Modularized joint connecting structure of force feedback master manipulator

Abstract

The invention relates to a modular joint connecting structure of a force feedback master manipulator, which comprises a first joint module and a second joint module, the first joint module is provided with a first connecting end, the second joint module is provided with a second connecting end, and the modular joint connecting structure further comprises a pre-positioning structure, a final positioning structure and a locking structure, the pre-positioning structure comprises a positioning boss and a positioning hole which are matched with each other, the positioning boss is arranged on the first connecting end, and the positioning hole is formed in the center of the second connecting end; the final positioning structure comprises a positioning sleeve, and the positioning sleeve can move between the first connecting end and the second connecting end so as to circumferentially position the first connecting end and the second connecting end; and the locking structure is used for driving the positioning sleeve to move and applying axial locking force, so that the first connecting end and the second connecting end are kept in a compressed state. By means of the modularized connecting structure, the first joint module and the second joint module are detachably and fixedly connected, and a user can replace the joint modules with different torque specifications according to the requirements of different application scenes.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a modular joint connection structure for a force feedback master hand. Background Technology

[0002] Force feedback handpieces are core interactive devices in fields such as virtual reality, medical robotics, and teleoperation control. They transmit the operator's movements and provide force feedback through joint structures. As force feedback devices evolve towards modularity, high precision, and ease of maintenance, the connection structure between joint modules becomes a key factor affecting the overall performance of the device.

[0003] In existing force feedback master hand joint connection technologies, for example, Chinese invention patent CN111604874A discloses a force feedback master hand for a master-slave robot. The connections between the various joint modules of this master hand adopt an integrated or semi-fixed structure. Joint modules with different functions, such as rotary joints, pitch joints, and telescopic joints, are difficult to interchange quickly, limiting the flexibility of equipment configuration and ease of maintenance. Because joint modules cannot be replaced individually, users cannot adjust the torque specifications of each joint according to specific application scenarios. Furthermore, when the drive unit of a joint, such as a motor or reducer, fails, the faulty module cannot be replaced individually; the entire machine must be repaired, resulting in high maintenance costs and long downtime. Summary of the Invention

[0004] The purpose of this invention is to provide a modular joint connection structure for a force feedback master hand to solve the problems mentioned in the background art.

[0005] The above-mentioned objective of the present invention is achieved through the following technical solution: a modular joint connection structure for a force feedback master hand, comprising: a first joint module and a second joint module, wherein the first joint module has a first connecting end and the second joint module has a second connecting end, and further comprising: a pre-positioning structure, a final positioning structure and a locking structure. The pre-positioning structure includes a positioning boss and a positioning hole that cooperate with each other. The positioning boss is disposed on the first connecting end, and the positioning hole is disposed at the center of the second connecting end. The final positioning structure includes a positioning sleeve, which can move between the first connecting end and the second connecting end to perform circumferential positioning of the first connecting end and the second connecting end; A locking structure is used to drive the positioning sleeve to move and apply an axial locking force, so that the first connecting end and the second connecting end are kept pressed together.

[0006] Preferably, at least one guide slope is provided between the outer peripheral surface of the positioning boss and the inner peripheral surface of the positioning hole, and the positioning boss and the positioning hole are in clearance fit.

[0007] Preferably, the outer peripheral surface of the positioning boss is provided with at least one anti-rotation plane, and the inner peripheral surface of the positioning groove is provided with a corresponding mating plane.

[0008] Preferably, the anti-rotation plane is provided with an embedding groove, and an elastic strip is embedded in the embedding groove, the elastic strip protruding from the anti-rotation plane.

[0009] Preferably, the positioning sleeve is fitted on the outside of the second connecting end, the positioning teeth are disposed on the positioning sleeve, and a positioning groove is provided on the outer peripheral surface of the first connecting end. The positioning teeth are inserted into the positioning groove by the axial movement of the positioning sleeve.

[0010] Preferably, an axially extending sliding groove is provided on the outer peripheral surface of the second connecting end, and the positioning teeth are disposed in the sliding groove.

[0011] Preferably, the front end of the positioning tooth is provided with a tapered guide portion.

[0012] Preferably, the locking structure includes an eccentric locking handle rotatably mounted on the second connecting end and a locking block driven by the eccentric locking handle to move radially in and out of the positioning hole. The positioning boss is provided with a locking groove for cooperating with the locking block. The end of the locking block abuts against the eccentric part of the eccentric locking handle. The eccentric locking handle and the positioning sleeve are connected by a connecting rod.

[0013] Preferably, the second connecting end is provided with a mounting hole that radially extends to the positioning hole, the locking block is inserted into the mounting hole, and a return spring is provided in the mounting hole to drive the locking block out of the positioning hole.

[0014] Preferably, the locking groove is provided with an inclined first locking slope, and the locking block is provided with a second locking slope at one end near the locking groove to cooperate with the first locking slope.

[0015] The beneficial effects of this invention are: 1. The present invention uses a modular connection structure to make the first joint module and the second joint module detachably fixedly connected, and users can replace the joint modules with different torque specifications according to the needs of different application scenarios; 2. The pre-positioning structure enables blind assembly and rapid alignment, reducing docking difficulty; the positioning sleeve and locking structure are integrated and linked, and circumferential positioning and axial locking can be completed with a single drive, simplifying assembly steps, shortening disassembly and assembly time, and facilitating the rapid assembly, replacement and maintenance of modular joints. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the joint connection structure in an embodiment of the present invention; Figure 2 This is an exploded view of the joint connection structure in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the first joint module in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the second joint module in an embodiment of the present invention; Figure 5 This is a cross-sectional view of the joint connection structure in an embodiment of the present invention; Figure 6 yes Figure 5 A magnified view of a section at point A in the middle; In the diagram: 1-First joint module, 101-First connecting end, 102-Positioning boss, 103-Anti-rotation plane, 104-Positioning groove, 105-Locking groove, 106-First locking slope, 107-Embedding groove, 108-Elastic strip, 2-Second joint module, 201-Second connecting end, 202-Positioning hole, 203-Mating plane, 204-Sliding groove, 205-Mounting hole, 206-Guide slope, 3-Positioning sleeve, 301-Positioning tooth, 4-Eccentric locking handle, 5-Locking block, 501-Second locking slope, 6-Reset spring, 7-Connecting rod. Detailed Implementation

[0017] The present invention will be further described in detail below with reference to the accompanying drawings.

[0018] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

[0019] Example: like Figure 1 and Figure 2 As shown, a modular joint connection structure for a force feedback master hand includes: a first joint module 1 and a second joint module 2, wherein the first joint module and the second joint module are any two modular units among the rotational joint, pitch joint, or extension joint of the force feedback master hand.

[0020] The first joint module 1 has a first connecting end 101, and the second joint module 2 has a second connecting end 201. The first connecting end 101 and the second connecting end 201 are fixedly connected in the axial and circumferential directions through a pre-positioning structure, a final positioning structure and a locking structure.

[0021] like Figure 2 , Figure 3 and Figure 4As shown, specifically, the pre-positioning structure includes a positioning boss 102 and a positioning hole 202 that cooperate with each other. The positioning boss 102 is disposed on the first connecting end 101, and the positioning hole 202 is disposed at the center position of the second connecting end 201. At least one anti-rotation plane 103 is provided on the outer peripheral surface of the positioning boss 102, and a corresponding mating plane 203 is provided on the inner peripheral surface of the positioning groove.

[0022] In this embodiment, the cross-section of the positioning boss 102 is a D-shaped surface, and the positioning hole 202 is a corresponding D-shaped hole. The positioning boss 102 and the positioning hole 202 are clearance fit so that the positioning boss 102 can be inserted into the positioning hole 202 during connection and perform preliminary positioning.

[0023] An embedding groove 107 is provided on the anti-rotation plane 103. The embedding groove 107 extends axially and an elastic strip 108, such as an elastic rubber strip, is embedded in the embedding groove 107. The elastic strip 108 protrudes from the anti-rotation plane 103, and the height of the protrusion of the elastic strip 108 is 0.5-1mm.

[0024] At least one guide slope 206 is provided between the outer peripheral surface of the positioning boss 102 and the inner peripheral surface of the positioning hole 202. In this embodiment, for example... Figure 4 As shown, the inner circumferential surface of the positioning hole 202 is provided with a guide slope 206 to facilitate the insertion of the positioning boss 102 into the positioning hole 202.

[0025] The final positioning structure includes a positioning sleeve 3, which can move between the first connecting end 101 and the second connecting end 201 to perform circumferential positioning of the first connecting end 101 and the second connecting end 201.

[0026] Specifically, the positioning sleeve 3 is fitted on the outside of the second connecting end 201, the positioning tooth 301 is set on the positioning sleeve 3, and the positioning groove 104 is provided on the outer peripheral surface of the first connecting end 101. The positioning tooth 301 is inserted into the positioning groove 104 by the axial movement of the positioning sleeve 3.

[0027] In this embodiment, multiple positioning teeth 301 are provided and are circumferentially distributed on the inner side of the positioning sleeve 3, and the positioning grooves 104 are circumferentially distributed on the outer circumferential surface of the first connecting end 101.

[0028] An axially extending sliding groove 204 is provided on the outer peripheral surface of the second connecting end 201, and a positioning tooth 301 is disposed in the sliding groove 204. The positioning tooth 301 is fitted with both the positioning groove 104 and the sliding groove 204 to ensure that the first connecting end 101 and the second connecting end 201 are fixed circumferentially by the positioning sleeve 3 and will not wobble circumferentially.

[0029] To facilitate the positioning tooth 301 entering the positioning groove 104, a tapered guide is provided at the front end of the positioning tooth 301.

[0030] The locking structure is used to drive the positioning sleeve 3 to move and apply axial locking force, so that the first connecting end 101 and the second connecting end 201 are kept pressed together.

[0031] In this embodiment, only one set of locking structure is provided. In other embodiments, the locking structure can be set to two or three sets, which are distributed in a circle.

[0032] Specifically, such as Figure 5 and Figure 6 As shown, the locking structure includes an eccentric locking handle 4 rotatably mounted on the second connecting end 201 and a locking block 5 driven by the eccentric locking handle 4 to move radially in and out of the positioning hole 202. The second connecting end 201 is provided with a mounting hole 205 that radially extends into the positioning hole 202, and the locking block 5 is inserted into the mounting hole 205.

[0033] The eccentric locking handle 4 has an eccentric portion with a cam profile. The cam profile has a positioning section and a locking section sequentially along the rotation direction. The cam lift of the positioning section drives the locking block 5 to move downwards, and the cam lift of the locking section generates an axial locking force. Specifically, the cam lift of the positioning section is 1.5mm-2.5mm, and the cam lift of the locking section is 0.8mm-1.2mm.

[0034] The positioning boss 102 is provided with a locking groove 105 for engaging the locking block 5. The end of the locking block 5 abuts against the eccentric part of the eccentric locking handle 4. When the eccentric locking handle 4 is rotated clockwise, the eccentric part of the eccentric locking handle 4 presses the locking block 5 downward, causing the locking block 5 to move downward until the lower end of the locking block 5 is inserted into the locking groove 105.

[0035] The mounting hole 205 contains a return spring 6 that drives the locking block 5 to disengage from the positioning hole 202. The upper end of the return spring 6 rests on the limiting step of the locking block 5, and the lower end of the return spring 6 rests on the limiting step of the positioning hole 202. When the eccentric locking handle 4 is rotated counterclockwise, the eccentric part of the eccentric locking handle 4 no longer presses against the locking block 5. At this time, the locking block 5 begins to move upward under the elastic force of the return spring 6 until the lower end of the locking block 5 leaves the locking groove 105.

[0036] To prevent axial movement between the first connecting end 101 and the second connecting end 201, an inclined first locking slope 106 is provided in the locking groove 105, and a second locking slope 501 is provided at the end of the locking block 5 near the locking groove 105 to cooperate with the first locking slope 106. When the locking block 5 moves downward, the second locking slope 501 of the locking block 5 presses against the first locking slope 106, causing the positioning boss 102 to drive the first connecting end 101 to move to the left, ensuring that the end faces of the first connecting end 101 and the second connecting end 201 remain pressed together.

[0037] The eccentric locking handle 4 and the positioning sleeve 3 are connected by a connecting rod 7. One end of the connecting rod 7 is hinged to the positioning sleeve 3, and the other end is hinged to the eccentric position of the cam of the eccentric locking handle 4. When rotated clockwise, the connecting rod 7 pushes the positioning sleeve 3 to move to the right, so that the positioning sleeve 3 is simultaneously fitted onto the first connecting end 101 and the second connecting end 201.

Claims

1. A modular joint connection structure for a force feedback master hand, comprising: The first joint module (1) and the second joint module (2), wherein the first joint module (1) has a first connecting end (101) and the second joint module (2) has a second connecting end (201), are characterized in that they further include: a pre-positioning structure, a final positioning structure and a locking structure. The pre-positioning structure includes a positioning boss (102) and a positioning hole (202) that cooperate with each other. The positioning boss (102) is disposed on the first connecting end (101), and the positioning hole (202) is disposed at the center of the second connecting end (201). The final positioning structure includes a positioning sleeve (3), which can move between the first connecting end (101) and the second connecting end (201) to perform circumferential positioning of the first connecting end (101) and the second connecting end (201); The locking structure is used to drive the positioning sleeve (3) to move and apply axial locking force so that the first connecting end (101) and the second connecting end (201) are kept pressed together.

2. The modular joint connection structure of a force feedback master hand according to claim 1, characterized in that: At least one guide slope (206) is provided between the outer peripheral surface of the positioning boss (102) and the inner peripheral surface of the positioning hole (202), and the positioning boss (102) and the positioning hole (202) are in clearance fit.

3. The modular joint connection structure of a force feedback master hand according to claim 2, characterized in that: At least one anti-rotation plane (103) is provided on the outer peripheral surface of the positioning boss (102), and a corresponding mating plane (203) is provided on the inner peripheral surface of the positioning groove.

4. The modular joint connection structure of a force feedback master hand according to claim 3, characterized in that: An embedding groove (107) is provided on the anti-rotation plane (103), and an elastic strip (108) is embedded in the embedding groove (107), the elastic strip (108) protruding from the anti-rotation plane (103).

5. The modular joint connection structure of a force feedback master hand according to claim 1, characterized in that: The positioning sleeve (3) is sleeved on the outside of the second connecting end (201), the positioning tooth (301) is disposed on the positioning sleeve (3), and the outer peripheral surface of the first connecting end (101) is provided with a positioning groove (104). The positioning tooth (301) is inserted into the positioning groove (104) by the axial movement of the positioning sleeve (3).

6. The modular joint connection structure of a force feedback master hand according to claim 5, characterized in that: The second connecting end (201) has an axially extending sliding groove (204) on its outer peripheral surface, and the positioning tooth (301) is disposed in the sliding groove (204).

7. The modular joint connection structure of a force feedback master hand according to claim 6, characterized in that: The front end of the positioning tooth (301) is provided with a tapered guide.

8. The modular joint connection structure of a force feedback master hand according to claim 1, characterized in that, The locking structure includes an eccentric locking handle (4) rotatably mounted on the second connecting end (201) and a locking block (5) driven by the eccentric locking handle (4) to move radially in and out of the positioning hole (202). The positioning boss (102) is provided with a locking groove (105) for cooperating with the locking block (5). The end of the locking block (5) abuts against the eccentric part of the eccentric locking handle (4). The eccentric locking handle (4) and the positioning sleeve (3) are connected by a connecting rod (7).

9. The modular joint connection structure of a force feedback master hand according to claim 8, characterized in that, The second connecting end (201) is provided with a mounting hole (205) that extends radially through the positioning hole (202). The locking block (5) is inserted into the mounting hole (205). A return spring (6) is provided in the mounting hole (205) to drive the locking block (5) to disengage from the positioning hole (202).

10. The modular joint connection structure of a force feedback master hand according to claim 9, characterized in that, The locking groove (105) is provided with an inclined first locking slope (106), and the locking block (5) is provided with a second locking slope (501) for cooperating with the first locking slope (106) at one end near the locking groove (105).

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