its radial support force and can be retracted into the positioning sleeve 220 and escape from the annular groove 102 to achieve unlocking. During the whole process, the push member 202 is always restricted in the second through hole 220a of the positioning sleeve 220 and will not fall off or be lost.

[0073] See also Figure 3 In this embodiment, the movable sleeve 301 includes a rotating sleeve 301a and a connecting sleeve 301b. The connecting sleeve 301b is threadedly connected to the top of the positioning seat 201, and the rotating sleeve 301a is rotatably connected to the top of the connecting sleeve 301b.

[0074] In this embodiment, the movable sleeve 301 adopts a split design, including a rotating sleeve 301a and a connecting sleeve 301b. The connecting sleeve 301b is threadedly connected to the top of the positioning seat 201, and the rotating sleeve 301a is rotatably connected to the top of the connecting sleeve 301b.

[0075] Specifically, the top peripheral wall of the positioning seat 201 is provided with an external thread, and the interior of the connecting sleeve 301b is provided with an internal thread, and the two are connected by threaded fit. The rotating sleeve 301a and the connecting sleeve 301b are relatively rotated by a rotating connection structure (such as a bearing or a simple interference fit). As a component directly operated by the user, the surface of the rotating sleeve 301a can be designed to be easy to hold, and can be provided with anti-slip textures to improve the comfort of operation.

[0076] By adjusting the threaded connection depth between the connecting sleeve 301b and the positioning seat 201, the initial position of the pressing rod 302 can be adjusted, and then the rotation angle or force required for unlocking can be adjusted to achieve fine adjustment of the unlocking parameters.

[0077] The present invention further proposes a manipulator, comprising an end effector and a wrist quick release device as in the above embodiment. The specific structure of the wrist quick release device refers to the above embodiment. Since the manipulator adopts all the technical solutions of all the above embodiments, it at least has all the technical effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0078] In this embodiment, the robotic arm mainly consists of two major parts: one is a replaceable end effector, and the other is the wrist quick-release device in the above embodiment. The end effector can include various functional modules, such as a grasping-type hand, a fine-operation-type hand, a special-tool-type hand, etc., for completing different operation tasks.

[0079] The operating end of the robotic arm is connected to the user's forearm, and the user's myoelectric signal is converted into a motion instruction for the end effector through a built-in control system. The wrist quick-release device is located between the operating end and the end effector, and the user can quickly replace end effectors with different functions according to different usage scenarios.

[0080] For example, when the user needs to grasp an object in daily life, a grasping-type hand can be installed; when performing fine operations such as pressing buttons and writing, the fine-operation-type hand can be quickly replaced; in specific scenarios such as sports and work environments, a specially designed special-tool-type hand can be replaced.

[0081] During use, the user rotates the actuating sleeve 301 to operate the unlocking mechanism to separate the currently installed end effector from the wrist quick-release device; then select a new end effector suitable for the current task, align it with the wrist quick-release device and push it in. Hearing a sound similar to "click" indicates successful locking; then the new end effector can be used for operation. The entire replacement process is fast, simple, does not require any tools, and can be completed with one hand.

[0082] The present invention further proposes a robot, including the robotic arm of the foregoing embodiment.

[0083] In this embodiment, the robotic arm serves as the execution terminal of the robot and is directly responsible for completing various specific tasks. The robotic arm with a wrist quick-release device enables the robot to quickly replace the end effector according to different work requirements, greatly improving the versatility and adaptability of the robot.

[0084] In actual use, the robot can automatically or under the guidance of the operator replace different end effectors according to task requirements. For example, on an industrial production line, the robot can quickly switch end effectors with different functions such as grasping tools, welding tools, spraying tools, etc. to complete a series of complex manufacturing processes; in the field of medical assistance, the robot can quickly replace surgical tools with different precisions and functions according to the needs of different surgical stages; in home services, the robot can replace different functional modules such as cleaning tools and cooking tools according to needs.

[0085] The use of the wrist quick-release device makes the replacement process of the end effector simple and fast, which can be automatically completed through program control or manually operated by the operator. In either case, no additional tools are required, greatly improving work efficiency.

[0086] The above are only partial or preferred embodiments of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the overall concept of the present invention, or any direct / indirect application in other related technical fields is included in the scope of protection of the present invention.

Claims

1. A wrist quick release device, characterized in that: The wrist quick release device comprises: A mounting seat, the mounting seat is cylindrical and includes an open end and a mounting end, the mounting end is used to connect the end effector, the mounting end is provided with a retaining ring, and the inner wall of the mounting seat is configured with an annular groove; A locking assembly, the locking assembly comprising a positioning seat, a push-up member and an elastic member, the positioning seat is sleeved with the mounting seat, a positioning structure is provided between the bottom end of the positioning seat and the retaining ring, the positioning structure is used to position the positioning seat and the mounting seat so that the two cannot rotate relative to each other; there is a gap between the positioning seat and the mounting seat, the elastic member is located in the gap and supports the push-up member, and a portion of the push-up member extends into the annular groove; An unlocking assembly, the unlocking assembly includes an actuating sleeve and a pressure rod, the actuating sleeve is connected to one end of the positioning seat and can rotate relative to the positioning seat, the pressure rod passes through the positioning seat, one end of the pressure rod can contact the elastic member, and the other end can contact the actuating sleeve; when the actuating sleeve rotates relative to the positioning seat, it can drive the pressure rod to press the elastic member to separate the abutting member from the annular groove.

2. The wrist quick release device according to claim 1, characterized in that: The unlocking component also includes a driving sleeve, which is sleeved with the positioning seat and can move relative to the positioning seat. A protrusion is arranged on the top surface of one end of the driving sleeve, and the enabling sleeve is provided with a shift block matched with the protrusion. The shift block cooperates with the protrusion to drive the enabling sleeve to move up and down; the other end of the pressure rod is in contact with the driving sleeve.

3. The wrist quick release device according to claim 1, characterized in that: The side wall of the positioning seat is provided with a first through hole inclined relative to the axis, and the pressure rod is located in the first through hole.

4. The wrist quick release device according to claim 3, characterized in that: A plurality of first through holes are arranged along the circumferential direction of the side wall of the positioning seat.

5. The wrist quick release device according to claim 1, characterized in that: The positioning structure comprises at least one first abutting block arranged on the retaining ring and arranged along the axial direction, and a groove located on the end surface of the positioning seat facing the retaining ring and capable of inserting the first abutting block.

6. The wrist quick release device according to claim 1, characterized in that: The abutting member is a ball bearing, and the elastic member is arranged in a ring shape.

7. The wrist quick release device according to claim 6, characterized in that: The locking assembly further comprises a positioning sleeve connected to the positioning seat, wherein the positioning sleeve is sleeved on the outside of the positioning seat, and a side wall of the positioning sleeve is provided with a plurality of second through holes for exposing the abutting member.

8. The wrist quick release device according to claim 1, characterized in that: The movable sleeve comprises a rotating sleeve and a connecting sleeve, the connecting sleeve is threadedly connected to the top end of the positioning seat, and the rotating sleeve is rotatably connected to the top of the connecting sleeve.

9. A robot, characterized in that: The invention comprises an end effector and a wrist quick-release device as claimed in any one of claims 1 to 8.

10. A robot, characterized in that: Including the robot described in claim 9.

Images