Novel ultra-lightweight collaborative robot quick-release structure

Abstract

The present application belongs to the field of robot technology, and particularly relates to a novel ultra-lightweight collaborative robot arm quick disassembly structure. The present application comprises a robot arm shell, a terminal flange, a quick change disc and a clamp locking assembly, the terminal flange is arranged at the end of the robot arm shell; the terminal flange and the quick change disc are mutually embedded when the end faces are attached; the clamp locking assembly comprises a plurality of arc clamp segments spliced into a whole circle, the terminal flange and the quick change disc are sleeved in the whole circle spliced by the plurality of arc clamp segments; a plurality of cutting surfaces are distributed on the terminal flange and the quick change disc in the circumferential direction, the inner sides of the two ends of the arc clamp segment are provided with half-moon blocks, the cutting surfaces at the same position on the terminal flange and the quick change disc are spliced and cooperate with the half-moon segment, and adjacent arc clamp segments are connected at the half-moon blocks by connecting pieces. The present application provides a novel ultra-lightweight collaborative robot arm quick disassembly structure, which simplifies the disassembly steps and optimizes the lightweight structure under the premise of ensuring the connection rigidity and positioning accuracy.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and specifically relates to a novel quick-release structure for an ultralight collaborative robotic arm. Background Technology

[0002] Quick-release and quick-change technologies at the end effector of collaborative robotic arms are common knowledge in the field. In existing technologies, the most common quick-release connection principle is mechanical locking, with bolt locking being the most widely used and technologically mature locking method. In the field of lightweight collaborative robotic arms, known bolt-locking quick-release solutions typically use a flange as the connection base, employing a structure with multiple bolts evenly distributed around the circumference for locking. They rely on conventional methods such as stop or pin positioning to ensure connection rigidity and repeatability, and use tools to operate the bolts to achieve locking and releasing. This is a conventional technical choice easily implemented by those skilled in the art.

[0003] In existing technologies, the integrated flange bolt locking structure involves machining a standard circular mounting flange at the output end of the robotic arm, with corresponding mounting through holes on the end face of the robotic arm quick-change disc. Multiple circumferentially distributed fastening bolts are used for through-locking, and radial limiting positioning is achieved in conjunction with the end face stop to ensure assembly positioning accuracy and connection rigidity. During disassembly and assembly, tools such as wrenches are required to disassemble and assemble all fastening bolts one by one to complete the separation and assembly of the quick-change disc and the robotic arm end. This is the most commonly used assembly structure for lightweight collaborative robotic arm end.

[0004] Existing traditional multi-bolt flange locking structures have four inherent technical defects: 1. The disassembly and assembly efficiency is low. Assembly and disassembly require the removal and installation of all circumferential bolts one by one. The tool operation procedures are cumbersome and cannot achieve rapid tool change. It is difficult to match the needs of collaborative robotic arms for frequent claw changes under multiple working conditions.

[0005] 2. The end effector has a large self-weight, and the solid flange uses a lot of material. The self-weight of the flange increases the load on the end effector of the robotic arm, increases the moment of inertia of the joint, and reduces the dynamic response and lightweight index of the robotic arm.

[0006] 3. The assembly and alignment are complicated. During installation, manual fine-tuning of the quick-change plate angle is required to align all bolt holes one by one. This can easily lead to misalignment of holes, time-consuming assembly, and uneven preload of bolts.

[0007] 4. Poor vibration and loosening prevention effect. Under long-term reciprocating vibration, the scattered individual bolts are prone to loosening. They need to be checked and tightened one by one on a regular basis, resulting in a large amount of maintenance work and potential safety hazards due to connection failure. Summary of the Invention

[0008] To address the aforementioned problems in existing technologies, the present invention aims to provide a novel ultra-lightweight collaborative robotic arm quick-release structure. This structure utilizes a clamping locking assembly to achieve a tight fit and positioning between the end flange and the quick-change disc end face. A small number of locking screws are used to achieve a tight clamping and locking of the clamp opening. This simplifies the assembly and disassembly process and optimizes the lightweight structure while ensuring connection rigidity and positioning accuracy.

[0009] The technical solution adopted in this invention is as follows: A novel ultralight collaborative robotic arm quick-release structure includes a robotic arm housing, an end flange, a quick-change disc, and a clamp locking assembly. The end flange is located at the end of the robotic arm housing. The end flange and the quick-change disc are interlocked when their end faces are pressed together. The clamp locking assembly includes several arc-shaped clamp segments that are assembled into a complete circle. The end flange and the quick-change disc are fitted within the complete circle formed by the arc-shaped clamp segments. Both the end flange and the quick-change plate have several cutting surfaces distributed along the circumference. The inner sides of both ends of the arc-shaped clamp section are provided with crescent blocks. Two adjacent crescent blocks on two arc-shaped clamp sections are spliced ​​together to form a crescent section. The cutting surfaces at the same position on the end flange and the quick-change plate are spliced ​​together to fit with the crescent section. Adjacent arc-shaped clamp sections are connected at the crescent blocks by connectors.

[0010] In this invention, the end flange and quick-change disc interlock when their end faces are fitted together, and several arc-shaped clamp segments surround and enclose the end flange and quick-change disc. Adjacent arc-shaped clamp segments are then connected via connectors, thus linking the end flange and quick-change disc together. Because this invention uses several separate clamp locking components for circumferential clamping and tightens adjacent arc-shaped clamp segments with a small number of screws, it eliminates the need for a flange with densely packed mounting holes around its entire circumference. The clamps are used to achieve the end flange and quick-change disc end face fit and positioning, and only a small number of locking screws are needed to tighten and lock the clamp ends. This simplifies assembly and disassembly steps and optimizes the lightweight structure while ensuring connection rigidity and positioning accuracy.

[0011] In this invention, the cut surfaces at the same location on the end flange and quick-change disc are joined together to mate with the crescent segment. The crescent segment prevents the end flange and quick-change disc from rotating relative to the clamp locking assembly, ensuring the integrity of the end flange and quick-change disc after connection. When fitting the quick-change disc and end flange together, their respective cut surfaces can be used as a reference for quick connection. Adjacent arc-shaped clamp segments are connected at the crescent block by a connector, eliminating the need for a specially designed structure for the connector and simplifying the structure.

[0012] In a preferred embodiment of the present invention, a plurality of fitting blocks are provided on the end face of the end flange, and a plurality of fitting grooves are provided on the end face of the quick-change disc, with the fitting blocks and fitting grooves corresponding to each other. When the end flange and the quick-change disc are connected, the fitting blocks and fitting grooves are connected in a corresponding manner, which enables the end flange and the quick-change disc to be connected quickly and reliably. The fitting blocks can withstand torque, preventing the end flange and the quick-change disc from rotating relative to each other.

[0013] As a preferred embodiment of the present invention, a plurality of fitting blocks are distributed circumferentially on the end flange, and a plurality of fitting grooves are distributed circumferentially on the quick-change disc; the fitting blocks and fitting grooves are triangular in shape, and the outer side of the fitting grooves is an open side.

[0014] In a preferred embodiment of the present invention, the mating surfaces of the fitting groove and the fitting block are both inclined surfaces. During the tightening process of the clamp, the fitting block and the fitting groove gradually tighten along the inclined surfaces. Setting the mating surfaces of the fitting groove and the fitting block as inclined surfaces facilitates accurate alignment during initial mating and ensures reliable wedging of the fitting block and the fitting groove after the clamp is tightened.

[0015] In a preferred embodiment of the present invention, limiting flanges are provided on both the upper and lower sides of the arc-shaped clamp section. The end face of the end flange away from the quick-change disc mates with one of the limiting flanges, and the end face of the quick-change disc away from the end flange mates with the limiting flange on the other side. The upper and lower limiting flanges and the inner side of the arc-shaped clamp section form an arc-shaped groove, which axially limits the end flange and quick-change disc, ensuring that the end flange and quick-change disc are always reliably engaged.

[0016] In a preferred embodiment of the present invention, an annular groove is provided on the side of the end flange facing the robotic arm housing, and a limiting stop on one side of the arc-shaped clamp section engages in the annular groove. By providing the annular groove, the limiting stop of the arc-shaped clamp section can be inserted into the side of the end flange away from the quick-change plate, ensuring that the upper and lower limiting stops can reliably limit the axial movement of the end flange and the quick-change plate.

[0017] In a preferred embodiment of the present invention, the mating surfaces of the end flange and the limiting stop are both inclined surfaces. During the process of connecting adjacent arc-shaped clamp segments through the connector, the limiting stop gradually pushes the end flange along the inclined surface, so that the end flange and the quick-change disc gradually tighten. Setting the mating surfaces of the end flange and the limiting stop as inclined surfaces facilitates the fastening of the arc-shaped clamp segment onto the end flange and the quick-change disc, and ensures that the end flange and the quick-change disc are reliably tightened after the clamp is locked.

[0018] As a preferred embodiment of the present invention, the number of arc-shaped clamp sections is two, and both the end flange and the quick-change disc are provided with two cutting surfaces, with the cutting surfaces on both sides distributed at 180° in the circumferential direction.

[0019] In a preferred embodiment of the present invention, in two adjacent crescent-shaped blocks on the two arc-shaped clamping sections, one crescent-shaped pressure block is provided with a screw through hole, and the other crescent-shaped pressure block is provided with a threaded blind hole. The screw through hole and the threaded blind hole are connected by a locking screw. The present invention connects adjacent arc-shaped clamping sections only with locking screws at the joint, which can greatly reduce the number of screws used and enable the end flange and quick-change plate to be quickly disassembled and assembled.

[0020] As a preferred embodiment of the present invention, both the screw through hole and the threaded blind hole are arranged along the tangential direction of the arc-shaped clamp segment.

[0021] As a preferred embodiment of the present invention, the robotic arm housing and the end flange are integrally formed.

[0022] As a preferred embodiment of the present invention, an integrated joint is installed inside the quick-change disc, and one end of the integrated joint passes through the end flange and is inserted into the robotic arm housing.

[0023] The beneficial effects of this invention are as follows: 1. In this invention, the end flange and quick-change disc interlock when their end faces are fitted together, and several arc-shaped clamp segments surround and enclose the end flange and quick-change disc. Adjacent arc-shaped clamp segments are then connected via connectors, thus linking the end flange and quick-change disc together. Because this invention uses several separate clamp locking components for circumferential clamping and tightens adjacent arc-shaped clamp segments with a small number of screws, it eliminates the need for a flange with densely packed mounting holes around its entire circumference. The clamps are used to achieve the end flange and quick-change disc end face fit and positioning, and only a small number of locking screws are used to tighten and lock the clamp ends. This simplifies the assembly and disassembly process and optimizes the lightweight structure while ensuring connection rigidity and positioning accuracy.

[0024] 2. In this invention, the cut surfaces at the same position on the end flange and quick-change disc are joined together to mate with the crescent segment. The crescent segment prevents the end flange and quick-change disc from rotating relative to the clamp locking assembly, ensuring the integrity of the end flange and quick-change disc after connection. When fitting the quick-change disc and end flange together, their respective cut surfaces can be used as a reference to achieve rapid connection. Adjacent arc-shaped clamp segments are connected at the crescent block by a connector, eliminating the need for a specially designed structure for the connector and simplifying the structure. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a cross-sectional view of the invention in the first direction; Figure 3 yes Figure 2 A magnified view of a section at point A in the middle; Figure 4 This is a cross-sectional view of the invention in a second direction; Figure 5 yes Figure 4 A magnified view of a section at point B in the middle; Figure 6 This is a structural diagram of the robotic arm's outer casing and end flange; Figure 7 yes Figure 6 A magnified view of a section at point C; Figure 8 This is a structural schematic diagram of the clamp locking assembly; Figure 9 This is a schematic diagram of the quick-change disc structure.

[0026] In the diagram: 1-robotic arm housing; 2-end flange; 3-quick change disc; 4-clamp locking assembly; 5-cutting surface; 6-integrated joint; 21-fitting block; 22-annular groove; 31-fitting groove; 41-arc-shaped clamping section; 42-crescent block; 43-limiting stop; 44-screw through hole; 45-threaded blind hole. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the invention can be combined with each other.

[0029] like Figures 1-9 As shown, the novel ultralight collaborative robotic arm quick-release structure of this embodiment includes a robotic arm housing 1, an end flange 2, a quick-change disc 3, and a clamp locking assembly 4. The end flange 2 is disposed at the end of the robotic arm housing 1. The end flange 2 and the quick-change disc 3 are interlocked when their end faces are attached. The clamp locking assembly 4 includes several arc-shaped clamp segments 41 assembled into a complete circle. The end flange 2 and the quick-change disc 3 are fitted within the complete circle assembled from the several arc-shaped clamp segments 41. Both the end flange 2 and the quick-change plate 3 have several cutting surfaces 5 distributed along the circumference. The inner sides of both ends of the arc-shaped clamp section 41 are provided with crescent blocks 42. Two adjacent crescent blocks 42 on the two arc-shaped clamp sections 41 are spliced ​​together to form a crescent section. The cutting surfaces 5 at the same position on the end flange 2 and the quick-change plate 3 are spliced ​​together to fit with the crescent section. Adjacent arc-shaped clamp sections 41 are connected at the crescent blocks 42 by connectors.

[0030] In this invention, the end flange 2 and quick-change disc 3 are interlocked when their end faces are fitted together, and several arc-shaped clamp segments 41 surround and enclose the end flange 2 and quick-change disc 3. Adjacent arc-shaped clamp segments 41 are then connected by connectors, so that the end flange 2 and quick-change disc 3 are connected together. Because this invention uses several split clamp locking components 4 for circumferential clamping and uses a small number of screws to lock adjacent arc-shaped clamp segments 41, the structure of densely packed mounting holes around the flange is eliminated. The end flange 2 and quick-change disc 3 are positioned by clamping, and the clamp is tightened and locked by only a small number of locking screws. Under the premise of ensuring connection rigidity and positioning accuracy, the disassembly and assembly steps are simplified and the lightweight structure is optimized.

[0031] In this invention, the cut surfaces 5 at the same position on the end flange 2 and quick-change disc 3 are joined together to mate with the crescent segment. The crescent segment prevents the end flange 2 and quick-change disc 3 from rotating relative to the clamp locking assembly 4, ensuring the integrity of the end flange 2 and quick-change disc 3 after connection. When fitting and docking the quick-change disc 3 and end flange 2, their respective cut surfaces 5 can be used as a reference to achieve quick docking. Adjacent arc-shaped clamp segments 41 are connected at the crescent block 42 by a connector, eliminating the need for a specially designed structure for the connector and simplifying the structure.

[0032] Specifically, the end flange 2 has a plurality of fitting blocks 21 on its end face, and the quick-change disc 3 has a plurality of fitting grooves 31 on its end face. The fitting blocks 21 and the fitting grooves 31 fit together in a one-to-one correspondence. When the end flange 2 and the quick-change disc 3 are connected, the fitting blocks 21 and the fitting grooves 31 fit together in a one-to-one correspondence, which can realize the quick and reliable connection between the end flange 2 and the quick-change disc 3. The fitting blocks 21 can withstand torque and prevent the end flange 2 and the quick-change disc 3 from rotating relative to each other.

[0033] Among them, a number of fitting blocks 21 are distributed circumferentially on the end flange 2, and a number of fitting grooves 31 are distributed circumferentially on the quick-change plate 3; the fitting blocks 21 and fitting grooves 31 are triangular in shape, and the outer side of the fitting grooves 31 is an open side.

[0034] Furthermore, the mating surfaces of the fitting groove 31 and the fitting block 21 are both inclined surfaces. During the tightening process, the fitting block 21 and the fitting groove 31 gradually tighten along the inclined surfaces. Setting the mating surfaces of the fitting groove 31 and the fitting block 21 as inclined surfaces facilitates accurate alignment during initial mating and ensures reliable wedging of the fitting block 21 and the fitting groove 31 after tightening the clamp.

[0035] Axial restraint is necessary for the end flange 2 and quick-change disc 3 to reliably engage. In this invention, the upper and lower sides of the arc-shaped clamp section 41 are provided with limiting flanges 43. The end face of the end flange 2 away from the quick-change disc 3 mates with one of the limiting flanges 43, and the end face of the quick-change disc 3 away from the end flange 2 mates with the other limiting flange 43. The upper and lower limiting flanges 43 and the inner side of the arc-shaped clamp section 41 form an arc-shaped groove, which axially restrains the end flange 2 and quick-change disc 3, ensuring that the end flange 2 and quick-change disc 3 are always reliably engaged.

[0036] Furthermore, an annular groove 22 is provided on the side of the end flange 2 facing the robotic arm housing 1, and the limiting flange 43 on one side of the arc-shaped clamp section 41 is engaged in the annular groove 22. By providing the annular groove 22, the limiting flange 43 of the arc-shaped clamp section 41 can be inserted into the side of the end flange 2 away from the quick-change plate 3, ensuring that the upper and lower limiting flanges 43 can reliably limit the axial movement of the end flange 2 and the quick-change plate 3.

[0037] Furthermore, the mating surfaces of the end flange 2 and the limiting stop 43 are both inclined surfaces. During the process of connecting adjacent arc-shaped clamp sections 41 through the connector, the limiting stop 43 gradually pushes the end flange 2 along the inclined surface, so that the end flange 2 and the quick-change disc 3 gradually tighten. Setting the mating surfaces of the end flange 2 and the limiting stop 43 as inclined surfaces facilitates the fastening of the arc-shaped clamp section 41 onto the end flange 2 and the quick-change disc 3, and ensures that the end flange 2 and the quick-change disc 3 are reliably tightened after the clamp is locked.

[0038] In this embodiment, there are two arc-shaped clamp sections 41. Both the end flange 2 and the quick-change disc 3 are provided with two cutting surfaces 5. The cutting surfaces 5 on both sides are distributed at 180° in the circumferential direction.

[0039] In the two adjacent crescent-shaped blocks 42 on the two arc-shaped clamping sections 41, one crescent-shaped pressure block is provided with a screw through hole 44, and the other crescent-shaped pressure block is provided with a threaded blind hole 45. The screw through hole 44 and the threaded blind hole 45 are connected by a locking screw. This invention connects the adjacent arc-shaped clamping sections 41 only at the joint with locking screws, which can greatly reduce the number of screws used and enable the end flange 2 and quick-change plate 3 to be quickly disassembled and assembled.

[0040] Both the screw through hole 44 and the threaded blind hole 45 are arranged along the tangent direction of the arc-shaped clamp section 41.

[0041] In this invention, the robotic arm housing 1 and the end flange 2 are integrally formed.

[0042] An integrated joint 6 is installed inside the quick-change disc 3. One end of the integrated joint 6 passes through the end flange 2 and is inserted into the robotic arm housing 1.

[0043] The robotic arm housing 1 and quick-change plate 3 are made of ZL114A-T5 cast aluminum, while the end flange 2 and clamp locking assembly 4 are made of 7075 aluminum alloy and machined. Each component is reduced by removing excess solids through weight reduction hollowing and topology optimization, thereby reducing the overall weight of the assembly while meeting the structural strength requirements.

[0044] The clamp locking assembly 4 includes a two-part arc-shaped clamp section 41 that is split in half. The inner arc surface of the arc-shaped clamp section 41 fits against the outer circle of the end flange 2 and quick-change disc 3. High-strength locking screws are used to tighten the clamp by passing through the mounting holes at both ends of the clamp. The radial clamping force generated by the clamp contraction tightly presses and fixes the end flange 2 and the end face of the quick-change disc 3.

[0045] The disassembly and assembly operations of this invention are more convenient and the efficiency is significantly improved. This invention eliminates the need for multiple circumferential bolts for disassembly and assembly; only a few tightening screws are required to open and close the clamp, eliminating the need to align each bolt hole individually, thus significantly reducing the time required for replacement.

[0046] This invention exhibits excellent lightweighting effects. The end flange 2 of this invention eliminates a large number of bolt mounting bosses and physical allowances. Combined with graded material selection of 7075+ZL114A-T5 and hollowing out for weight reduction, it effectively reduces the weight of the end assembly, decreases the end inertia of the robotic arm, and improves dynamic performance.

[0047] This invention simplifies assembly and alignment. It achieves automatic coaxial positioning via end face stops, eliminating the need for manual fine-tuning and hole alignment. Assembly consistency and repeatability are superior to traditional bolted flanges.

[0048] This invention offers high reliability in vibration resistance and anti-loosening. The overall clamping force is evenly distributed across the ring surface of the clamp, and the clamping screws only bear the tension at the closing point. Compared to independently distributed bolts, this design makes the equipment less prone to loosening under reciprocating vibrations, thus reducing the frequency of routine inspection and tightening.

[0049] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A novel ultralight collaborative robotic arm quick-release structure, characterized in that: The system includes a robotic arm housing (1), an end flange (2), a quick-change disc (3), and a clamp locking assembly (4). The end flange (2) is located at the end of the robotic arm housing (1). The end flange (2) and the quick-change disc (3) fit together when their end faces are aligned. The clamp locking assembly (4) includes several arc-shaped clamp segments (41) that are assembled into a complete circle. The end flange (2) and the quick-change disc (3) are fitted within the complete circle formed by the several arc-shaped clamp segments (41). The end flange (2) and quick-change plate (3) are both distributed with several cutting surfaces (5) along the circumferential direction. The inner sides of both ends of the arc-shaped clamp section (41) are provided with crescent blocks (42). The two adjacent crescent blocks (42) on the two arc-shaped clamp sections (41) are spliced ​​together to form a crescent section. The cutting surfaces (5) at the same position on the end flange (2) and quick-change plate (3) are spliced ​​together and then fitted with the crescent section. The adjacent arc-shaped clamp sections (41) are connected by connectors at the crescent blocks (42).

2. The novel ultralight collaborative robotic arm quick-release structure according to claim 1, characterized in that: The end flange (2) has several fitting blocks (21) on its end face, and the quick-change plate (3) has several fitting grooves (31) on its end face. The fitting blocks (21) and the fitting grooves (31) fit together in a one-to-one correspondence.

3. The novel ultralight collaborative robotic arm quick-release structure according to claim 2, characterized in that: Several fitting blocks (21) are distributed circumferentially on the end flange (2), and several fitting grooves (31) are distributed circumferentially on the quick-change plate (3); the fitting blocks (21) and fitting grooves (31) are triangular in shape, and the outer side of the fitting grooves (31) is an open side.

4. The novel ultralight collaborative robotic arm quick-release structure according to claim 3, characterized in that: The sides of the interlocking groove (31) and the interlocking block (21) that cooperate with each other are all inclined surfaces.

5. The novel ultralight collaborative robotic arm quick-release structure according to claim 1, characterized in that: The upper and lower sides of the arc-shaped clamp section (41) are provided with limiting flanges (43). The end face of the end flange (2) away from the quick-change plate (3) is matched with the limiting flange (43) on one side, and the end face of the quick-change plate (3) away from the end flange (2) is matched with the limiting flange (43) on the other side.

6. The novel ultralight collaborative robotic arm quick-release structure according to claim 5, characterized in that: The end flange (2) is provided with an annular groove (22) on the side facing the robotic arm housing (1), and the limiting stop (43) on one side of the arc-shaped clamp section (41) is fastened in the annular groove (22).

7. The novel ultralight collaborative robotic arm quick-release structure according to claim 5, characterized in that: The mating surfaces of the end flange (2) and the limiting flange (43) are both inclined surfaces.

8. The novel ultralight collaborative robotic arm quick-release structure according to claim 1, characterized in that: The number of the arc-shaped clamp section (41) is two pieces, and the end flange (2) and quick-change plate (3) are both provided with two cutting surfaces (5). The cutting surfaces (5) on both sides are distributed at 180° in the circumferential direction.

9. The novel ultralight collaborative robotic arm quick-release structure according to claim 1, characterized in that: In the two adjacent crescent blocks (42) on the two arc-shaped clamping sections (41), one crescent block is provided with a screw through hole (44), and the other crescent block is provided with a threaded blind hole (45). The screw through hole (44) and the threaded blind hole (45) are connected by a locking screw.

10. A novel ultralight collaborative robotic arm quick-release structure according to claim 7, characterized in that: The screw through hole (44) and the threaded blind hole (45) are both arranged along the tangent direction of the arc-shaped clamp section (41).

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