A rotary snap-fit ​​quick-change connection structure and a humanoid robot arm

Abstract

This application discloses a rotary snap-fit ​​quick-change connection structure and a humanoid robot arm, belonging to the field of robotics. The quick-change connection structure includes a first connecting seat and a second connecting seat respectively mounted on the humanoid robot forearm and end effector. The first connecting seat includes a mounting plate, a female connector coaxially disposed inside one end of the mounting plate and fixedly connected to the mounting plate, and at least two locking blocks arranged in a ring array on the mounting plate corresponding to the outer side of the female connector. The second connecting seat includes a support plate, a male connector fixedly mounted on the support plate for insertion into the female connector, and a locking ring rotatably mounted inside the support plate and rotatably connected to the support plate. This quick-change connection structure, through the cooperation of the male connector, female connector, locking blocks, and locking ring, provides stable installation and enables rapid assembly and disassembly of the end effector without the need for disassembly tools.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically a rotary snap-fit ​​quick-change connection structure and a humanoid robot arm. Background Technology

[0002] With the rapid development of humanoid robot technology, robots need to perform a variety of tasks in different scenarios, which requires them to have the ability to quickly change end effectors (such as dexterous hands, grippers, tools, etc.). As a key component connecting the robot's forearm and end effector, the performance of the quick-change connection structure directly affects the robot's operating efficiency and flexibility.

[0003] Existing robot end effector connections mostly employ traditional bolt connections or simple pin structures. Bolt connections are cumbersome to install and remove, require external tools, and are time-consuming, making them unsuitable for rapid replacement. While simple pin structures offer faster installation and removal, they often lack sufficient locking force, making them prone to loosening during high-speed robot movement or under stress.

[0004] Therefore, this application provides a rotary snap-fit ​​quick-change connection structure and a humanoid robot arm to solve the above problems. Summary of the Invention

[0005] This application provides a rotary snap-fit ​​quick-change connection structure and a humanoid robot arm, aiming to solve the problems mentioned in the background art. The existing robot end effectors use bolt connections, which are difficult to meet the needs of quick replacement. Although the simple pin structure can achieve quick disassembly and assembly, it is prone to loosening and other problems.

[0006] To achieve the above objectives, this application provides the following technical solution: a rotary snap-fit ​​quick-change connection structure, comprising a first connecting seat and a second connecting seat respectively installed on the forearm and end effector of a humanoid robot; the first connecting seat includes a mounting plate, a female connector coaxially disposed inside one end of the mounting plate and fixedly connected to the mounting plate, and at least two locking blocks arranged in a ring array on the mounting plate corresponding to the outer side of the female connector; the second connecting seat includes a support plate, a male connector fixedly installed on the support plate for insertion into the female connector, and a locking ring rotatably installed inside the support plate and rotatably connected to the support plate; wherein, a first arc groove communicating with the inner cavity of the support plate is formed on the inner wall of the support plate, and a second arc groove is formed on the outer wall of the locking ring, the second arc groove and the first arc groove forming a clearance groove for inserting the locking blocks into the support plate; when the male connector is inserted into the female connector, the locking blocks are located inside the support plate, and the locking ring is rotated to offset the second arc groove from the first arc groove, thereby restricting the locking blocks within the support plate.

[0007] Preferably, the end effector is a dexterous hand.

[0008] Preferably, the mounting plate includes a flange and a support ring fixedly disposed at one end of the flange, the plug-in female is fixedly disposed on the flange, and the locking block is located at the end of the support ring away from the flange.

[0009] Preferably, the flange has at least two positioning grooves arranged in a ring array on the side near the support ring, and the support ring has positioning blocks corresponding to the two ends of the positioning grooves.

[0010] Preferably, the locking block includes a first end extending axially from one end of the support ring away from the flange into the support disk, and a second end extending radially inward from the first end away from the support ring along the support disk.

[0011] Preferably, the second connecting seat further includes a pressure plate fixedly mounted on the support plate for pressing the locking ring onto the support plate, and the pressure plate has a clearance hole at the position corresponding to the locking block.

[0012] Preferably, the outer wall of the locking ring has a protrusion, and the support plate has a guide groove corresponding to the protrusion. The protrusion moves along the guide groove to drive the locking ring to rotate.

[0013] Preferably, both the female connector and the male connector have wire-passing holes.

[0014] A humanoid robot arm includes a humanoid robot forearm, an end effector, and the aforementioned rotary snap-fit ​​quick-change connection structure, wherein the rotary snap-fit ​​quick-change connection structure is used to connect the end effector to the humanoid robot forearm.

[0015] This quick-connect structure is simple in design and easy to use. Through the cooperation of the male connector, female connector, locking block, and locking ring, the end effector can be quickly docked with the humanoid robot forearm. By rotating the locking ring, the locking block can be locked and released, enabling rapid axial positioning. No disassembly or assembly tools are required, allowing for quick assembly and disassembly of the end effector.

[0016] This quick-change connection structure uses a locking block that engages with the arc groove on the locking ring. The L-shaped locking block, in conjunction with the misaligned locking structure of the locking ring, can withstand large axial tensile forces and radial torques, ensuring the stability of the connection during high-speed robot movement or heavy-duty operations and reducing the risk of accidental detachment.

[0017] This quick-connect structure has wire-through holes on both the male and female connectors, which facilitates internal wiring and effectively improves the aesthetics of the humanoid robot arm. Attached Figure Description

[0018] Figure 1 A schematic diagram of a rotary snap-fit ​​quick-change connection structure; Figure 2 An exploded structural diagram of a rotary snap-fit ​​quick-change connection structure; Figure 3 This is a schematic diagram of the assembly structure of the male and female connectors in a rotary snap-fit ​​quick-change connection structure. Figure 4 An exploded view of the first connecting seat in a rotary snap-fit ​​quick-change connection structure; Figure 5 This is an exploded view of the second connecting seat in the released state in a rotary snap-fit ​​quick-change connection structure. Figure 6 This is an exploded view of the second connecting seat in the locked state in a rotary snap-fit ​​quick-change connection structure.

[0019] In the picture: 1. First connecting seat; 11. Mounting plate; 111; 1111. Positioning groove; 112. Support ring; 1121. Positioning block; 12. Plug-in female seat; 13. Locking block; 131. First end; 132. Second end; 2. Second connecting seat; 21. Support plate; 211. First arc groove; 212. Guide groove; 22. Plug-in male head; 23. Locking ring; 231. Second arc groove; 232. Protrusion; 24. Pressure plate; 241. Clearance hole; 3. Wire passage hole. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] Example 1 This application provides a rotary snap-fit ​​quick-change connection structure, such as... Figure 1-6 As shown, this quick-connect structure is used in the field of humanoid robots to enable the rapid assembly and disassembly of the end effector and the robot forearm. The end effector can be a dexterous hand or other types of end effectors.

[0022] like Figure 1 and Figure 2As shown, the quick-connect structure includes a first connecting seat 1 and a second connecting seat 2 respectively installed on the forearm and end effector of the humanoid robot.

[0023] It is understandable that the first connector 1 can be installed on the humanoid robot forearm or on the end effector, while the second connector 2 is installed on the humanoid robot forearm or end effector without the first connector 1 installed. The second connector 2 is connected to the first connector 1 and is used to connect the end effector to the humanoid robot forearm to form a humanoid robot arm.

[0024] Specifically, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the first connecting base 1 includes a mounting plate 11, a female connector 12, and locking blocks 13. The mounting plate 11 serves as the basic support component and is preferably a circular disc-shaped structure. The female connector 12 is coaxially disposed inside one end of the mounting plate 11 and is fixedly connected to the mounting plate 11. At least two locking blocks 13 are provided, arranged in a circular array on the outer side of the mounting plate 11 corresponding to the female connector 12. Preferably, there are three locking blocks 13.

[0025] like Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the second connecting seat 2 includes a support plate 21, a male connector 22, and a locking ring 23. The male connector 22 is fixedly installed on the support plate 21, and its position corresponds to the female connector 12. It is used to insert into the female connector 12 to realize the connection between the support plate 21 and the mounting plate 11. The locking ring 23 is rotatably installed inside the support plate 21 to lock or release the locking block 13.

[0026] Furthermore, such as Figure 5 and Figure 6 As shown, the inner wall of the support plate 21 is provided with a first arc groove 211 that communicates with the inner cavity of the support plate 21, and the outer wall of the locking ring 23 is provided with a second arc groove 231. The second arc groove 231 and the first arc groove 211 cooperate to form a clearance groove for inserting the locking block 13 into the support plate 21.

[0027] During assembly, rotate the locking ring 23 to align the second arc groove 231 with the first arc groove 211, forming a complete clearance channel (e.g., Figure 5(The unlocked state is shown). Align the male connector 22 of the second connector 2 with the female connector 12 of the first connector 1 and push it in. The male connector 22 and the female connector 12 work together to connect the second connector 2 to the first connector 1. At this time, the locking block 13 passes through the clearance groove formed by the second arc groove 231 and the first arc groove 211 and inserts into the interior of the support plate 21. Then, rotate the locking ring 23 in the opposite direction to displace the second arc groove 231 from the first arc groove 211 (as shown). Figure 6 (As shown in the locked state), at this time, the solid part of the locking ring 23 blocks the axial path of the locking block 13, thereby restricting the locking block 13 on the support plate 21, achieving fixation, and completing the fixation of the second connecting seat 2 and the first connecting seat 1.

[0028] Specifically, such as Figure 2 and Figure 4 As shown, the mounting plate 11 includes a flange 111 and a support ring 112 fixedly disposed at one end of the flange 111. The plug-in female seat 12 is fixedly disposed at the center of the flange 111, and is connected to the robot forearm or end effector through the flange 111. The locking block 13 is located at the end of the support ring 112 away from the flange 111, and extends the locking block 13 towards the end of the support ring 112 away from the flange 111 through the support ring 112, so as to facilitate insertion into the support plate 21 of the second connecting seat 2; wherein, the locking block 13 and the support ring 112 are integrally formed.

[0029] Furthermore, the flange 111 has at least two positioning grooves 1111 arranged in a circular array on the side near the support ring 112, and the support ring 112 has positioning blocks 1121 corresponding to the two ends of the positioning grooves 1111. Through the cooperation of the positioning blocks 1121 and the positioning grooves 111, the support ring 112 and the flange 111 are circumferentially positioned, preventing circumferential rotation between them, and also facilitating the installation and positioning of the locking block 13 and the support ring 112 and the flange 111.

[0030] like Figure 2 and 4 As shown, the locking block 13 includes a first end 131 extending axially from one end of the support ring 112 away from the flange 111 into the support disk 21, and a second end 132 extending radially inward from one end of the first end 131 away from the support ring 112 along the support disk 21. This L-shaped locking block 13, in conjunction with the rotation of the locking ring 23, enables efficient circumferential insertion and radial locking.

[0031] Specifically, such as Figure 2 , Figure 5 and Figure 6As shown, the second connecting seat 2 also includes a pressure plate 24, which is fixedly mounted on the support plate 21 by fasteners (such as screws) to press the locking ring 23 into the support plate 21, preventing the locking ring 23 from axially moving and ensuring the stability of the second connecting seat 2 structure. To allow the locking block 13 to pass through the pressure plate 24 and insert into the support plate 21, the pressure plate 24 has a clearance hole 241 at the position corresponding to the locking block 13. This clearance hole 241 allows the locking block 13 to pass through and insert into the support plate 21, so that the locking ring 23 presses against the second end 132 of the locking block 13, thereby locking the locking block 13.

[0032] Furthermore, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the outer wall of the locking ring 21 has a protrusion 232, and the support plate 21 has a guide groove 212 corresponding to the protrusion 232. The protrusion 232 moves along the guide groove 212 to drive the locking ring 23 to rotate.

[0033] During operation, the protrusion 232 is moved to slide along the guide groove 212, thereby causing the locking ring 23 to rotate within the support plate 21. The two ends of the guide groove 212 can serve as rotation limit points to ensure precise switching of the locking ring 23 between the unlocked and locked positions.

[0034] Example 2 This embodiment provides a rotary snap-fit ​​quick-change connection structure. Unlike embodiment 1, both the female connector 12 and the male connector 22 have wire-passing holes 3. The wire-passing holes 3 are used to pass cables or conduits. During the connection process, when the male connector 22 is inserted into the female connector 12, electrical cables or fluid conduits can pass through the wire-passing holes 3, facilitating internal wiring and effectively improving the aesthetics of the humanoid robot arm.

[0035] Example 3 This embodiment provides a humanoid robot arm, which includes a humanoid robot forearm, an end effector, and a rotary snap-fit ​​quick-change connection structure as described in either Embodiment 1 or Embodiment 2.

[0036] The rotary snap-fit ​​quick-change connection structure is used to connect the end effector to the forearm of the humanoid robot. With this structure, the robot can quickly change different end effectors according to different tasks (such as grasping, assembling, and operating tools), which greatly improves the robot's versatility, flexibility and ease of maintenance.

[0037] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and concept of this application, should be included within the scope of protection of this application.

Claims

1. A rotary snap-fit ​​quick-change connection structure, comprising a first connecting seat (1) and a second connecting seat (2) respectively mounted on the forearm and end effector of a humanoid robot; characterized in that: The first connecting seat (1) includes a mounting plate (11), a plug-in female seat (12) coaxially disposed inside one end of the mounting plate (11) and fixedly connected to the mounting plate (11), and at least two locking blocks (13) arranged in a ring array on the outside of the mounting plate (11) corresponding to the plug-in female seat (12). The second connector (2) includes a support plate (21), a male connector (22) fixedly mounted on the support plate (21) for insertion into the female connector (12), and a locking ring (23) rotatably mounted inside the support plate (21) and rotatably connected to the support plate (21). The inner wall of the support plate (21) is provided with a first arc groove (211) that communicates with the inner cavity of the support plate (21), and the outer wall of the locking ring (23) is provided with a second arc groove (231). The second arc groove (231) and the first arc groove (211) constitute a clearance groove for inserting the locking block (13) into the support plate (21).

2. The rotary snap-fit ​​quick-change connection structure according to claim 1, characterized in that: The end effector is a dexterous hand.

3. The rotary snap-fit ​​quick-change connection structure according to claim 1, characterized in that: The mounting plate (11) includes a flange (111) and a support ring (112) fixedly disposed at one end of the flange (111). The plug-in female seat (12) is fixedly disposed on the flange (111), and the locking block (13) is located at the end of the support ring (112) away from the flange (111).

4. The rotary snap-fit ​​quick-change connection structure according to claim 3, characterized in that: The flange (111) has at least two positioning grooves (1111) arranged in a ring array on the side near the support ring (112), and the support ring (112) has positioning blocks (1121) corresponding to the two ends of the positioning grooves (1111).

5. The rotary snap-fit ​​quick-change connection structure according to claim 3, characterized in that: The locking block (13) includes a first end (131) extending axially from one end of the support ring (112) away from the flange (111) into the support disk (21) and a second end (132) extending radially inward from one end of the first end (131) away from the support ring (112) along the support disk (21).

6. The rotary snap-fit ​​quick-change connection structure according to claim 5, characterized in that: The second connecting seat (2) further includes a pressure plate (24) fixedly installed on the support plate (21) for pressing the locking ring (23) on the support plate (21), and the pressure plate (24) has a clearance hole (241) at the position corresponding to the locking block (13).

7. The rotary snap-fit ​​quick-change connection structure according to claim 1, characterized in that: The outer wall of the locking ring (21) has a protrusion (232), and the support plate (21) has a guide groove (212) corresponding to the protrusion (232). The protrusion (232) moves along the guide groove (212) to drive the locking ring (23) to rotate.

8. The rotary snap-fit ​​quick-change connection structure according to claim 1, characterized in that: Both the female connector (12) and the male connector (22) have wire holes (3).

9. A humanoid robotic arm, characterized in that: The invention includes a humanoid robot forearm, an end effector, and a rotary snap-fit ​​quick-change connection structure as described in any one of claims 1-8, wherein the rotary snap-fit ​​quick-change connection structure is used to connect the end effector to the humanoid robot forearm.

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