Wrist quick release device, manipulator and robot

Abstract

The present invention discloses a wrist quick-release device, a manipulator and a robot. The wrist quick-release device includes a mounting seat, which is cylindrical and includes an open end and a mounting end. The mounting end is used to connect the end actuator, the mounting end is provided with a retaining ring, the inner wall of the mounting seat is structured with an annular groove, the locking assembly includes a positioning seat, a push piece and an elastic piece, 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; there is a gap between the positioning seat and the mounting seat, the elastic piece is located in the gap and supports the push piece, and the push piece partially extends into the annular groove, the unlocking assembly includes an actuator sleeve and a pressure rod, the actuator 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 can contact the elastic piece, and the other end can contact the actuator sleeve; when the actuator sleeve rotates relative to the positioning seat, it can drive the pressure rod to press the elastic piece to separate the push piece from the annular groove.

Description

Technical Field

[0001] The present invention relates to the technical field of prosthetic limbs, and in particular to a wrist quick-release device, a manipulator and a robot. Background Art

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

[0003] This assembly typically includes a base for securely connecting to the main structure and connectors for mounting and securing various end effectors. Modern connection assemblies are typically designed to provide multiple degrees of freedom (DOF) of motion, including rotation, flexion, extension, and lateral bending, to simulate the natural range of motion of the human wrist and enable complex manipulation tasks.

[0004] However, although there are many types of end effectors on the market, such as functional robotic arms, multi-finger dexterous hands, special tool hands and precision operating equipment, which can meet the needs of users in different scenarios, users usually need to use special tools for disassembly and installation when switching between different end effectors, and the operation process is cumbersome and time-consuming. Summary of the Invention

[0005] The main purpose of the present invention is to provide a wrist quick-release device, which aims to solve the problem that the operation process of switching different end effectors of existing wrist devices is cumbersome.

[0006] To achieve the above objectives, the present invention provides a wrist quick-release device, comprising:

[0007] A mounting seat, the mounting seat is cylindrical and includes an open end and a mounting end, the mounting end is used to connect to 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;

[0008] A locking assembly comprising a positioning seat, a push member, and an elastic member, wherein 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, and the positioning structure is used to position the positioning seat and the mounting seat so that the two cannot rotate relative to each other; a gap is provided between the positioning seat and the mounting seat, the elastic member is located in the gap and supports the push member, and a portion of the push member extends into the annular groove;

[0009] An unlocking assembly includes an actuator sleeve and a pressure rod. The actuator 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 which can contact the elastic member and the other end can contact the actuator sleeve. When the actuator sleeve rotates relative to the positioning seat, it can drive the pressure rod to press the elastic member to separate the push member from the annular groove.

[0010] In some embodiments, the unlocking component also 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 the enabling sleeve is provided with a shift block that cooperates 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.

[0011] In some embodiments, a 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.

[0012] In some embodiments, a plurality of the first through holes are arranged along the circumference of the side wall of the positioning seat.

[0013] In some embodiments, the positioning structure includes at least one first abutting block provided on the retaining ring and arranged axially, and a groove located on the end surface of the positioning seat facing the retaining ring and capable of inserting the first abutting block.

[0014] In some embodiments, the abutting member is a ball, and the elastic member is arranged in a ring shape.

[0015] In some embodiments, the locking assembly further includes a positioning sleeve connected to the positioning seat, the positioning sleeve is arranged 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 supporting member.

[0016] In some embodiments, the enabling 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 end of the connecting sleeve.

[0017] The present invention further provides a manipulator comprising an end effector and the wrist quick-release device of the aforementioned embodiment.

[0018] The present invention further provides a robot comprising the manipulator of the aforementioned embodiment.

[0019] The beneficial effects of the technical solution of the present invention lie in the following: the mounting seat is cylindrical in design, with one end open and the other end connected to the end effector. A positioning structure in the locking assembly secures the locating seat and mounting seat relative to each other, preventing rotation. Simultaneously, an elastic member drives the push member into the annular groove, forming a locked state and ensuring a secure and reliable connection. Simply rotating the movable sleeve compresses the elastic member via the pressure rod, separating the push member from the annular groove and achieving rapid unlocking. The end effector can be quickly assembled and disassembled without the use of any tools; simply rotating the movable sleeve allows for quick assembly and disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1This is a schematic diagram of the overall structure of a wrist quick-release device in one embodiment of the present invention;

[0021] Figure 2 A front view of a wrist quick release device according to an embodiment of the present invention;

[0022] Figure 3 for Figure 2 The cross-sectional view at AA is a schematic structural diagram from another perspective;

[0023] Figure 4 An exploded view of a wrist quick-release device according to an embodiment of the present invention;

[0024] Figure 5 for Figure 4 Enlarged view of point B in the middle;

[0025] Figure 6 for Figure 4 Enlarged view of point C in the middle;

[0026] Figure 7 for Figure 4 Enlarged view of point D in the middle.

[0027] Description of Figure Numbers:

[0028] 10. Wrist quick release device;

[0029] 100, mounting seat; 100a, open end; 100b, mounting end; 101, retaining ring; 102, annular groove;

[0030] 200, locking assembly; 201, positioning seat; 201a, first through hole; 202, push member; 203, elastic member;

[0031] 210, positioning structure; 211, first abutting block; 212, groove;

[0032] 220, positioning sleeve; 220a, second through hole;

[0033] 300, unlocking assembly; 301, actuating sleeve; 301a, rotating sleeve; 301b, connecting sleeve;

[0034] 302, pressure rod; 303, driving sleeve; 303a, protrusion; 303b, shift block;

[0035] 20. End effector;

[0036] 30. Robotic arm;

[0037] 40. Robot.

[0038] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0039] The following will be combined with the accompanying drawings to clearly and completely describe the 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 making any creative efforts are within the scope of protection of the present invention.

[0040] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0041] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element.

[0042] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] Reference Figure 1 、 Figure 2 and Figure 3 An embodiment of the present invention provides a wrist quick release device, the wrist quick release device comprising:

[0044] The mounting base 100 is cylindrical and includes an open end 100a and a mounting end 100b. The mounting end 100b is used to connect to the end effector. The mounting end 100b is provided with a retaining ring 101. The inner wall of the mounting base 100 is configured with an annular groove 102.

[0045] The locking assembly 200 includes a positioning seat 201, a push 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 supports the push member 202. A portion of the push member 202 extends into the annular groove 102.

[0046] The unlocking assembly 300 includes an actuator sleeve 301 and a pressure rod 302. The actuator sleeve 301 is connected to one end of the positioning seat 201 and can rotate relative to the positioning seat 201. 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 actuator sleeve 301; when the actuator sleeve 301 rotates relative to the positioning seat 201, it can drive the pressure rod 302 to press the elastic member 203 to separate the push member 202 from the annular groove 102.

[0047] The function of the mounting base 100 in this embodiment is to provide a mounting location for each component, and at the same time serve as a connection interface between the end effector and the entire device. The mounting base 100 is cylindrical, including 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 firmly connected to the device. The mounting end 100b is provided with a retaining ring 101, which not only plays a limiting role, but also cooperates with the positioning structure 210 to ensure that the relative position between the positioning base 201 and the mounting base 100 is fixed. The inner wall of the mounting base 100 is constructed with an annular groove 102, which is a key structure for locking the push member 202 and provides a locking space for the push member 202.

[0048] It should be noted that the end effector in this embodiment can be a prosthetic hand, a mechanical fixture, a specialized tool head, or other functional terminal. These end effectors can be connected to the quick-release device of the present invention via the mounting base 100, enabling rapid replacement. The wrist quick-release device of this embodiment can be used in prosthetic limbs, as well as in robotic arms, industrial robots, medical assistive devices, and other scenarios, serving as a key component for connecting end effectors.

[0049] The locking assembly 200 includes a positioning seat 201, a push member 202, and an elastic member 203. The positioning seat 201 is sleeved with the mounting seat 100, and 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 movable sleeve 301 needs to rotate relative to the positioning seat 201. The positioning structure 210 prevents the positioning seat 201 and the mounting seat 100 from rotating relative to each other, which can ensure effective unlocking and the successful implementation of the quick release operation. The positioning structure 210 can be a combination of a slot and a block, or it can be other structures that can prevent relative rotation, such as splines, keyways, etc.

[0050] A gap exists between the positioning seat 201 and the mounting seat 100, and an elastic member 203 is positioned within the gap. The elastic member 203 is used to support the abutting member 202, so that at least a portion of the abutting member 202 extends into the annular groove 102, thereby locking the positioning seat 201 with the mounting seat 100. The elastic member 203 can be a compression spring or other element with elastic recovery function. The abutting member 202 can be spherical, cylindrical, or other suitable shape, as long as it can extend into the annular groove 102 and provide sufficient locking force.

[0051] The unlocking assembly 300 includes an actuator sleeve 301 and a pressure rod 302. The actuator sleeve 301 is connected to one end of the positioning seat 201 and can rotate relative to the positioning seat 201. The actuator sleeve 301 can be designed to be comfortable to hold and can have anti-slip textures on its surface to enhance ease of operation. The pressure rod 302 passes through the positioning seat 201, with one end contacting the elastic member 203 and the other end contacting the actuator sleeve 301. The shape and length of the pressure rod 302 must be appropriately designed to ensure that it can effectively transmit force to the elastic member 203 when the actuator sleeve 301 rotates.

[0052] During use, the application in the field of prosthetic limbs will be used as an example for explanation. During the installation process, first connect the mounting base 100 to the end effector (it should be noted that, assuming there are multiple end effectors with different functions, such as grasping hands, fine manipulation hands, and special tool hands, the mounting base 100 can be installed on all of these end effectors with different functions), and then install the locking assembly 200 and unlocking assembly 300 to the joint connection of the prosthetic limb.

[0053] During assembly, the user can directly connect the locking assembly 200 with the end effector equipped with the mounting seat 100, and the assembly can be completed by directly connecting them. Specifically, when the positioning seat 201 enters the mounting seat 100, the push-up 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 push-up member 202; when the positioning seat 201 extends into the mounting seat 100 to a certain extent, the positioning structure 210 set between the bottom end of the positioning seat 201 and the retaining ring 101 will play a role, so that the positioning seat 201 and the mounting seat 100 remain relatively fixed. At the same time, the elastic member 203 pushes the push-up member 202 into the annular groove 102 to achieve locking. The whole process is convenient and fast.

[0054] When it is necessary to replace the end effector with another function, the current end effector must be disassembled first, and then the above-mentioned installation steps can be performed. The specific disassembly process is as follows: the user operates the unlocking component 300 to rotate the actuator sleeve 301 relative to the positioning seat 201. During the rotation of the actuator sleeve 301, it will push the pressure rod 302 downward. At this time, the pressure rod 302 will press against the elastic member 203, pressing and compressing the elastic member 203 toward the bottom end of the mounting seat 100. At this time, the pressing member 202 loses the pressing force of the elastic member 203, and thus escapes 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 to facilitate the replacement of other end effectors.

[0055] Furthermore, during the rotation process, the positioning seat 201 does not rotate relative to the mounting seat 100 due to the presence of the positioning structure 210, ensuring the stability and reliability of the unlocking process. The positioning structure 210 can be designed in various forms, such as a protrusion at the bottom of the positioning seat 201 that cooperates with a groove 212 on the retaining ring 101 of the mounting seat 100, or a positioning pin that cooperates with a positioning hole, etc., as long as it can prevent the positioning seat 201 and the mounting seat 100 from rotating relative to each other.

[0056] The beneficial effects of the technical solution of the present invention are as follows: the mounting base 100 is cylindrical in design, with an open end 100a at one end and a mounting end 100b at the other end for connection to the end effector. The positioning base 201 in the locking assembly 200 is relatively fixed to the mounting base 100 via a positioning structure 210, preventing rotation. Simultaneously, the elastic member 203 drives the push member 202 into the annular groove 102 to form a locked state, ensuring a secure and reliable connection. The movable sleeve 301 only needs to be rotated to compress the elastic member 203 via the pressure rod 302, separating the push member 202 from the annular groove 102 and achieving rapid unlocking. No tools are required; simply rotating the movable sleeve 301 allows for quick assembly and disassembly of the end effector.

[0057] See Figure 3 and Figure 4In this embodiment, the unlocking component 300 also includes a driving sleeve 303, which 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 movable sleeve 301 is provided with a shift block 303b that matches the protrusion 303a. The shift block 303b cooperates with the protrusion 303a to drive the movable sleeve 301 to move up and down; the other end of the pressure rod 302 is in contact with the driving sleeve 303.

[0058] In this embodiment, the unlocking assembly 300 includes, in addition to the activating sleeve 301 and the pressure rod 302, a drive sleeve 303. The drive sleeve 303 is sleeved with the positioning seat 201 and is movable relative to the positioning seat 201. It is primarily used to convert the rotational motion of the activating sleeve 301 into axial motion and transmit this motion to the pressure rod 302. A protrusion 303a is provided on the top surface of one end of the drive sleeve 303. The protrusion 303a may be a plurality of evenly distributed protrusions in an annular pattern. Its function is to cooperate with the shifting block 303b on the activating sleeve 301 to convert the rotational motion into axial motion.

[0059] The actuator sleeve 301 is equipped with a shifting block 303b that engages with the protrusion 303a. The shifting block 303b is located on the side of the actuator sleeve 301 facing the positioning seat 201. When the actuator sleeve 301 rotates, the shifting block 303b interacts with the protrusion 303a on the top surface of the drive sleeve 303, thereby driving the drive sleeve 303 in axial movement. This allows the rotational motion of the actuator sleeve 301 to be more smoothly and controllably converted into axial motion of the drive sleeve 303.

[0060] 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 shift block 303b and the protrusion 303a, it pushes the pressing rod 302, which in turn compresses the elastic member 203, causing the abutting member 202 to disengage from the annular groove 102, thereby unlocking the door.

[0061] It should be noted that a guide structure may be provided between the driving sleeve 303 and the positioning seat 201 , such as cooperation between a guide groove and a guide block, to ensure that the driving sleeve 303 moves axially without rotating.

[0062] The following uses the prosthetic limb as an example for illustration. Similar to the previous embodiment, during the installation process, the mounting base 100 is first connected to the end effector, and then the locking assembly 200 and unlocking assembly 300 with the drive sleeve 303 are installed at the joint connection of the prosthetic limb.

[0063] The assembly process is basically the same as the previous embodiment. The user can directly connect the locking assembly 200 to the end effector equipped with the mounting base 100 to complete the assembly. The push member 202 extends into the annular groove 102 under the action of the elastic member 203 to achieve locking.

[0064] When the end effector needs to be replaced, the user operates the unlocking assembly 300 by rotating the activating sleeve 301. Unlike the previous embodiment, in this embodiment, the rotational motion of the activating sleeve 301 is first converted into axial motion of the drive sleeve 303 through the cooperation of the shifting block 303b and the protrusion 303a. Specifically, when the activating sleeve 301 rotates, the shifting block 303b, located on the side of the activating sleeve 301 facing the positioning seat 201, contacts and slides along the protrusion 303a on the top surface of the drive sleeve 303. Because the protrusion 303a has a certain height, the protrusion 303a is forced to move downward, thereby driving the activating sleeve 301 downward.

[0065] The downward movement of the movable sleeve 301 pushes the drive sleeve 303 downward in tandem. As the drive sleeve 303 moves downward, it pushes the contacting pressure rod 302, which in turn compresses the elastic member 203. This causes the abutting member 202 to lose its support and disengage from the annular groove 102, unlocking the mechanism. At this point, the positioning base 201 can be separated from the mounting base 100, allowing the user to quickly disassemble it with one hand, facilitating replacement of another end effector.

[0066] It is worth noting that the addition of the drive sleeve 303 as an intermediate transmission element allows the rotation angle of the actuator sleeve 301 to be smaller, allowing the user to unlock the lock with a simple rotation of the actuator sleeve 301. This is particularly user-friendly for users with limited manual dexterity. Furthermore, the guide structure between the drive sleeve 303 and the positioning seat 201 ensures accurate axial movement, preventing the possibility of misoperation.

[0067] Furthermore, the driving sleeve 303 may be designed to have a protruding edge at the upper end, so that it can better resist the pressing rod 302 when moving downward.

[0068] In this embodiment, by adding a drive sleeve 303 as an intermediate transmission element, a smooth conversion from the rotational motion of the movable sleeve 301 to the axial motion 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.

[0069] Secondly, the cooperation between the shift block 303b and the protrusion 303a can convert a small rotation angle into sufficient axial displacement, making the unlocking operation easier and faster.

[0070] See Figure 3 In this embodiment, a first through hole 201 a is provided on the side wall of the positioning seat 201 and is inclined relative to the axis, and the pressing rod 302 is located in the first through hole 201 a.

[0071] In this embodiment, the through hole, which is tilted 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 tilted design allows the pressure rod 302 to produce a larger axial displacement at the same rotation angle, thereby improving unlocking efficiency and reducing operating force.

[0072] The inclined through-hole design also optimizes the direction of force transmission. When the movable sleeve 301 rotates to move the pressure rod 302, the pressure of the pressure rod 302 on the elastic member 203 has not only an axial component but also a radial component. The radial component helps the push member 202 to more smoothly disengage from the annular groove 102, reducing sticking and improving unlocking reliability.

[0073] Continue reading Figure 4 、 Figure 5 and Figure 6 In this embodiment, a plurality of first through holes 201 a are arranged along the circumferential direction of the side wall of the positioning seat 201 .

[0074] In this embodiment, the sidewall of the positioning seat 201 is evenly distributed with multiple first through holes 201a that are inclined relative to the axis. Each through hole is provided with a pressure rod 302. These pressure rods 302 cooperate with an equal number of push members 202 and elastic members 203 to participate in the locking and unlocking process.

[0075] The provision of multiple first through-holes 201a and pressure rods 302 ensures a more even distribution of the resisting force in the circumferential direction, making the locking more secure and reliable. When unlocking is required, the multiple pressure rods 302 are simultaneously subjected to force, acting together on the elastic member 203, causing the multiple resisting members 202 to simultaneously disengage from the annular groove 102, achieving a smoother and more reliable unlocking operation.

[0076] See Figure 4 In this embodiment, the positioning structure 210 includes at least one first push block 211 arranged on the retaining ring 101 and arranged along the axial direction, and a groove 212 located on the end surface of the positioning seat 201 facing the retaining ring 101 for the first push block 211 to be inserted.

[0077] In this embodiment, the positioning structure 210 includes at least one first abutting block 211 axially disposed on the retaining ring 101 , and a groove 212 located on the end surface of the positioning seat 201 facing the retaining ring 101 for the first abutting block 211 to be inserted into.

[0078] In this way, the first abutting block 211 can extend into the groove 212 and abut against the elastic member 203, causing the elastic member 203 to return to its original position, thereby applying a resisting force to the abutting member 202, thereby locking 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 relative rotation between the positioning seat 201 and the mounting seat 100, ensuring the stability and reliability of the unlocking operation.

[0079] The first abutting block 211 can be designed into a cylindrical, square or other geometric shape, as long as it can well match 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 a good plug-in fit and positioning effect.

[0080] 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, eventually aligning and engaging the groove 212 with the first abutting block 211. After the first abutting block 211 extends into the groove 212, it pushes the elastic member 203 back to its original position. After the elastic member 203 returns to its original position, it applies force to the abutting member 202, causing the abutting member 202 to extend into the annular groove 102, thereby achieving locking.

[0081] 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 resisting 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.

[0082] See Figure 4 and Figure 6 In this embodiment, the resisting member 202 is a ball, and the elastic member 203 is arranged in a ring shape.

[0083] In this embodiment, the push member 202 is a plurality of balls evenly distributed around the circumference of the positioning seat 201. The elastic member 203 is annular and sleeved at an appropriate position on the positioning seat 201, and can simultaneously apply radial force to all the balls.

[0084] The ball as the push member 202 has good rolling characteristics, which can reduce friction and make the locking and unlocking process smoother. The curved shape of the ball is also conducive to its smooth escape from the annular groove 102 during the unlocking process, avoiding jamming.

[0085] 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.

[0086] When the positioning seat 201 is connected to the mounting seat 100, the annular elastic member 203 simultaneously applies radial force to the multiple balls, causing the balls to partially extend into the annular groove 102, thus achieving a locking function. Since the balls are evenly distributed, the locking force is also more evenly distributed in the circumferential direction, improving the stability of the connection.

[0087] 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, causing it to shrink, so that the ball loses its radial supporting force and can smoothly escape from the annular groove 102, thereby achieving unlocking.

[0088] See 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.

[0089] In this embodiment, the positioning sleeve 220 is mainly used to install the plurality of abutting members 202 (ball bearings) to the outer peripheral wall of the positioning seat 201 to form a complete locking mechanism.

[0090] The sidewall of the positioning sleeve 220 is spaced apart with a plurality of second through-holes 220a through which the push member 202 is exposed. These through-holes are used to allow at least a portion of the push member 202 to extend into the annular groove 102, thereby achieving a locking function. It should be noted that the second through-holes 220a in this embodiment are tapered, meaning that the push member 202 can partially extend but will not completely escape from the through-holes. This ensures that the push member 202 can extend into the annular groove 102 to achieve locking, while also preventing the push member 202 from falling off during operation, thereby improving the reliability and safety of the device.

[0091] Furthermore, the positioning sleeve 220 can be made of metal, engineering plastics or other suitable materials, and the appropriate material can be selected according to the needs of the specific application scenario. The positioning sleeve 220 and the positioning seat 201 can be fixed by threaded connection, interference fit or other methods to ensure a stable connection between the two.

[0092] 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.

[0093] When the positioning base 201 is connected to the mounting base 100, the annular elastic member 203 applies a radial force to the multiple push members 202, causing the push members 202 to partially extend through the second through hole 220a and into the annular groove 102 on the inner wall of the mounting base 100, thereby achieving locking. Due to the tapered design of the second through hole 220a, the push members 202 will not completely fall out of the through hole and will always remain in the positioning sleeve 220.

[0094] During unlocking, the actuator sleeve 301 rotates, driving the pressure rod 302 to move. The pressure rod 302 compresses the annular elastic member 203, causing it to contract. This causes the abutting member 202 to lose its radial support force and retract into the positioning sleeve 220, disengaging from the annular groove 102, thereby achieving unlocking. Throughout this process, the abutting member 202 remains trapped within the second through hole 220a of the positioning sleeve 220 and will not fall out or be lost.

[0095] See 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.

[0096] In this embodiment, the movable sleeve 301 is of split design, comprising 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.

[0097] Specifically, the top peripheral wall of the positioning base 201 is provided with external threads, while the interior of the connecting sleeve 301b is provided with internal threads, and the two are connected through threaded engagement. The rotating sleeve 301a and the connecting sleeve 301b are connected by a rotating connection structure (such as a bearing or a simple interference fit) to achieve relative rotation. As the component directly operated by the user, the surface of the rotating sleeve 301a can be designed for easy gripping and can be provided with anti-slip textures to enhance operational comfort.

[0098] By adjusting the depth of the threaded connection 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.

[0099] The present invention further provides a manipulator comprising an end effector and a wrist quick-release device as described in the aforementioned embodiment. The specific structure of the wrist quick-release device is similar to that described in the aforementioned embodiment. Since the present manipulator utilizes all the technical solutions of all the aforementioned embodiments, it possesses at least all the technical effects provided by the technical solutions of the aforementioned embodiments, and therefore will not be further elaborated here.

[0100] In this embodiment, the manipulator consists of two main components: a replaceable end effector and the wrist quick-release mechanism described in the previous embodiment. The end effector can include various functional modules, such as a grasping hand, a precision manipulation hand, and a specialized tool hand, to accomplish different manipulation tasks.

[0101] The manipulator's operating end connects to the user's forearm, and a built-in control system converts the user's electromyographic signals into motion commands for the end effector. A quick-release wrist mechanism, located between the operating end and the end effector, allows users to quickly swap out end effectors with different functions based on different usage scenarios.

[0102] For example, when the user needs to grasp objects in daily life, the grasping hand can be installed; when fine operations such as pressing keys, writing, etc. are required, the fine operation hand can be quickly replaced; in specific scenarios such as sports, work and other environments, it can be replaced with a specially designed dedicated tool hand.

[0103] During use, the user rotates the actuator sleeve 301 to operate the unlocking mechanism, separating the currently installed end effector from the wrist quick release mechanism. The user then selects a new end effector suitable for the task at hand, aligns it with the wrist quick release mechanism, and pushes it in. A click-like sound indicates successful locking. The new end effector can then be used for further operation. The entire replacement process is quick and easy, requires no tools, and can be completed single-handed.

[0104] The present invention further provides a robot comprising the manipulator of the aforementioned embodiment.

[0105] In this embodiment, the manipulator serves as the robot's execution terminal, directly responsible for completing various specific tasks. The manipulator, which uses a quick-release wrist mechanism, enables the robot to quickly replace the end effector according to different work requirements, greatly improving the robot's versatility and adaptability.

[0106] In actual use, robots can automatically or under operator guidance change different end effectors according to task requirements. For example, on industrial production lines, robots can quickly switch between different end effectors such as gripping tools, welding tools, and spraying tools to complete a series of complex manufacturing processes. In the field of medical assistance, robots can quickly change surgical tools of different precision and functions according to the needs of different surgical stages. In home services, robots can replace different functional modules such as cleaning tools and cooking tools as needed.

[0107] The wrist quick-release mechanism makes the end effector replacement process simple and fast. It can be completed automatically through program control or manually by the operator. In either case, no additional tools are required, greatly improving work efficiency.

[0108] The above description is only a partial or preferred embodiment 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 contents of the present invention specification and drawings under the overall concept of the present invention, or 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 to 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 comprising a positioning seat, a push member, and an elastic member, wherein 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, and the positioning structure is used to position the positioning seat and the mounting seat so that the two cannot rotate relative to each other; a gap is provided between the positioning seat and the mounting seat, the elastic member is located in the gap and supports the push member, and a portion of the push member extends into the annular groove; An unlocking assembly includes an actuator sleeve and a pressure rod. The actuator 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 which can contact the elastic member and the other end can contact the actuator sleeve. When the actuator sleeve rotates relative to the positioning seat, it can drive the pressure rod to press the elastic member to separate the push member from the annular groove.

2. The wrist quick release device according to claim 1, characterized in that: The unlocking assembly also 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 the enabling sleeve is provided with a shift block that cooperates with the protrusion. The shift block cooperates with the protrusion to drive the driving sleeve to move up and down; the other end of the pressure rod passes through the driving sleeve to achieve contact with the enabling sleeve.

3. The wrist quick release device according to claim 1, characterized in that: 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.

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 includes 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 being inserted into the first abutting block.

6. The wrist quick release device according to claim 1, characterized in that: The abutting member is a ball, 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 arranged 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 enabling 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 end of the connecting sleeve.

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

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

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