Rapid electromechanical docking device for modular joints of mechanical arm

Abstract

The invention relates to the technical field of mechanical arms, and discloses a mechanical arm modular joint rapid electromechanical docking device which comprises a first connector and a second connector, the second connector is located above the first connector, and a connecting cylinder is fixedly mounted at the top of the first connector; a fixing cylinder attached to the top of the connecting cylinder is fixedly mounted at the bottom of the second connector, a limiting cylinder attached to the outer side of the fixing cylinder is fixedly mounted on the outer side of the connecting cylinder, a first connecting mechanism is arranged at the bottom of the second connector, and a second connecting mechanism connected with the first connecting mechanism is arranged at the top of the first connector. According to the mechanical arm joint rapid electromechanical butt joint device, by arranging the first connecting mechanism, the second connecting mechanism and the fixing mechanism, the purpose of convenient maintenance and disassembly is achieved, and by arranging a limiting mechanism and a positioning cylinder, the purpose of arranging a positioning structure is achieved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a rapid electromechanical docking device for modular joints of robotic arms. Background Technology

[0002] With the development of industrial automation and intelligent manufacturing, robotic arms are evolving towards modularity, reconfigurability, and flexibility. Modular joint design can significantly improve the adaptability, maintenance efficiency, and functional expandability of robotic arms, facilitating the rapid replacement of end effectors or joint units according to different tasks. Against this backdrop, fast, reliable, and self-aligning electromechanical docking devices between joints have become one of the key technologies for realizing modular robotic arms.

[0003] A search revealed Chinese Patent Publication No. CN212706747U, which discloses a robotic arm joint connection mechanism comprising two rigidly connected joints. This mechanism boasts advantages such as small structural size, high connection strength, simple structure, convenient assembly and disassembly, and easy maintenance. However, the existing technical solutions described above suffer from the following drawbacks: installation using fasteners is cumbersome, and the lack of a corresponding positioning structure makes misalignment during connection prone to occur, resulting in poor connection reliability. Therefore, a modular robotic arm joint rapid electromechanical docking device is proposed to address these issues. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a modular joint quick electromechanical docking device for robotic arms, which has the advantages of convenient maintenance and disassembly and is equipped with a positioning structure, thus solving the problems mentioned in the background art.

[0006] (II) Technical Solution

[0007] To achieve the aforementioned goals of convenient maintenance and disassembly with a positioning structure, the present invention provides the following technical solution: a modular joint rapid electromechanical docking device for a robotic arm, comprising a first connector and a second connector, the second connector being located above the first connector, a connecting cylinder being fixedly installed on the top of the first connector, a fixing cylinder being fixedly installed on the bottom of the second connector and fitting against the top of the connecting cylinder, a limiting cylinder being fixedly installed on the outer side of the connecting cylinder and fitting against the outer side of the fixing cylinder, a first connecting mechanism being provided at the bottom of the second connector, a second connecting mechanism being provided on the top of the first connector and connected to the first connecting mechanism, a fixing mechanism being provided on the bottom of the second connector and connected to the second connecting mechanism, positioning cylinders being fixedly installed on both the left and right sides of the inner wall of the fixing cylinder, and limiting mechanisms extending to the inner sides of the two positioning cylinders being provided on both the left and right sides of the inner wall of the connecting cylinder;

[0008] The first connecting mechanism includes an inner cylinder, and the bottom of the second connector is fixedly installed with an inner cylinder located inside the fixed cylinder. A positioning rod is fixedly installed on the inner side of the inner cylinder, and a sealing ring located outside the inner cylinder is movably installed on the bottom of the second connector.

[0009] Preferably, the second connecting mechanism includes an outer cylinder, and the top of the first connector is fixedly installed with an outer cylinder located outside the inner cylinder and the positioning rod, and a fixing seat is fixedly installed on the outer side of the outer cylinder.

[0010] Preferably, the fixing mechanism includes an outer box, four outer boxes are fixedly installed at the bottom of the second connector, two support plates are fixedly installed on the inner side of the outer box, a movable plate that is slidably connected to the inner side of the outer box is slidably installed between the outer sides of the two support plates, a wedge block is fixedly installed on the side of the movable plate away from the outer cylinder, a fixing spring that is fixedly connected to the inner wall of the outer box is fixedly installed on one side of the wedge block, a U-shaped rod extending to the inner side of the outer box is slidably installed on the top of the second connector, a push block that is slidably connected to the top of the wedge block is fixedly installed at the bottom of the U-shaped rod, two baffles that fit against the outer side of the fixing seat are fixedly installed on the side of the outer box near the outer cylinder, and a locking block that extends to the outer side of the outer box and engages with the fixing seat is fixedly installed on the side of the movable plate near the outer cylinder.

[0011] Preferably, the limiting mechanism includes extension blocks. Extension blocks are fixedly installed on both the left and right sides of the inner wall of the connecting cylinder. The two extension blocks extend to the inner sides of the two positioning cylinders respectively. Right-angle rods are fixedly installed on both the front and rear sides of the extension blocks. An installation groove is provided at the top of the right-angle rod. A sliding groove communicating with the inner wall of one side of the installation groove is provided at the top of the right-angle rod. A rectangular plate extending to the inner side of the installation groove is slidably installed on the inner side of the sliding groove. A movable frame extending to the outer side of the right-angle rod is movably installed on the inner side of the installation groove. The rectangular plate is fixedly connected to the inner side of the movable frame. A telescopic spring fixedly connected to the inner wall of the movable frame is fixedly installed on one side of the rectangular plate. U-shaped rods extending to the inner side of the installation groove are slidably installed on both the left and right sides of the right-angle rod. A clamping plate that fits against the outer side of the movable frame is fixedly installed at one end of the U-shaped rod. A connecting spring fixedly connected to the inner wall of the installation groove is fixedly installed on one side of the clamping plate. A pulley that fits against the outer side of the positioning cylinder is fixedly installed at one end of the movable frame.

[0012] Preferably, the number of fixed seats is four and they are distributed in a ring at equal intervals, and the top of the outer cylinder is provided with an installation groove that is compatible with the inner cylinder and the positioning rod.

[0013] Preferably, the bottom of the card block is inclined, the inner side of the fixing seat is provided with a card slot adapted to the card block, the inner top wall of the outer box is provided with a through hole adapted to the U-shaped rod, and the bottom of the push block is inclined.

[0014] Preferably, the inner side of the movable plate is provided with a limiting hole adapted to the support plate, the inner wall of one side of the outer box is provided with a through hole adapted to the card block, and the inner side of the second connector is provided with a vertical hole adapted to the U-shaped rod.

[0015] Preferably, the inner side of the movable frame is hollow, and the inner wall of the right-angle rod is provided with a mounting strip hole that communicates with the inner wall of the mounting groove. The size of the mounting strip hole is adapted to the movable frame.

[0016] Preferably, the right-angle rod has through holes on both the left and right sides that are adapted to the U-shaped rod body. The through holes are connected to the inner wall of the mounting groove, and the clamping plates on both sides are symmetrically distributed.

[0017] (III) Beneficial Effects

[0018] Compared with the prior art, the present invention provides a rapid electromechanical docking device for modular joints of robotic arms, which has the following beneficial effects:

[0019] 1. This rapid electromechanical docking device for robotic arm joints, through the setting of a first connecting mechanism, a second connecting mechanism, and a fixing mechanism, ensures that the sealing ring on the outer side of the inner cylinder fits against the inner wall of the outer cylinder to prevent dust or liquid from entering the interior and protect the precision structure. The inner cylinder at the bottom of the second connector is inserted into the outer cylinder at the top of the first connector, and radial positioning is achieved through the mounting groove of the outer cylinder, ensuring that the centers of the two connectors are aligned and actively locked and fixed. During disassembly, pushing the U-shaped rod downwards causes the push block to squeeze the wedge block, which in turn causes the moving plate to move the locking block, releasing the locking block from limiting the fixed seat, thus achieving the purpose of convenient maintenance and disassembly.

[0020] 2. This rapid electromechanical docking device for the robotic arm joints, by setting a limiting mechanism and a positioning cylinder, ensures that the limiting cylinder on the outside of the fixed cylinder fits against the outside of the connecting cylinder, preventing radial displacement of the two joints after docking. The U-shaped rods on both sides of the right-angle rod push the locking plate, and the position of the moving frame is fixed by the connecting spring. The elastic force of the telescopic spring ensures that the pulley is always in close contact with the positioning cylinder, preventing loosening due to vibration. The cooperation between the extension block and the positioning cylinder performs positioning during docking, thus achieving the purpose of having a positioning structure. Attached Figure Description

[0021] Figure 1 This is a three-dimensional view of the structure of the present invention;

[0022] Figure 2 This is a bottom-view sectional perspective view of the structure of the present invention;

[0023] Figure 3 This is an exploded cross-sectional view of the first connecting mechanism and the second connecting mechanism of the present invention;

[0024] Figure 4 This is a partial sectional perspective view of the fixing mechanism of the present invention;

[0025] Figure 5 This is a partial sectional perspective view of the fixing mechanism of the present invention;

[0026] Figure 6 This is a perspective view of the limiting mechanism and positioning cylinder of the present invention;

[0027] Figure 7 This is a partial bottom-view perspective view of the limiting mechanism of the present invention;

[0028] Figure 8 This is a partial rear cross-sectional perspective view of the limiting mechanism of the present invention;

[0029] Figure 9 This is a partial sectional perspective view of the limiting mechanism of the present invention.

[0030] In the diagram: 1 First connector, 2 Second connector, 3 Connecting cylinder, 4 Fixed cylinder, 5 Limiting cylinder, 6 First connecting mechanism, 61 Inner cylinder, 62 Positioning rod, 63 Sealing ring, 7 Second connecting mechanism, 71 Outer cylinder, 72 Fixed seat, 8 Fixed mechanism, 81 Outer box, 82 Support plate, 83 Moving plate, 84 Wedge block, 85 Fixed spring, 86 U-shaped rod, 87 Push block, 88 Baffle, 89 Locking block, 9 Limiting mechanism, 901 Extension block, 902 Right angle rod, 903 Mounting groove, 904 Slide groove, 905 Rectangular plate, 906 Moving frame, 907 Telescopic spring, 908 U-shaped rod body, 909 Locking plate, 910 Connecting spring, 911 Pulley, 10 Positioning cylinder. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figure 1-9This invention provides a technical solution: a modular joint rapid electromechanical docking device for a robotic arm, comprising a first connector 1 and a second connector 2, serving as the main body of the docking device, respectively connecting the fixed end and the replaceable tool end of the robotic arm to achieve power and signal transmission. The second connector 2 is located above the first connector 1. A connecting cylinder 3 is fixedly installed on the top of the first connector 1, and a fixing cylinder 4, which fits against the top of the connecting cylinder 3, is fixedly installed on the bottom of the second connector 2, providing axial guidance for initial docking and ensuring that the centers of the two connectors are aligned. A limiting cylinder 5, which fits against the outside of the fixing cylinder 4, is fixedly installed on the outside of the connecting cylinder 3 to limit radial sway after docking, enhancing stability, and is fixed to the outside of the connecting cylinder 3. The two connectors are fitted together with the outer side of the fixed cylinder 4 to form a ring constraint. The bottom of the second connector 2 is provided with a first connecting mechanism 6, the top of the first connector 1 is provided with a second connecting mechanism 7 connected to the first connecting mechanism 6, and the bottom of the second connector 2 is provided with a fixing mechanism 8 connected to the second connecting mechanism 7. Positioning cylinders 10 are fixedly installed on both the left and right sides of the inner wall of the fixed cylinder 4. Limiting mechanisms 9 extending to the inner sides of the two positioning cylinders 10 are provided on both the left and right sides of the inner wall of the connecting cylinder 3. The extension blocks 901 on both sides of the connecting cylinder 3 are inserted into the positioning cylinders 10 in the fixed cylinder 4 to achieve preliminary axial positioning. The pulley 911 on the right angle rod 902 contacts the outer side of the positioning cylinder 10 to guide the docking direction and reduce friction.

[0033] The first connecting mechanism 6 includes an inner cylinder 61. The bottom of the second connector 2 is fixedly installed with the inner cylinder 61 located inside the fixed cylinder 4. It is inserted into the outer cylinder 71 to achieve precise radial positioning and prevent rotational offset. The inner side of the inner cylinder 61 is fixedly installed with a positioning rod 62, which fits into the mounting groove of the outer cylinder 71 to limit the relative rotation of the two connectors and ensure angular consistency. The cylindrical design controls the gap with the mounting groove to within 0.05mm, improving the repeatability of positioning accuracy. The bottom of the second connector 2 is movably installed with a sealing ring 63 located outside the inner cylinder 61, which achieves self-adaptive sealing through elastic deformation and is wear-resistant.

[0034] The second connecting mechanism 7 includes an outer cylinder 71. The top of the first connector 1 is fixedly installed with an outer cylinder 71 located outside the inner cylinder 61 and the positioning rod 62, which accommodates the inner cylinder 61 and the positioning rod 62 and provides a third-level positioning reference. A fixing seat 72 is fixedly installed on the outer side of the outer cylinder 71, which engages with the locking block 89 of the fixing mechanism 8 to achieve mechanical locking.

[0035] There are four fixed seats 72, which are distributed in a ring at equal intervals to evenly bear the load and prevent local stress concentration. The top of the outer cylinder 71 is provided with an installation groove that is compatible with the inner cylinder 61 and the positioning rod 62.

[0036] The fixing mechanism 8 includes an outer box 81. Four outer boxes 81 are fixedly installed at the bottom of the second connector 2. Two support plates 82 are fixedly installed on the inner side of the outer box 81. The support plates 82 restrict the sliding direction of the moving plate 83 to ensure the precise extension and retraction of the locking block 89. A moving plate 83, which is slidably connected to the inner side of the outer box 81, is slidably installed between the outer sides of the two support plates 82. A wedge block 84 is fixedly installed on the side of the moving plate 83 away from the outer cylinder 81. A fixing spring 85, which is fixedly connected to the inner wall of the outer box 81, is fixedly installed on one side of the wedge block 84. The wedge block 84 converts the vertical movement of the U-shaped rod 86 into the horizontal movement of the locking block 89. The fixing spring 85 provides a restoring force to ensure that after locking... The locking block 89 does not retract. A U-shaped rod 86 extending to the inside of the outer box 81 is slidably installed on the top of the second connector 2. A push block 87 that is slidably connected to the top of the wedge block 84 is fixedly installed on the bottom of the U-shaped rod 86. The U-shaped rod 86 presses the wedge block 84 through the inclined surface of the push block 87 to realize manual locking and releasing operations. Two baffles 88 that fit against the outside of the fixed seat 72 are fixedly installed on the side of the outer box 81 near the outer cylinder 71 to restrict the lateral movement of the fixed seat 72. The auxiliary locking block 89 is aligned with the slot and is integrally formed with the outer box 81. It has high strength and is impact resistant. A locking block 89 that extends to the outside of the outer box 81 and engages with the fixed seat 72 is fixedly installed on the side of the moving plate 83 near the outer cylinder 71.

[0037] The bottom of the locking block 89 is inclined, which facilitates insertion into the slot. It is made of high-strength alloy steel, which is wear-resistant and deformation-resistant. The inner side of the fixing base 72 has a slot that matches the locking block 89. The inner top wall of the outer box 81 has a through hole that matches the U-shaped rod 86. The bottom of the push block 87 is inclined. The inner side of the moving plate 83 has a limiting hole that matches the support plate 82. The moving plate 83 has a limiting hole that fits with the support plate 82 with a clearance to reduce frictional resistance. The inner wall of one side of the outer box 81 has a through hole that matches the locking block 89. The inner side of the second connector 2 has a vertical hole that matches the U-shaped rod 86.

[0038] The limiting mechanism 9 includes extension blocks 901. Extension blocks 901 are fixedly installed on both the left and right sides of the inner wall of the connecting cylinder 3, inserted into the positioning cylinder 10, providing a fourth level of axial positioning to prevent axial movement after docking. Two extension blocks 901 extend to the inner sides of the two positioning cylinders 10 respectively. Right-angle rods 902 are fixedly installed on both the front and rear sides of the extension blocks 901. A mounting groove 903 is provided at the top of the right-angle rod 902. A sliding groove 904, communicating with one side of the inner wall of the mounting groove 903, is provided at the top of the right-angle rod 902. A rectangular plate 905 extending to the inner side of the mounting groove 903 is slidably installed on the inner side of the sliding groove 904. The sliding groove 904 is used for installing the rectangular plate 905, facilitating disassembly and easy removal. A movable frame 906 extending to the outer side of the right-angle rod 902 is movably installed on the inner side of the mounting groove 903. The rectangular plate 905 is fixedly connected to the inner side of the movable frame 906. A telescopic spring 907, which is fixedly connected to the inner wall of the movable frame 906, is fixedly installed on one side of the shaped plate 905. The spring stiffness is 5N / mm. It balances the elastic force and the movement resistance, and provides elastic force so that the pulley 911 is always in close contact with the outer side of the positioning cylinder 10 to prevent loosening due to vibration. U-shaped rods 908 extending to the inner side of the mounting groove 903 are slidably installed on both sides of the right angle rod 902. A clamping plate 909 that fits against the outer side of the movable frame 906 is fixedly installed at one end of the U-shaped rod 908. The clamping plate 909 allows the pulley 911 to be disassembled and replaced if damaged. A connecting spring 910 that is fixedly connected to the inner wall of the mounting groove 903 is fixedly installed on one side of the clamping plate 909. A pulley 911 that fits against the outer side of the positioning cylinder 10 is fixedly installed at one end of the movable frame 906. The material is polytetrafluoroethylene, which is self-lubricating and has a wear resistance life of more than 100,000 times.

[0039] The inner side of the movable frame 906 is hollow. The inner wall of the right-angle rod 902 has a mounting strip hole that communicates with the inner wall of the mounting groove 903. The size of the mounting strip hole is adapted to the movable frame 906. Both sides of the right-angle rod 902 have through holes that are adapted to the U-shaped rod body 908. The through holes communicate with the inner wall of the mounting groove 903. The two side clamping plates 909 are symmetrically distributed. The clamping plates 909 are symmetrically distributed and act simultaneously from both sides to enhance stability.

[0040] During use, ensure that the surfaces of the first connector 1 and the second connector 2 are clean and free from foreign objects. Check that key components such as the sealing ring 63, the locking block 89, and the pulley 911 are intact and that the spring elasticity is normal. Move the second connector 2 directly above the first connector 1 and slowly lower it so that the extension block 901 is aligned with the positioning cylinder 10. Insert the inner cylinder 61 into the outer cylinder 71 and observe whether the limiting cylinder 5 and the connecting cylinder 3 fit naturally. After confirming that there is no obstruction, continue to press down and push the U-shaped rod 86 at the top of the second connector 2 downward until you hear the "click" sound of the locking block 89 locking into the fixing seat 72. Gently pull the second connector 2 to check whether it is locked firmly and without shaking. Press down on the U-shaped rod 86, the push block 87 disengages from the wedge block 84, the fixing spring 85 pushes the moving plate 83 to retract, the locking block 89 exits the slot, and the second connector 2 is lifted vertically upward to complete the separation.

[0041] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0042] In summary, this rapid electromechanical docking device for robotic arm joints, through the setting of a first connecting mechanism 6, a second connecting mechanism 7, and a fixing mechanism 8, ensures that the sealing ring 63 on the outer side of the inner cylinder 61 fits against the inner wall of the outer cylinder 71, preventing dust or liquid from entering the interior and protecting the precision structure. The inner cylinder 61 at the bottom of the second connector 2 is inserted into the outer cylinder 71 at the top of the first connector 1, and radial positioning is achieved through the mounting groove of the outer cylinder 71, ensuring that the centers of the two connectors are aligned and actively locked and fixed. During disassembly, pushing the U-shaped rod 86 downward causes the push block 87 to press the wedge block 84, causing the moving plate 83 to move the locking block 89, releasing the locking block 89 from limiting the fixed seat 72, thus achieving the purpose of convenient maintenance and disassembly. Mechanism 9 and positioning cylinder 10, the limiting cylinder 5 on the outside of the fixing cylinder 4 fits against the outside of the connecting cylinder 3 to prevent radial displacement of the two joints after docking. The U-shaped rods 908 on both sides of the right angle rod 902 push the clamping plate 909, and the position of the moving frame 806 is fixed by the connecting spring 910. The elastic force of the telescopic spring 907 makes the pulley 911 always close to the positioning cylinder 10 to prevent loosening due to vibration. The extension block 901 cooperates with the positioning cylinder 10 to position during docking, thus achieving the purpose of having a positioning structure. This solves the problem that using fasteners for installation, maintenance and disassembly are more cumbersome, and without a corresponding positioning structure, misalignment is easy to occur during connection, resulting in poor connection reliability.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A modular joint rapid electromechanical docking device for a robotic arm, comprising a first joint (1) and a second joint (2), wherein the second joint (2) is located above the first joint (1), a connecting cylinder (3) is fixedly installed on the top of the first joint (1), and a fixing cylinder (4) that fits against the top of the connecting cylinder (3) is fixedly installed on the bottom of the second joint (2), and a limiting cylinder (5) that fits against the outside of the fixing cylinder (4) is fixedly installed on the outside of the connecting cylinder (3), characterized in that: The bottom of the second connector (2) is provided with a first connecting mechanism (6), the top of the first connector (1) is provided with a second connecting mechanism (7) connected to the first connecting mechanism (6), the bottom of the second connector (2) is provided with a fixing mechanism (8) connected to the second connecting mechanism (7), the inner walls of the fixing cylinder (4) are fixedly installed with positioning cylinders (10) on both the left and right sides, and the inner walls of the connecting cylinder (3) are provided with limiting mechanisms (9) that extend to the inner sides of the two positioning cylinders (10) respectively. The first connecting mechanism (6) includes an inner cylinder (61), the bottom of the second connector (2) is fixedly installed with an inner cylinder (61) located inside the fixed cylinder (4), a positioning rod (62) is fixedly installed on the inner side of the inner cylinder (61), and a sealing ring (63) located outside the inner cylinder (61) is movably installed at the bottom of the second connector (2).

2. The modular joint rapid electromechanical docking device for robotic arms according to claim 1, characterized in that: The second connecting mechanism (7) includes an outer cylinder (71), and the top of the first connector (1) is fixedly installed with an outer cylinder (71) located outside the inner cylinder (61) and the positioning rod (62), and a fixing seat (72) is fixedly installed on the outer side of the outer cylinder (71).

3. The modular joint rapid electromechanical docking device for robotic arms according to claim 2, characterized in that: The fixing mechanism (8) includes an outer box (81). Four outer boxes (81) are fixedly installed at the bottom of the second connector (2). Two support plates (82) are fixedly installed on the inner side of the outer box (81). A movable plate (83) that is slidably connected to the inner side of the outer box (81) is slidably installed between the outer sides of the two support plates (82). A wedge block (84) is fixedly installed on the side of the movable plate (83) away from the outer cylinder (81). A fixing device that is fixedly connected to the inner wall of the outer box (81) is fixedly installed on one side of the wedge block (84). The spring (85) has a U-shaped rod (86) that extends to the inside of the outer box (81) and is slidably mounted on the top of the second connector (2). The bottom of the U-shaped rod (86) is fixedly mounted with a push block (87) that is slidably connected to the top of the wedge block (84). Two baffles (88) that fit against the outside of the fixed seat (72) are fixedly mounted on the side of the outer box (81) near the outer cylinder (71). A locking block (89) that extends to the outside of the outer box (81) and engages with the fixed seat (72) is fixedly mounted on the side of the moving plate (83) near the outer cylinder (71).

4. The rapid electromechanical docking device for modular joints of a robotic arm according to claim 1, characterized in that: The limiting mechanism (9) includes an extension block (901). Extension blocks (901) are fixedly installed on both the left and right sides of the inner wall of the connecting cylinder (3). The two extension blocks (901) extend to the inner sides of the two positioning cylinders (10). Right-angle rods (902) are fixedly installed on both the front and rear sides of the extension blocks (901). An installation groove (903) is provided at the top of the right-angle rod (902). A sliding groove (904) communicating with one side of the inner wall of the installation groove (903) is provided at the top of the right-angle rod (902). A rectangular plate (905) extending to the inner side of the installation groove (903) is slidably installed on the inner side of the sliding groove (904). A plate extending to the outer side of the right-angle rod (902) is movably installed on the inner side of the installation groove (903). The movable frame (906) has a rectangular plate (905) fixedly connected to the inner side of the movable frame (906). A telescopic spring (907) fixedly connected to the inner wall of the movable frame (906) is fixedly installed on one side of the rectangular plate (905). U-shaped rods (908) extending to the inner side of the mounting groove (903) are slidably installed on both the left and right sides of the right-angle rod (902). A card plate (909) that fits against the outer side of the movable frame (906) is fixedly installed on one end of the U-shaped rod (908). A connecting spring (910) fixedly connected to the inner wall of the mounting groove (903) is fixedly installed on one side of the card plate (909). A pulley (911) that fits against the outer side of the positioning cylinder (10) is fixedly installed on one end of the movable frame (906).

5. The rapid electromechanical docking device for modular joints of a robotic arm according to claim 2, characterized in that: The number of fixed seats (72) is four and they are distributed in a ring at equal distances. The top of the outer cylinder (71) is provided with an installation groove that is compatible with the inner cylinder (61) and the positioning rod (62).

6. The rapid electromechanical docking device for modular joints of a robotic arm according to claim 3, characterized in that: The bottom of the card block (89) is inclined, the inner side of the fixing seat (72) is provided with a card slot that matches the card block (89), the inner top wall of the outer box (81) is provided with a through hole that matches the U-shaped rod (86), and the bottom of the push block (87) is inclined.

7. The rapid electromechanical docking device for modular joints of a robotic arm according to claim 3, characterized in that: The inner side of the movable plate (83) is provided with a limiting hole that matches the support plate (82), the inner wall of one side of the outer box (81) is provided with a through hole that matches the card block (89), and the inner side of the second connector (2) is provided with a vertical hole that matches the U-shaped rod (86).

8. The modular joint rapid electromechanical docking device for robotic arms according to claim 4, characterized in that: The inner side of the movable frame (906) is hollow, and the inner wall of the right-angle rod (902) is provided with a mounting strip hole that communicates with the inner wall of the mounting groove (903). The size of the mounting strip hole is adapted to the movable frame (906).

9. The rapid electromechanical docking device for modular joints of a robotic arm according to claim 4, characterized in that: The right-angle rod (902) has through holes on both the left and right sides that are adapted to the U-shaped rod body (908). The through holes are connected to the inner wall of the mounting groove (903). The clamping plates (909) on both sides are symmetrically distributed.

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