A quick assembly connection system and method for a robot joint module

Abstract

The application provides a quick assembly and connection system of a robot joint module, which comprises a plurality of buckle assemblies, each of which is used for positioning and fixing a joint module and forming a robot limb; the buckle assembly comprises: a buckle fastening module I used for assembling two motor modules and forming a swing joint and / or a torsion joint of the robot; a buckle fastening module II used for assembling the buckle fastening module III and the motor module and forming the swing joint and / or the torsion joint of the robot; and each swing joint and each torsion joint forms the robot limb after being assembled by the buckle assembly. The application is suitable for the connection between the joints of the robot, the combined connection between the swing joint and the torsion joint, and the connection between the output flange and the connecting flange, and the buckle fastening modules are matched and arranged, and the connection parts are disassembled and fixed by opening and buckling of the buckle fastening modules.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a rapid assembly and connection system and assembly method for robot joint modules. Background Technology

[0002] Robotic limbs typically consist of multiple joint motor modules and connecting structures that link adjacent joint motor modules. The joint motor modules are combined according to the limb's movement requirements to achieve movements such as swinging and twisting. The connecting structures between joints need to maintain the mounting position of the joint motor modules and establish transmission connections at the corresponding motion output points, so that the movement of the joint motor modules can be transmitted to adjacent connecting parts.

[0003] For robot structures that require disassembling multiple joints to replace a faulty joint motor, the repair and replacement of the joint motor module involves disassembling and reassembling multiple connecting parts, which is quite cumbersome. Therefore, a robot joint connection structure that facilitates disassembly and assembly at the corresponding connecting parts is needed to reduce the mechanical disassembly and assembly operations required when replacing the joint motor module.

[0004] Furthermore, robot limbs present various connection requirements, including connections between two articulated motor modules, combined connections between a swing joint motor module and a torsion joint motor module, and transmission connections between the output flange of the articulated motor module and the connector. These connections serve different functions of fixing, limiting, and transmitting motion, necessitating structures adapted to their respective connected components. While facilitating assembly and disassembly, it is also necessary to consider the positional constraints of the connected parts and the motion transmission between the output flange and the connector.

[0005] Therefore, it is necessary to provide a rapid assembly and connection system for robot joint modules, which can meet the assembly requirements of different joint connection parts through an openable and closable snap-fit ​​structure and a corresponding positioning and mating structure, and facilitate the maintenance and replacement of joint motor modules. Summary of the Invention

[0006] The purpose of this invention is to provide a rapid assembly and connection system for robot joint modules, so as to solve the problem of cumbersome disassembly and assembly of mechanical connection parts during the maintenance and replacement of robot joint motor modules.

[0007] To achieve the above objectives, this invention provides compatible snap-fit ​​fastening modules for the connection between two motor modules, the combined connection between the swing joint and the torsion joint, and the connection between the output flange and the connecting flange. The opening and closing of these snap-fit ​​fastening modules enables the disassembly and fixation of the connected parts. Furthermore, this invention uses mutually cooperating limiting protrusions and grooves, flange end face bosses and countersunk holes, and flange axial limiting structures to position, fix, and transmit power between connected components. By providing mutually compatible inclined surfaces at corresponding mating parts, it provides guidance for assembly and reduces assembly clearances at the corresponding mating parts.

[0008] Specifically, the present invention provides a rapid assembly and connection system for robot joint modules, comprising: multiple snap-fit ​​components, each snap-fit ​​component being used to position and fix the joint module to form a robot limb; wherein, the snap-fit ​​components include snap-fit ​​fastening module one, snap-fit ​​fastening module two, and snap-fit ​​fastening module three; snap-fit ​​fastening module one is used to assemble two motor modules to form a swing joint and / or torsional joint of the robot; snap-fit ​​fastening module two is used to combine snap-fit ​​fastening module three with the motor module to assemble to form a swing joint and / or torsional joint of the robot; each swing joint and each torsional joint are assembled by snap-fit ​​components to form a robot limb.

[0009] Preferably, the first hinge and the second hinge are both arc-shaped structures, with one end hinged and the other end provided with a buckle assembly. The buckle assembly is used to snap the first hinge and the second hinge into a ring structure. The inner walls of the first hinge and the second hinge are provided with limiting protrusions. The limiting protrusions are used to cooperate with the limiting grooves provided on the outer wall of the buckle fastening module and the motor module, and form a snap-fit ​​fixing structure with the buckle assembly.

[0010] Preferably, the first snap-fit ​​module is used to connect the second motor module and the third motor module. The outer walls of the second motor module and the third motor module are provided with limiting grooves that match the limiting protrusions provided on the inner wall of the first snap-fit ​​module, and to position and fix the corresponding motor modules.

[0011] Preferably, the outer side wall of the second hinge component of the second buckle fastening module is connected to the connecting boss via an extension platform. The outer side wall of the connecting boss is provided with a limiting groove. The limiting groove cooperates with the limiting protrusion on the inner wall of the buckle component and positions and fixes the corresponding motor module and the connecting boss.

[0012] Preferably, the first hinge assembly and the second hinge assembly of the snap-fit ​​module three are provided with limiting plates at intervals on their side walls. The limiting plates are used to install and position the flange assembly. The flange assembly includes an output flange disposed at one end of the motor module and a connecting flange disposed at one end of the connector. Both the output flange and the connecting flange are disc-shaped structures with multiple limiting slots evenly distributed on their circumferential outer walls. Each limiting slot is used to cooperate with the limiting protrusions on the inner wall of the snap-fit ​​module three for positioning and fixing the output flange and the connecting flange. Both the output flange and the connecting flange have assembly holes on their surfaces for assembling and fixing the output flange and the connecting flange into one piece.

[0013] Preferably, the robot limb includes limb one and limb two, limb one being the robot upper limb and limb two being the robot lower limb; both the robot upper limb and the robot lower limb are provided with mounting hole one, which is used to install the corresponding robot limb shell; the robot upper limb and the robot lower limb are respectively connected to the torso, thereby forming a body-bound robot body.

[0014] Preferably, the latch assembly includes: a hook buckle located on a first hinge and a hook hinged to a second hinge, wherein the end of the hook buckle has a hook-shaped structure and forms a reverse hook structure with the hook.

[0015] Preferably, the motor module includes: motor module two and motor module three, the bottoms of motor module two and motor module three are connected to each other, and the snap-fit ​​fastening module one is arranged around the bottom connection point of the two. The limiting protrusion on the inner wall of the snap-fit ​​fastening module one cooperates with the limiting groove on the outer wall of motor module two and motor module three respectively, forming a torsional joint for the robot limb to rotate; motor module one and connecting boss are connected through snap-fit ​​fastening module two to form a robot limb; one end of the connector is connected to one of the rotation joints of the robot limb, and the other end of the connector is connected to snap-fit ​​fastening module three to form a swing joint for the robot to flip and swing; the mating parts of the limiting protrusion and the corresponding limiting groove are respectively provided with mutually adaptable inclined surfaces. When the snap-fit ​​fastening module one is fastened, the limiting protrusion and the corresponding limiting groove abut against each other through the inclined surfaces.

[0016] The working principle and beneficial effects of this invention are as follows: 1. By incorporating a snap-locking module that can be opened and closed, the fixing operation of the joint connection is combined with the snap-locking operation. When repairing or replacing the joint motor module, the snap-locking can be released at the corresponding mechanical connection, facilitating the disassembly of the joint motor module and reducing the disassembly and assembly operations of the mechanical connection.

[0017] 2. By setting up different types of snap-fit ​​fastening modules, they can be adapted to the bottom connection of dual motors, the combination connection of swing joint and torsion joint, and the flange connection, so that different connection parts can be assembled with corresponding snap-fit ​​structures, taking into account the connection needs of different positions in the robot limb.

[0018] 3. The limiting protrusions on the inner wall of the snap fastening module cooperate with the limiting grooves or slots on the connected object to position and constrain the connected object; the inclined surfaces of the corresponding mating parts provide guidance for the assembly during the snap-closing process and help reduce the gaps of the corresponding mating parts.

[0019] 4. By cooperating with the boss on the end face of the output flange and the countersunk hole of the connecting flange, and by cooperating with the limiting protrusion on the inner wall of the three-axis fastening module and the circumferential limiting groove of the two flanges, the rotational transmission relationship between the output flange and the connecting flange is established; by setting the limiting structure at both ends of the three-axis fastening module, the axial movement of the two flanges is restricted, so that the flange connection has both rotational transmission and axial limiting functions.

[0020] 5. By pre-drilling screw holes on the corresponding fixing modules for mounting limb shells, installation positions are provided for limb shells with different appearances, making it easy to assemble and replace shells according to appearance requirements.

[0021] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0022] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a cross-sectional structural diagram of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the robot limbs of the present invention; Figure 4 This is a schematic diagram of the cross-sectional structure of the robot limb of the present invention; Figure 5 This is a schematic diagram of the connection structure between the first and second snap-fit ​​fastening modules of the present invention; Figure 6 This is a schematic diagram of the connector of the present invention; Figure 7 This is a schematic diagram of the motor module structure of the present invention; Figure 8 This is a schematic diagram of the three-structure fastening module of the present invention; Figure 9 This is a schematic diagram of the connection structure of the first and second snap-fit ​​fastening modules of the present invention.

[0024] Among them, 1-torso, 2-limb one, 3-limb two, 4-buckle fastening module one, 5-buckle fastening module two, 6-buckle fastening module three, 7a-motor module one, 7b-motor module two, 7c-motor module three, 8-connector, 9-connecting flange, 10-connecting boss, 11-limiting groove, 12-assembly hole one, 13-hook, 14-hook buckle, 15-extension platform, 16-limiting protrusion, 17-first hinge, 18-second hinge, 19-output flange, 20-assembly hole two, 21-limiting slot, 22-limiting piece, 23-buckle assembly. Detailed Implementation

[0025] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0026] In this invention, the snap-fit ​​fastening module 4, snap-fit ​​fastening module 5, and snap-fit ​​fastening module 6 are snap-fit ​​components designed for different connection objects. The swing joint motor module and the torsion joint motor module are used to illustrate the joint movement patterns formed by the motor modules in their respective installation positions.

[0027] The quick assembly and disassembly described below refers to the assembly and disassembly of the corresponding mechanical connection parts. The electrical wiring of the motor module and its assembly and disassembly methods are not considered as specific limitations of this embodiment.

[0028] Example 1, as Figures 1-9 As shown, the present invention provides a rapid assembly and connection system for robot joint modules, comprising: Multiple snap-fit ​​components, each of which is used to position and fix the joint module to form a robot limb; The buckle assembly includes a first buckle fastening module 4, a second buckle fastening module 5, and a third buckle fastening module 6. The first buckle fastening module 4 is used to assemble two motor modules to form the robot's swing joint and / or torsional joint. The second snap-fit ​​module 5 is used to combine the third snap-fit ​​module 6 with the motor module to assemble and form the robot's swing joint and / or torsion joint; each swing joint and each torsion joint are assembled by snap-fitting the snap-fit ​​assembly to form the robot's limb.

[0029] In this embodiment, the three types of snap-fit ​​fastening modules correspond to different mechanical connection parts. Snap-fit ​​fastening module one 4 is used to achieve a fixed connection between motor modules, snap-fit ​​fastening module two 5 is used to provide a connection base between the swing joint motor module and the torsion joint motor module, and snap-fit ​​fastening module three 6 is used to establish the connection relationship between the motor output end and the connector 8.

[0030] By setting structures that are adapted to the connected objects, each connecting part can be combined according to the corresponding assembly relationship. When repairing or replacing a motor module, the corresponding snap-fit ​​connections required to fix the motor module are released, allowing the relevant mechanical connection parts to separate; after the replacement is completed, the connected object is installed in the corresponding position and the snap-fit ​​assembly is fastened.

[0031] By setting different connection points as releasable snap-fit ​​connections, mechanical disassembly and assembly are facilitated at the corresponding locations. Compared with the prior art structure that requires disassembling multiple joints to replace a faulty joint motor, this embodiment provides a connection structure that can be opened at the corresponding connection points, thereby improving the ease of operation for repairing and replacing the joint motor module.

[0032] Example 2, as Figures 1-9 As shown, based on the previous embodiment, the snap-fit ​​assembly of the present invention includes a first hinge member 17 and a second hinge member 18. Both the first hinge member 17 and the second hinge member 18 are arc-shaped structures, with one end hinged together and the other end provided with a snap-fit ​​assembly 23. The snap-fit ​​assembly 23 is used to snap the first hinge member 17 and the second hinge member 18 together to form a ring structure. The inner walls of the first hinge 17 and the second hinge 18 are provided with limiting protrusions 16. The limiting protrusions 16 are used to cooperate with the limiting grooves 11 provided on the outer wall of the second snap fastening module 5 and the motor module, and form a snap fastening structure with the buckle assembly 23.

[0033] In this embodiment, the inner walls of the first hinge 17 and the second hinge 18 are provided with limiting protrusions 16. For the first snap-fit ​​module 4 and the second snap-fit ​​module 5, the limiting protrusions 16 cooperate with the limiting grooves 11 on the corresponding motor module or connecting boss 10; for the third snap-fit ​​module 6, the limiting protrusions 16 cooperate with the limiting slots 21 on the output flange 19 and the connecting flange 9.

[0034] In this embodiment, after the latch assembly 23 is released, the first hinge 17 and the second hinge 18 can rotate relative to each other around their hinge points, thereby opening a space for accommodating the connected object. During assembly, the connected object is placed between the two arc-shaped structures, and the corresponding limiting protrusion 16 is aligned with the limiting groove 11 or the limiting slot 21. Then, the first hinge 17 and the second hinge 18 are closed to each other, and the latch assembly 23 maintains the fastened state.

[0035] The latch assembly 23 is used to keep the latch assembly in a closed state, and the limiting protrusion 16 and the corresponding groove or slot are used to position and constrain the connected object. The two respectively play the roles of closing retention and position constraint.

[0036] The rotatable, openable arc-shaped structure provides space for the insertion and removal of the connected object; the limiting protrusion 16, combined with the corresponding mating structure, enables the snap-fit ​​assembly to provide a positioning constraint on the connected object after closing. Compared with the inconvenient assembly and disassembly connection structures described in the background art, this embodiment combines the release of the connected object with the opening operation of the snap-fit, facilitating disassembly.

[0037] Example 3, as Figures 1-9 As shown, based on the previous embodiment, the snap fastening module 4 is used to connect the motor module 7b and the motor module 7c. The outer walls of the motor module 7b and the motor module 7c are provided with limiting grooves 11 that match the limiting protrusions 16 provided on the inner wall of the snap fastening module 4, and the corresponding motor modules are positioned and fixed.

[0038] In this embodiment, the snap-fit ​​fastening module 4 is used to connect and fix the motor module 7b and the motor module 7c. The outer walls of the motor module 7b and the motor module 7c are provided with limiting grooves 11, and each limiting groove 11 matches the limiting protrusion 16 at the corresponding position on the inner wall of the snap-fit ​​fastening module 4.

[0039] During assembly, motor module 2 7b and motor module 3 7c are placed in their respective connection positions, and the limiting grooves 11 on their outer walls are aligned with the corresponding limiting protrusions 16 on the inner wall of the snap-fit ​​module 4. After the snap-fit ​​module 4 is closed, the limiting protrusions 16 on its inner wall enter the corresponding limiting grooves 11 of the two motor modules, thereby simultaneously constraining the two motor modules.

[0040] The two motor modules are mechanically connected by a common snap-fit ​​module 4. The engagement of the limiting protrusion 16 and the limiting groove 11 limits the relative position between the two motor modules and the snap-fit ​​module 4. During disassembly, the snap-fit ​​connection of the snap-fit ​​module 4 is released and the two hinges are opened, allowing the limiting protrusion 16 to exit the corresponding limiting groove 11, thus releasing the fixation of the connection.

[0041] This connection structure is suitable for the detachable assembly of two motor modules. Compared to the prior art where maintenance requires numerous joint disassembly and reassembly operations, this embodiment provides an openable common fixing structure at the connection point of the two motor modules, facilitating their separation and reassembly.

[0042] Example 4, as Figures 1-9 As shown, based on the previous embodiment, the outer side wall of the second hinge component 18 of the second snap fastening module 25 is connected to the connecting boss 10 through the extension platform 15. The outer side wall of the connecting boss 10 is provided with a limiting groove 11. The limiting groove 11 cooperates with the limiting protrusion 16 on the inner wall of the snap fastening component, and positions and fixes the corresponding motor module and the connecting boss 10.

[0043] In this embodiment, the outer side wall of the second hinge member 18 of the second snap fastening module 2 5 is connected to the connecting boss 10 via the extension platform 15. The outer side wall of the connecting boss 10 is provided with a limiting groove 11, which is used to cooperate with the corresponding limiting protrusion 16 on the inner wall of the first snap fastening module 4.

[0044] The annular portion of the second snap-fit ​​module 5 is used to accommodate and fix the corresponding motor module. The connecting boss 10 is set on the outside of the annular portion through the extension platform 15, providing a connection position for another motor module. During assembly, the other motor module mates with the connecting boss 10, and then the first snap-fit ​​module 4 connects and fixes the connecting boss 10 and the motor module.

[0045] The extension platform 15 establishes a structural connection between the second hinge 18 and the connecting boss 10, while the limiting groove 11 on the outer wall of the connecting boss 10 provides a positioning part that is compatible with the first snap-fit ​​module 4. Thus, the second snap-fit ​​module 5 can both fix the motor module within its annular portion and form a combined connection with another motor module through the outer connecting boss 10.

[0046] By placing the connecting boss 10 on the outside of the snap-fit ​​module 5, motor modules at different joint positions can be combined using corresponding snap-fit ​​structures. Compared to a structure that can only connect two bottom-connecting motor modules, this embodiment adds a connection position provided by the outer connecting boss 10 to accommodate the combined assembly requirements of swing joints and torsional joints.

[0047] Example 5, as Figures 1-9 As shown, based on the previous embodiment, the first hinge assembly 17 and the second hinge assembly 18 of the buckle fastening module 6 are provided with limiting pieces 22 at intervals on their side walls. The limiting pieces 22 are used to install and position the flange assembly. The flange assembly includes an output flange 19 disposed at one end of the motor module 7a and a connecting flange 9 disposed at one end of the connector 8; Both the output flange 19 and the connecting flange 9 are disc-shaped structures with multiple limiting slots 21 evenly distributed on their circumferential outer walls. Each limiting slot 21 is used to cooperate with the limiting protrusions 16 on the inner wall of the snap fastening module 6, for positioning and fixing the output flange 19 and the connecting flange 9. Both the output flange 19 and the connecting flange 9 are provided with assembly holes, which are used to assemble and fix the output flange 19 and the connecting flange 9 into one unit.

[0048] In this embodiment, the snap-fit ​​module 6 is used to connect the flange assembly. The flange assembly includes an output flange 19 disposed at the output end of the motor module 7a and a connecting flange 9 disposed at one end of the connector 8.

[0049] Both the output flange 19 and the connecting flange 9 are disc-shaped structures, and their circumferential outer walls are respectively provided with multiple limiting slots 21 at intervals. The limiting protrusions 16 on the inner wall of the snap-fit ​​module 6 correspond to and cooperate with the limiting slots 21 on the output flange 19 and the connecting flange 9. The snap-fit ​​module 6 is also provided with limiting pieces 22 for axial limiting of the flange assembly.

[0050] During assembly, the output flange 19 and the corresponding end faces of the connecting flange 9 are positioned opposite each other, so that the circumferential limiting slots 21 of both are in a position that can engage with the limiting protrusions 16 on the inner wall of the snap-fit ​​module 36. Subsequently, the snap-fit ​​module 36 is fastened to the outer periphery of the two flanges, so that the corresponding limiting protrusions 16 engage with the limiting slots 21 on the two flanges, and the axial movement of the flange assembly is restricted by the limiting piece 22.

[0051] When the output flange 19 rotates, the rotation is transmitted to the connecting flange 9, which also mates with the limiting protrusion 16, through the limiting slot 21 that mates with the limiting protrusion 16, allowing the connecting piece 8 to rotate with the output flange 19. The limiting piece 22 is used to constrain the axial position of the two flanges and to coordinate the circumferential positioning connection of the flanges.

[0052] This structure is designed for the transmission connection at the motor output end, allowing the snap-fit ​​module 36 to participate in both flange connection and position constraint. Compared to the connection part that only fixes the outer wall of the motor module, this embodiment further satisfies the requirement of the output flange 19 to transmit rotation to the connector 8, and can release the corresponding mechanical connection constraint by opening the snap-fit ​​module 36.

[0053] Example 6, as Figures 1-9 As shown, based on the previous embodiment, the robot limb includes limb 1 2 and limb 2 3, limb 1 2 being the robot upper limb and limb 2 3 being the robot lower limb; both the robot upper limb and the robot lower limb are provided with mounting holes 12, which are used to install the corresponding robot limb shells; the robot upper limb and the robot lower limb are respectively connected to the torso 1, thereby forming the body of the robot.

[0054] In this embodiment, the robot's upper limb and lower limb are respectively assembled from corresponding motor modules, connectors 8, and snap-fit ​​assemblies. The corresponding snap-fit ​​fastening modules that constitute the robot's upper and lower limbs have pre-drilled assembly holes, which are screw holes for mounting the corresponding robot limb shells.

[0055] The motor module and connector 8 form a joint connection structure for the limb through a snap-fit ​​assembly. The limb shell is installed on the corresponding fixing module through pre-drilled screw holes. Depending on the appearance requirements of the robot limb, a shell with an installation position that matches the screw holes can be selected for assembly.

[0056] The mechanical connection between the joints is achieved by snap-fit ​​components, and the housing is secured by corresponding screw holes. If the housing mounting interface is compatible, the housing can be replaced by removing and reinstalling the housing fasteners.

[0057] By reserving mounting positions for the outer shell on the fixed module, a structural basis is provided for the installation and replacement of exterior components. This structure, in addition to the aforementioned quick-assembly joint structure, further meets the requirements for the external assembly of robot limbs; the outer shell is installed via screw holes, while the joint's mechanical connection parts are attached and removed via snap-fit ​​mechanisms, each corresponding to its respective assembly object.

[0058] Example 7, as Figures 1-9 As shown, based on the previous embodiment, the buckle assembly 23 includes: a hook buckle 14 located on the first hinge member 17 and a hook 13 hinged on the second hinge member 18. The end of the hook buckle 14 is a hook-shaped structure and forms a reverse hook structure with the hook 13.

[0059] In this embodiment, after the first hinge 17 and the second hinge 18 are closed to each other, the hook 13 is fastened to the hook buckle 14. The first hinge 17 and the second hinge 18 are kept in a closed state by the cooperation of the two hooks, so that the buckle assembly surrounds the corresponding connected object.

[0060] When disassembly is required, the hook 13 and hook buckle 14 are released, allowing the first hinge 17 and the second hinge 18 to open relative to each other around the hinge joint. After the buckle assembly is opened, the limiting protrusion 16 on its inner wall can disengage from the corresponding limiting structure on the connected object, thereby providing space for the removal or separation of the connected object.

[0061] The latch assembly 23 provides a releasable closure retention structure for the latch assembly, allowing the connection part to switch between a fixed state and a detachable state through latching and unlatching operations. Compared with the cumbersome mechanical disassembly and assembly operations in the prior art, this embodiment concentrates the closure retention of the latch assembly at the corresponding latch position, making the operation easier.

[0062] Example 8, as Figures 1-9 As shown, based on the previous embodiment, the motor module includes: motor module two 7b and motor module three 7c. The bottoms of motor module two 7b and motor module three 7c are connected to each other. The snap fastening module one 4 is arranged around the bottom connection of the two. The limiting protrusion 16 on the inner wall of the snap fastening module one 4 cooperates with the limiting groove 11 on the outer wall of motor module two 7b and motor module three 7c respectively, and forms a torsion joint for the robot limb to rotate. The motor module 7a is connected to the connecting boss 10 via the snap-fit ​​module 5 to form a robot limb; one end of the connector 8 is connected to one of the rotating joints of the robot limb, and the other end of the connector 8 is connected to the snap-fit ​​module 6 to form a swing joint for the robot to flip and swing; the limiting protrusion 16 and the corresponding limiting groove 11 are respectively provided with mutually adaptable inclined surfaces at their mating parts, and when the snap-fit ​​module 4 is engaged, the limiting protrusion 16 and the corresponding limiting groove 11 abut against each other through the inclined surfaces.

[0063] In this embodiment, the bottoms of the two motor modules are first joined together, and then the snap-fastening module 4 is placed on the outer periphery of the joining part, so that the limiting protrusions 16 on its inner wall are aligned with the limiting grooves 11 on the two motor modules respectively. As the first hinge 17 and the second hinge 18 close, the limiting protrusions 16 enter the corresponding limiting grooves 11 and form contact through the matching inclined surfaces.

[0064] The matching inclined surface guides the limiting protrusion 16 into the limiting groove 11 and forms an abutment relationship after the buckle is closed, which helps to reduce the gap of this mating part. The docking relationship of the bottom of the two motor modules and the fixing relationship of the outer peripheral buckle combine to enable the buckle fastening module 4 to constrain the two motor modules at the same time.

[0065] This embodiment further clarifies the bottom docking position and the shape of the limiting mating surface of the motor module. Assembly is achieved through bottom docking, outer peripheral buckle and bevel mating, taking into account both the detachability of the connection parts and the positioning and mating requirements.

[0066] Example 9, as Figures 1-9 As shown, based on the previous embodiment, the output flange 19 has a boss on its end face facing the connecting flange 9, and the connecting flange 9 has a countersunk hole corresponding to the boss on its end face facing the output flange 19. The boss is embedded in the corresponding countersunk hole so that the output flange 19 drives the connecting flange 9 to rotate. The limiting pieces 22 are respectively disposed at both ends of the axial direction of the buckle fastening module 6, and respectively limit the axial outer side of the assembled output flange 19 and the connecting flange 9 to restrict the axial movement of the output flange 19 and the connecting flange 9. The limiting protrusions 16 on the inner wall of the buckle fastening module 6 respectively cooperate with the limiting slots 21 of the output flange 19 and the connecting flange 9. The cooperating parts of the limiting protrusions 16 and the corresponding limiting slots 21 are respectively provided with mutually compatible inclined surfaces.

[0067] In this embodiment, the boss on the end face of the output flange 19 is first aligned with the countersunk hole on the end face of the connecting flange 9, so that the boss is embedded in the countersunk hole, forming an end face fit between the two flanges. Then, the snap-fit ​​fastening module 3 6 is fastened to the outer periphery of the two flanges, so that the limiting protrusion 16 on its inner wall fits with the corresponding limiting groove 21 of the two flanges, and the limiting pieces 22 at both ends of the axial direction limit the axial outer side of the two flanges after assembly.

[0068] When the output flange 19 rotates, the fit between its end face boss and the countersunk hole of the connecting flange 9 can transmit rotation; at the same time, the fit between the circumferential limiting grooves 21 of the two flanges and the limiting protrusions 16 on the inner wall of the snap fastening module 6 also establishes a rotational constraint relationship between the two flanges. The limiting pieces 22 at both ends of the axial direction are used to limit the axial movement of the two flanges, thereby maintaining the axial assembly position of the flange assembly.

[0069] The matching bevel is used to guide the engagement of the limiting protrusion 16 and the limiting groove 21, and helps to reduce the gap at the corresponding contact points. The end face fit, circumferential fit and axial limiting respectively correspond to the transmission and position holding requirements in the flange connection, and together they constitute a releasable flange connection structure.

[0070] Compared to the structure that only describes the flange outer periphery snap-fit ​​fixation, this embodiment further clarifies the transmission relationship between the end face boss and the countersunk hole, as well as the axial limiting function of the end limit plates 22, making the connection relationship between the output flange 19, the connecting flange 9 and the snap-fit ​​fastening module 6 more complete.

[0071] Example 10, as Figures 1-9 As shown, based on the previous embodiment, the motor module includes a swing joint motor module for forming a swing joint and a torsion joint motor module for forming a torsion joint; the second snap-fit ​​module 5 surrounds and fixes the swing joint motor module; the connecting boss 10 is connected to the tail of the torsion joint motor module; the first snap-fit ​​module 4 is disposed around the connecting boss 10 and is connected to the tail of the torsion joint motor module. The limiting protrusion 16 on the inner wall of the buckle fastening module 4 respectively cooperates with the limiting groove 11 on the outer wall of the connecting boss 10 and the limiting groove 11 on the outer wall of the tail of the torsion joint motor module to connect and fix the connecting boss 10 and the torsion joint motor module. The cooperating parts of the limiting protrusion 16 and the corresponding limiting groove 11 are respectively provided with mutually adaptable inclined surfaces.

[0072] In this embodiment, during assembly, the swing joint motor module is first fixed by the snap-fit ​​fastening module 2 5, and then the tail of the torsion joint motor module is aligned with the connecting boss 10. Subsequently, the snap-fit ​​fastening module 1 4 is placed on the outer periphery of the alignment point, with the limiting protrusion 16 on its inner wall aligned with the limiting groove 11 at the tail of the connecting boss 10 and the torsion joint motor module, respectively, and the fastening is completed by snapping the snap-fit ​​fastening module 1 4.

[0073] The swing joint motor module is mechanically connected to the torsion joint motor module through the second snap-fit ​​module 5, the extension platform 15, and the connecting boss 10. The second snap-fit ​​module 5 is responsible for fixing the swing joint motor module, and the first snap-fit ​​module 4 is responsible for fixing the connecting boss 10 to the tail of the torsion joint motor module. The two snap-fit ​​connections correspond to different connection objects.

[0074] When repairing or replacing the torsion joint motor module, the locking module 4 between the connecting boss 10 and the tail of the motor module can be released to disconnect the mechanical connection at that point. When repairing or replacing the swing joint motor module, the locking module 5 and other related mechanical connections can be released according to the actual connection status. Each locking part is provided with a corresponding disassembly and assembly position.

[0075] By connecting the boss 10, the outer connection position of the second snap-fit ​​module 5 is converted into a connection part that can dock with the tail of the motor module, and then fixed by the first snap-fit ​​module 4, so that the swing joint and the torsion joint can be assembled using a combined snap-fit ​​structure. Compared with the structure of direct bottom docking of dual motors, this embodiment further adapts to the connection position requirements when the swing joint and the torsion joint are combined, and retains the feature that the corresponding connection parts can be opened and disassembled.

[0076] Example 11, as Figures 1-9 As shown, based on the previous embodiment, the present invention further includes an assembly status detection unit, a relative motion detection unit, a motor operation data acquisition unit, and a controller. The controller is connected to each of the above units and interacts with the drive control unit of the relevant motor module.

[0077] Specifically, it includes: an assembly status detection unit, a relative motion detection unit, a motor operation data acquisition unit, and a controller; the assembly status detection unit is used to detect the latching and closing state of the target latch assembly and the strain at different positions of the target latch assembly; the relative motion detection unit is used to detect the relative pose between the first and second connecting objects connected to the target latch assembly; and the motor operation data acquisition unit is used to acquire the actual current, position, speed, and temperature of the motor module related to the target latch connection part. The controller is configured to: acquire the assembly version and assembly detection benchmark corresponding to the target buckle connection part, wherein the assembly version is associated with the identity information of the motor module, the target buckle assembly and the connected object; Based on the comparison results of the buckle closure state and strain at different positions with the assembly inspection benchmark, it is determined whether joint testing is allowed. When joint testing is permitted, the test posture and test excitation are determined based on the connection position of the target buckle connection part in the robot limb. The relevant motor module is controlled to execute the test excitation within the preset displacement, speed and torque limits, and the relative posture and motor operation data are acquired simultaneously. Based on the changes in relative pose during the test and the reference values ​​of motor operation data that match the test conditions, test results including connection motion constraint state and motor operation response state are generated. Based on the test results and the actual load conditions covered by the test, an operating license bound to the assembly version is generated, and the robot controls whether to execute the action to be performed based on the predicted load generated at the target snap-fit ​​connection part according to the action to be performed.

[0078] In this embodiment, the assembly state detection unit is used to detect the latch closure state of the target snap fastener assembly and the strain at different positions.

[0079] The relative motion detection unit is used to detect the relative pose between the first and second connected objects to which the target snap-fit ​​assembly is connected. The motor operation data acquisition unit is used to acquire the actual current, position, speed, and temperature of the motor module related to the target snap-fit ​​connection part.

[0080] In the case where the snap-fit ​​module 4 connects two motor modules, the first connection object and the second connection object are the two motor modules that are mated together at the bottom, respectively; in the case where the snap-fit ​​module 4 connects the connecting boss 10 to the tail of the motor module, the two connection objects are the connecting boss 10 and the corresponding motor module, respectively; in the case where the snap-fit ​​module 6 connects the flange assembly, the two connection objects are the output flange 19 and the connecting flange 9, respectively.

[0081] The latch closure status is obtained by a proximity sensor that detects the position of the existing moving part in the latch assembly 23. The strain at different positions of the target latch assembly is obtained by strain detection elements disposed on the surfaces of the first hinge 17 and the second hinge 18. These strain detection elements avoid the limiting protrusion 16, the limiting groove 11, and other mating surfaces that come into contact with each other. Each strain detection element corresponds to a fixed detection position and is equipped with a temperature detection channel.

[0082] In this embodiment, the relative motion detection unit employs a synchronous visual detection device to identify surface features or optical marks on the first and second connected objects that determine their poses. Each detection field of view establishes a common measurement coordinate system through calibration, thereby obtaining the poses of the two connected objects at the same time. For detection configurations where only some displacement components can be measured, the controller only evaluates the motion constraints corresponding to the measurable components and does not determine the unmeasured components as qualified.

[0083] The controller establishes an assembly version record, linking the motor module, target snap-fit ​​assembly, connected objects, and test calibration parameters. The assembly test benchmark includes the snap-fit ​​closure status of the corresponding connection type, multi-point strain reference values ​​and allowable ranges, and motor operating data reference values ​​under the corresponding test conditions.

[0084] Furthermore, to reduce the impact of temperature on the bias of the detection channel, the i-th strain detection channel is modified as follows: ;in, For the strain acquired by the i-th channel, For the temperature at the corresponding detection location, This is the temperature-dependent bias obtained after calibration for this detection channel. This is the corrected strain.

[0085] Next, the controller compares the corrected strain with the reference value at the corresponding location to obtain: ;in, The number of strain detection channels. This is the strain reference value for the corresponding location. This represents the allowable deviation for the corresponding position. Reference values ​​and allowable deviations are set for each location to accommodate different normal strain distributions on the hinge side, latch side, and near the extension platform.

[0086] The detection channel is valid, the buckle is closed, and When the joint is not closed, the detection channel is invalid, or the strain deviation exceeds the limit, the controller allows entry into the joint test; if the latch is not closed, the detection channel is invalid, or the strain deviation exceeds the limit, active loading is not performed, and the corresponding assembly status information is output. The permission to enter the joint test only indicates that the test start condition is met, and does not directly indicate that the target latch connection has passed the load test.

[0087] The controller selects a test posture and action that will cause a predetermined load change at the target latch connection point within the robot's limb, based on the target latch connection point's position. The test is conducted within a preset support state and allowable movement space, with pre-set limits for displacement, speed, torque, and duration. Actions that do not cause an effective load change at the target connection point are not considered valid tests for the corresponding load direction.

[0088] All test data are aligned using a unified time reference. Test segments that exceed the allowable synchronization error, have insufficient visual recognition quality, saturate acquisition channels, or experience data interruption are marked as invalid segments and are not used to generate qualified results. When filtering is involved, the filtering delay of each test channel is recorded and processed to avoid treating acquisition timing differences as connection motion differences.

[0089] The initial assembly status inspection is used to determine whether test stimuli can be applied; relative motion detection is used to evaluate the motion constraints between connected objects; and motor operation data is used to evaluate the operational response of the test action. These three components participate in the inspection process sequentially. Compared to methods that determine assembly completion solely based on the latch position, this embodiment further correlates the static assembly status with active test results. This is used to identify connection states that still require verification after the latch is closed, and to provide data for subsequent operational approval.

[0090] Example 12, as Figures 1-9 As shown, based on the previous embodiment, the controller starts from a preset reference load state and controls the relevant motor modules to sequentially perform forward incremental loading, return to the reference load state, reverse incremental loading, and return to the reference load state again, while simultaneously collecting the relative pose and motor operation data of the first and second connected objects. Specifically, the controller is further configured to: during the joint test, starting from the preset reference load state, control the relevant motor modules to sequentially perform forward incremental loading, return to the reference load state, reverse incremental loading, and return to the reference load state again; Based on the relative pose between the first connection object and the second connection object, the relative translational change and relative rotational change of each loading stage are obtained, as well as the residual translational change and residual rotational change after returning to the reference loading state. A matching reference current is determined based on the joint position, velocity, acceleration, temperature and load condition, and the current residual between the actual current and the reference current is obtained. When the relative translation change, relative rotation change, residual translation, or residual rotation exceeds the corresponding allowable range, an abnormal result of connection motion constraint is generated; when all of the above are within the corresponding allowable range but the current residual exceeds the corresponding allowable range, an abnormal result of motor operation response is generated. The joint test is performed according to multiple test stimulus levels from low to high. The test is allowed to proceed to the next test stimulus level only when the data collected at the current test stimulus level is valid, all items are within the corresponding allowable range, and the current residual is within the corresponding allowable range. Otherwise, the test stimulus is stopped from being increased, and the test conditions and synchronously collected data when the abnormality occurs are recorded.

[0091] In this embodiment, the reference load state is determined based on the test posture and load conditions. When maintaining the test posture requires overcoming gravity, the reference load state includes the corresponding holding load and does not require the motor current or connection points to be under zero load. Forward and reverse incremental loading represent applying load increments in different directions relative to the reference state along the selected test direction.

[0092] Let the poses of the first and second connected objects in the common measurement coordinate system be respectively. and Then the relative poses of the two are: ; The relative pose before the current test begins, when the device is in the reference loaded state. For reference, the following was obtained: ;in, It is a relative translation vector. This is the relative rotation transformation matrix.

[0093] Next, the relative translational changes were obtained respectively. ; and relative rotation change ;in, Represents the trace of a matrix. This means that the calculation result is restricted to the effective input interval of the inverse cosine function; .

[0094] Furthermore, within a single test stimulus level, the maximum relative translational change is calculated. and maximum relative rotation change The evaluation is conducted by assessing the relative pose changes on both sides of the connection, thus distinguishing the overall motion generated by the connected objects from the relative motion between them. For output flange 19 and connecting flange 9, their joint rotation does not directly constitute a connection anomaly; the evaluation object is the change in relative pose during the joint rotation.

[0095] Furthermore, after each return to the reference loaded state and satisfaction of the preset stability conditions, the reference pose before and after the return is obtained. Let the stable relative poses before the test and after the return be respectively... and Then, the residual relative pose transformation between the two connected objects relative to the state retained before the test is further calculated after the loading is completed and the reference loaded state is returned: ; Correspondingly, the residual translation and residual rotation are as follows: ; ; The comparison of the before and after reference states is performed when the attitude, reference load, and temperature meet the preset matching conditions. If the return process is not stable or the operating conditions are mismatched, the process continues to wait for the allowed stabilization time or marks the residual quantity detection as invalid, and the change in operating conditions is not directly regarded as an unrecoverable connection displacement.

[0096] In this embodiment, the motor operation data acquisition unit obtains the torque forming current of the driver. According to the joint position ,speed acceleration ,temperature and load status Determine the reference current: And obtain the current residual: ;in, Reference data matching the current motor module and control parameter version is used. For operating conditions outside the applicable range of the reference data, qualified conclusions are not generated through unconstrained extrapolation.

[0097] In this embodiment, the root mean square value of the current residual is calculated within the effective sampling window: ;in, This represents the effective number of sampling points. Additional real-time termination conditions are set for short-term overcurrent, sudden tracking errors, and motion exceeding limits to avoid missing short-term anomalies by using only the root mean square value.

[0098] In this embodiment, respectively and The values ​​are compared with the allowable values ​​for the corresponding connection type, test posture, and test excitation level. Translation, rotation, and current are each assigned their own allowable values; different physical quantities are not directly added together to form an unnormalized judgment quantity.

[0099] In this embodiment, when the relative motion index exceeds the limit, an abnormal result of connection motion constraint is generated; when the relative motion index is qualified but the current residual exceeds the limit, an abnormal result of motor operation response is generated, and the state of further investigation of load, drive resistance and subsequent assembly interference is retained; when the relative motion index and the current residual exceed the limit at the same time, both types of abnormalities are recorded at the same time, and one is not used to replace the other.

[0100] In this embodiment, the test stimulus employs multiple levels from low to high. Only when the data for the current level is valid and all indicators meet the requirements is the test allowed to proceed to the next level. If an anomaly occurs, the stimulus is stopped from being increased, and the test ends according to a preset controlled stop procedure. Each level is limited by the allowable displacement, speed, torque, and duration of the current test, and these limitations are not lifted by passing the previous level.

[0101] In this embodiment, the connection response is observed when the load direction changes under bidirectional loading. The residual value after returning to the reference state is used to observe whether the connection position is restored. The current residual is combined to distinguish between local connection motion anomalies and other operational response anomalies. Compared to methods that rely solely on current thresholds or unidirectional idling results, this embodiment adds a criterion directly corresponding to the relative motion of the connected object, reducing confusion in fault location.

[0102] Example 13, as Figures 1-9 As shown, based on the previous embodiment, the controller, for the target snap-fit ​​connection part that passes the test, records the actual load conditions, corresponding temperature range, and motion restrictions that are confirmed to be qualified after testing as operating license conditions bound to the current assembly version. Specifically, the controller is further configured to: for the target snap-fit ​​connection part that passes the test, record the actual load conditions that are confirmed to be qualified after testing, as well as the corresponding temperature range and motion restrictions, as operating license conditions bound to the current assembly version; Based on the joint trajectory and load information of the robot's action to be performed, the predicted force and predicted torque of the target buckle connection are determined, and the predicted force and predicted torque are checked to see if they meet the operating permit conditions, taking into account the load estimation error range. If they do not meet the conditions, the motion parameters or target posture of the action to be performed are adjusted and the condition is rechecked. If the condition still does not meet the conditions after rechecking, the action to be performed is prohibited from being performed. Save the relative pose change characteristics and motor operation data when the current assembly version passes acceptance as the acceptance benchmark. During operation monitoring, keep the acceptance benchmark from being automatically updated with the operation data, and perform deviation monitoring under working conditions that match the acceptance benchmark. When the deviation meets the preset re-inspection conditions, perform the joint test. When the target snap-fit ​​component is detected to be reopened, the identity information of the motor module or connected object is changed, or the calibration parameters affecting the detection results are changed, the corresponding operating license is invalidated, and an operating license bound to the updated assembly version is established after the re-detection is qualified.

[0103] In this embodiment, corresponding records are established for different test postures and test directions. These records include force, torque, temperature, motion parameters, test level, and measurement uncertainty. Load directions or combinations not effectively covered by testing do not automatically obtain operational permission simply because other directions pass the test.

[0104] In this embodiment, before performing the robot task, the predicted load on the target buckle connection part is determined based on the joint trajectory, limb mass parameters, and load information of the action to be performed: ;in, Indicates the target snap-fit ​​connection point. To predict the force vector, This is the predicted torque vector. The predicted load and the load in the test record are both converted to the same coordinate system and torque reference point at the connection point before comparison.

[0105] The confirmed qualified load conditions are represented as the permitted set. The range of load estimation error formed by load error, parameter error, and model error is expressed as: The action to be executed is verified according to the following formula: Wherein, ⊕ represents the sum of sets, that is, the load range formed after considering the estimated error when the predicted load is superimposed. When the above relationship is satisfied and the temperature, motion parameters, and assembly version all meet the permissible conditions, the corresponding action is permitted.

[0106] In this embodiment, the permissible set is established from a verified operating condition range, with measurement uncertainty factored into the range boundaries and a preset margin retained. The interpolation range applicable between different load combinations is determined separately, and the extreme values ​​tested individually in each direction are not directly combined into a permissible range where any combination of loads is acceptable.

[0107] If the action to be performed does not meet the permissible conditions, the controller adjusts the acceleration, target attitude, or other preset adjustable parameters and recalculates the connected load. If the conditions are still not met after adjustment, the action is prohibited. For static loads mainly formed by gravity or load attitude, the controller not only determines whether the permissible conditions are met by reducing the movement speed, but also recalculates the adjusted forces and moments.

[0108] The controller saves the relative motion characteristics and motor operation data at the time of acceptance as the acceptance benchmark for the current assembly version. During normal operation, this acceptance benchmark is not overridden by automatically changing the relative pose reference zero point, expanding the allowable range, or increasing the reference current.

[0109] In this embodiment, within the operating condition window that matches the acceptance criteria, the first... The monitoring features are The corresponding reference value is The corresponding normalization scale is Then calculate the first... Within each effective monitoring window, the maximum normalized deviation of each monitoring characteristic from the acceptance benchmark: ;in, Indicates the first The effective monitoring window includes the operating conditions, and the monitoring characteristics include the relative motion index and current residual index that can be effectively obtained under this condition. The residual values ​​that can only be obtained through a complete round-trip loading are calculated during the corresponding re-inspection process and are not replaced by ordinary operating segments.

[0110] For persistent deviations, cumulative values ​​are used for monitoring: ;in, , This refers to the allowable parameters determined based on fluctuations in health conditions. When At that time, a re-inspection was triggered. The preset re-inspection threshold is used. Each valid window uses a specified sampling duration; if the data is invalid or the operating conditions are mismatched, the cumulative amount is not updated, and the monitoring unavailability status is recorded separately.

[0111] In this embodiment, the accumulated deviation is used to trigger further detection, but does not directly replace the connection anomaly determination. The re-inspection adopts a test posture and bidirectional loading process that matches the acceptance record, and compares the current response with the frozen acceptance benchmark; when a clear relative motion exceeds the limit or other real-time termination conditions are found, the corresponding anomaly handling is directly initiated without waiting for the accumulated amount to reach the threshold.

[0112] When the controller detects that the target snap-fit ​​component has reopened, the identity of the related module or connected object has changed, or the calibration parameters affecting the test results have changed, the original operating license is invalidated. After reassembly and testing are completed, an updated assembly version is created, and the new acceptance criteria and the new operating license are saved together; the original version data is retained for traceability, but will not continue to be used as the operating license for the current assembly state.

[0113] By binding the operating license with the actual test coverage and assembly version, the assembly inspection results are used in the load verification before the robot's actions are executed. By maintaining the acceptance benchmark and using re-inspection under the same working conditions, continuous deviations during operation are prevented from being masked by the automatic update process. Compared with outputting only one assembly pass signal or setting a fixed alarm threshold only during operation, this embodiment links assembly inspection, task control, and re-inspection after reassembly, so that the corresponding control status is updated as the actual assembly status changes.

[0114] Example 14, as Figures 1-9As shown, based on the previous embodiment, the present invention also provides an assembly method for a rapid assembly and connection system for robot joint modules. Using snap-fit ​​modules 1 (4), 2 (5), and 3 (6), the motor module and connector 8 are positioned and connected to form a robot limb. The method specifically includes the following steps: S1. Based on the joint arrangement of the robot limbs to be assembled, determine the installation positions of each motor module and connector 8, and release the buckle assembly 23 of the corresponding snap fastening module so that the first hinge 17 and the second hinge 18 open relative to each other around their hinge parts; align the limiting groove 11 or limiting slot 21 of each connected object with the limiting protrusion 16 on the inner wall of the corresponding snap fastening module.

[0115] S2. At the bottom connection position of the two motor modules, align the bottoms of motor module 2 7b and motor module 3 7c with each other, and place the opened buckle fastening module 1 4 at the bottom connection position of the two, so that the limiting protrusion 16 on the inner wall of the buckle fastening module 1 4 is aligned with the limiting groove 11 on the outer wall of the two motor modules respectively; so that the first hinge 17 and the second hinge 18 are closed with each other, driving the limiting protrusion 16 into the corresponding limiting groove 11, so that the mutually adaptable inclined surfaces abut against each other, and then fasten the buckle assembly 23 to connect and fix the two motor modules.

[0116] S3. At the combined connection position of the swing joint motor module and the torsion joint motor module, the second snap fastening module 5 is arranged around the outer periphery of the swing joint motor module, so that the limiting protrusion 16 on its inner wall cooperates with the corresponding limiting groove 11 on the swing joint motor module, and the buckle assembly 23 is fastened; the tail of the torsion joint motor module is connected to the connecting boss 10 on the outer side of the second snap fastening module 5, and then the first snap fastening module 4 is arranged around the connection position, so that the limiting protrusion 16 on its inner wall cooperates with the limiting groove 11 on the outer side wall of the connecting boss 10 and the outer side wall of the tail of the torsion joint motor module, and the connection and fixation are completed by fastening the buckle assembly 23.

[0117] S4. At the connection position between the output end of the motor module and the connector 8, align the boss on the end face of the output flange 19 with the corresponding countersunk hole on the end face of the connecting flange 9, and make the boss embedded in the corresponding countersunk hole; set the opened snap fastening module 3 6 on the outer periphery of the output flange 19 and the connecting flange 9, so that the limiting protrusion 16 on its inner wall is aligned with the limiting slot 21 on the circumferential direction of the two flanges, and make the limiting pieces 22 at both ends of the snap fastening module 3 6 in a position that can limit the axial outer side of the two flanges; close the first hinge 17 and the second hinge 18, so that the limiting protrusion 16 cooperates with the corresponding limiting slot 21, and then fasten the buckle assembly 23 to complete the connection of the two flanges.

[0118] S5. According to the joint arrangement of the robot limbs, assemble each motor module and connector 8 into the robot upper limb or robot lower limb using the assembly method corresponding to steps S2 to S4 at the corresponding connection positions; when it is necessary to install the limb shell, align the installation part of the corresponding limb shell with the screw hole reserved on the fixing module, and fix it with screws.

[0119] In this embodiment, steps S2 to S4 correspond to three types of assembly parts: the bottom connection of the dual motors, the combination connection of the swing and torsion joints, and the output flange connection, respectively. The corresponding steps are adopted according to the connection objects of the corresponding parts. The arrangement of the above steps does not require that different connection parts be assembled in the same order. For the same connection part, first make the connection objects and their positioning structures correspond to each other, and then close the snap fastening module and fasten the buckle assembly 23.

[0120] After the snap-fit ​​module is opened, a space is formed between the first hinge 17 and the second hinge 18 for the connected object to be inserted. When both are closed, the limiting protrusion 16 on the inner wall enters the corresponding limiting groove 11 or limiting slot 21, forming a positional constraint; after the latch assembly 23 is fastened, the snap-fit ​​module remains in a closed state. The mutually adaptable inclined surfaces provide guidance during the mating process and form an abutment after closure, which helps to reduce the assembly gap of the corresponding mating parts.

[0121] The two motor modules are constrained at the bottom by the same snap-fit ​​module 4. The combined connection of the swing and torsion joints is achieved by first fixing the swing joint motor module with the snap-fit ​​module 5, and then connecting the torsion joint motor module with the connecting boss 10 and the snap-fit ​​module 4. Thus, different connection positions adopt mechanical assembly methods adapted to their respective connected objects.

[0122] The flange connection first establishes an end-face fit between the boss on the end face of the output flange 19 and the countersunk hole of the connecting flange 9. Then, a circumferential fit is established between the limiting protrusion 16 on the inner wall of the snap-fit ​​module 6 and the circumferential limiting groove 21 of the two flanges. The axial movement of the two flanges is restricted by the limiting pieces 22 at both ends. The above fits work together to maintain the assembly relationship of the flanges, enabling the output flange 19 to drive the connecting flange 9 and the connecting piece 8 to rotate.

[0123] The technical purpose of this assembly method is to implement different types of mechanical connections in robot limbs into docking of connected objects, matching of positioning structures, and snap-fit ​​operations. While assembling the joints, it provides operable snap-fit ​​parts for subsequent disconnection of the corresponding connections.

[0124] Compared with the prior art, which requires disassembling multiple joints when replacing a faulty joint motor, this embodiment provides convenience for the disassembly and reassembly of local mechanical connections by setting an openable snap-fit ​​module at the corresponding connection point; through positioning fit, flange transmission fit and axial limiting structure, the assembly method takes into account both the needs of motor module fixation and output end motion transmission.

[0125] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A rapid assembly and connection system for robot joint modules, characterized in that, include: Multiple snap-fit ​​components, each of which is used to position and fix the joint module to form a robot limb; The buckle assembly includes buckle fastening module one (4), buckle fastening module two (5) and buckle fastening module three (6). Buckle fastening module one (4) is used to assemble two motor modules to form the robot's swing joint and / or torsion joint. The second snap fastening module (5) is used to combine the third snap fastening module (6) with the motor module to form the robot's swing joint and / or torsion joint; The swing joints and torsional joints are assembled by the snap-fit ​​assembly to form robot limbs.

2. The rapid assembly and connection system for robot joint modules as described in claim 1, characterized in that, The first hinge (17) and the second hinge (18) are both arc-shaped structures. One end of each hinge is hinged, and the other end is provided with a buckle assembly (23). The buckle assembly (23) is used to snap the first hinge (17) and the second hinge (18) together to form a ring structure. The inner walls of the first hinge (17) and the second hinge (18) are provided with limiting protrusions (16). The limiting protrusions (16) are used to cooperate with the limiting grooves (11) provided on the outer wall of the second snap fastening module (5) and the motor module, and form a snap fastening structure with the buckle assembly (23).

3. The rapid assembly and connection system for robot joint modules as described in claim 1, characterized in that, The first snap fastening module (4) is used to connect the second motor module (7b) and the third motor module (7c). The outer walls of the second motor module (7b) and the third motor module (7c) are provided with limiting grooves (11) that match the limiting protrusions (16) provided on the inner wall of the first snap fastening module (4), and the corresponding motor modules are positioned and fixed.

4. The rapid assembly and connection system for robot joint modules as described in claim 2, characterized in that, The outer side wall of the second hinge assembly (18) of the snap fastening module 2 (5) is connected to the connecting boss (10) via the extension platform (15). The outer side wall of the connecting boss (10) is provided with a limiting groove (11). The limiting groove (11) cooperates with the limiting protrusion (16) on the inner wall of the snap fastening assembly, and positions and fixes the corresponding motor module and the connecting boss (10).

5. The rapid assembly and connection system for robot joint modules as described in claim 2, characterized in that, The first hinge assembly (17) and the second hinge assembly (18) of the buckle fastening module three (6) are provided with limiting pieces (22) at intervals on their side walls. The limiting pieces (22) are used to install and position the flange assembly. The flange assembly includes an output flange (19) disposed at one end of the motor module (7a) and a connecting flange (9) disposed at one end of the connector (8). Both the output flange (19) and the connecting flange (9) are disc-shaped structures with multiple limiting slots (21) evenly distributed on their circumferential outer walls. Each limiting slot (21) is used to cooperate with the limiting protrusions (16) on the inner wall of the snap fastening module three (6) for positioning and fixing the output flange (19) and the connecting flange (9). Both the output flange (19) and the connecting flange (9) are provided with assembly holes, which are used to assemble and fix the output flange (19) and the connecting flange (9) into one unit.

6. The rapid assembly and connection system for robot joint modules as described in claim 1, characterized in that, The robot limbs include limb one (2) and limb two (3), limb one (2) being the robot upper limb and limb two (3) being the robot lower limb; both the robot upper limb and the robot lower limb are provided with mounting hole one (12), which is used to install the corresponding robot limb shell; the robot upper limb and the robot lower limb are respectively connected to the torso (1) to form the body of the robot.

7. The rapid assembly and connection system for robot joint modules as described in claim 4, characterized in that, The hook assembly (23) includes a hook buckle (14) located on the first hinge (17) and a hook (13) hinged on the second hinge (18). The end of the hook buckle (14) is a hook-shaped structure and forms a reverse hook structure with the hook (13).

8. The rapid assembly and connection system for robot joint modules as described in claim 5, characterized in that, The motor module includes: motor module two (7b) and motor module three (7c). The bottoms of motor module two (7b) and motor module three (7c) are connected to each other. The buckle fastening module one (4) is arranged around the bottom connection of the two. The limiting protrusion (16) on the inner wall of the buckle fastening module one (4) cooperates with the limiting groove (11) on the outer wall of motor module two (7b) and motor module three (7c) respectively, and forms a torsion joint for the robot limb to rotate. The motor module one (7a) and the connecting boss (10) are connected by the snap fastening module two (5) to form a robot limb; One end of the connector (8) is connected to one of the rotational joints of the robot limb, and the other end of the connector (8) is connected to the snap fastening module three (6) to form a swing joint for the robot to flip and swing. The limiting protrusion (16) and the corresponding limiting groove (11) are respectively provided with mutually compatible inclined surfaces. When the buckle fastening module (4) is fastened, the limiting protrusion (16) and the corresponding limiting groove (11) abut against each other through the inclined surfaces.

9. The rapid assembly and connection system for robot joint modules as described in claim 8, characterized in that, The output flange (19) has a boss on the end face facing the connecting flange (9), and the connecting flange (9) has a countersunk hole corresponding to the boss on the end face facing the output flange (19). The boss is embedded in the corresponding countersunk hole so that the output flange (19) drives the connecting flange (9) to rotate. The limiting pieces (22) are respectively disposed at both ends of the three (6) of the buckle fastening module and limit the outer axial movement of the output flange (19) and the connecting flange (9) after assembly, so as to restrict the axial movement of the output flange (19) and the connecting flange (9). The limiting protrusion (16) on the inner wall of the buckle fastening module three (6) respectively cooperates with the limiting slot (21) of the output flange (19) and the connecting flange (9). The limiting protrusion (16) and the corresponding limiting slot (21) are respectively provided with mutually compatible inclined surfaces.

10. The rapid assembly and connection system for robot joint modules as described in claim 9, characterized in that, The motor module includes a swing joint motor module for forming a swing joint and a torsion joint motor module for forming a torsion joint. The second snap fastening module (5) surrounds and fixes the swing joint motor module. The connecting boss (10) is connected to the tail of the torsion joint motor module. The first snap fastening module (4) is arranged around the connecting boss (10) and is connected to the tail of the torsion joint motor module. The limiting protrusion (16) on the inner wall of the buckle fastening module (4) respectively cooperates with the limiting groove (11) on the outer wall of the connecting boss (10) and the limiting groove (11) on the outer wall of the tail of the torsion joint motor module to connect and fix the connecting boss (10) and the torsion joint motor module. The corresponding limiting protrusion (16) and the corresponding limiting groove (11) are respectively provided with mutually compatible inclined surfaces.

Images