Joint quick-changing device and bionic robot

Abstract

The utility model provides a joint quick-changing device and a bionic robot, relates to the technical field of robots, and is used for solving the technical problems that in the related technology, the connection stability of a five-finger dexterous hand and a mechanical arm is insufficient, and the changing steps are tedious. The joint quick-changing device comprises a chassis and at least one quick-changing assembly, and the chassis is arranged on a wrist joint of the mechanical arm; the at least one quick-change assembly is symmetrically arranged along the center of the chassis; the quick-change assembly comprises a locking mechanism, a linkage mechanism and an unlocking mechanism. The locking mechanism is connected with a buckle on a wrist joint of the five-finger dexterous hand. The two ends of the linkage mechanism are in transmission connection with the locking mechanism and the unlocking mechanism respectively, the unlocking mechanism moves from the periphery of the chassis to the center of the chassis and drives the linkage mechanism to rotate, and the linkage mechanism rotates and drives the locking mechanism to move from the center of the chassis to the periphery of the chassis, so that the locking mechanism is disconnected from the buckle. The connecting strength of the five-fingered dexterous hand and the mechanical arm is improved, and meanwhile the five-fingered dexterous hand can be rapidly disassembled and replaced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a joint quick-change device and a bionic robot. BACKGROUND

[0002] In related technologies, the connection between a bionic five-fingered dexterous hand and a robot arm has problems of insufficient connection stability, complicated replacement steps, and the like, which increases the operation difficulty and time cost, and may also cause unnecessary wear and tear to the equipment, affecting the work efficiency and precision. CONTENT OF THE UTILITY MODEL

[0003] In view of the above problems, the embodiments of the present application provide a joint quick-change device and a bionic robot to solve the problems of insufficient connection stability and complicated replacement steps of the five-fingered dexterous hand and the robot arm in related technologies.

[0004] In order to achieve the above-mentioned purpose, the embodiments of the present application provide the following technical solutions:

[0005] The embodiments of the present application provide a joint quick-change device connected with a robot arm, which comprises a chassis, at least one quick-change assembly, a wrist joint of the robot arm and the at least one quick-change assembly are respectively arranged on two sides of the chassis, and the at least one quick-change assembly is arranged symmetrically along the center of the chassis; the quick-change assembly comprises a locking mechanism configured to be connected with a buckle, the buckle being arranged on a wrist joint of a five-fingered dexterous hand; the quick-change assembly further comprises a linkage mechanism and an unlocking mechanism, two ends of the linkage mechanism are respectively in transmission connection with the locking mechanism and the unlocking mechanism, the unlocking mechanism is movable from the periphery of the chassis to the center of the chassis and drives the linkage mechanism to rotate around the axis of the chassis, the linkage mechanism rotates and drives the locking mechanism to move from the center of the chassis to the periphery of the chassis, so that the locking mechanism is disconnected from the buckle.

[0006] In an embodiment of the present application, the locking mechanism comprises a first locking mechanism and a second locking mechanism, the first locking mechanism and the second locking mechanism are arranged at intervals along the circumference of the chassis, and the unlocking mechanism is arranged between the first locking mechanism and the second locking mechanism; the buckle comprises a first buckle and a second buckle, the first locking mechanism is connected with the first buckle, and the second locking mechanism is connected with the second buckle; the linkage mechanism comprises a first linkage mechanism and a second linkage mechanism, one end of the first linkage mechanism and one end of the second linkage mechanism are both in transmission connection with the unlocking mechanism, the other end of the first linkage mechanism is in transmission connection with the first locking mechanism, and the other end of the second linkage mechanism is in transmission connection with the second locking mechanism.

[0007] In one embodiment of the present application, the unlocking mechanism comprises a first end face and a second end face arranged opposite along the axial direction of the base plate; the first end face has a first protrusion and a second protrusion arranged apart along the radial direction of the base plate, the first protrusion has a first arc-shaped end face, the second protrusion has a second arc-shaped end face, the first arc-shaped end face and the second arc-shaped end face are opposite along the radial direction of the base plate to form a first connecting slot at the first end face, one end of the first linkage mechanism is rotatably connected in the first connecting slot; the second end face has a third protrusion and a fourth protrusion arranged apart along the radial direction of the base plate, the third protrusion has a third arc-shaped end face, the fourth protrusion has a fourth arc-shaped end face, the third arc-shaped end face and the fourth arc-shaped end face are opposite along the radial direction of the base plate to form a second connecting slot at the second end face, one end of the second linkage mechanism is rotatably connected in the second connecting slot.

[0008] In one embodiment of the present application, the first linkage mechanism comprises a first arc-shaped connecting rod, one end of the first arc-shaped connecting rod is rotatably connected in the first connecting slot, the other end of the first arc-shaped connecting rod has a first sliding slot, the first locking mechanism has a first protrusion, the first protrusion is slidingly connected in the first sliding slot; the second linkage mechanism comprises a second arc-shaped connecting rod, a first vertical rod and a horizontal rod, the first vertical rod is perpendicularly connected with the second arc-shaped connecting rod and the horizontal rod at two ends respectively, the horizontal rod is rotatably connected in the second connecting slot; one end of the second arc-shaped connecting rod away from the first vertical rod has a second sliding slot, the second locking mechanism has a second protrusion, the second protrusion is slidingly connected in the second sliding slot.

[0009] In one embodiment of the present application, the first linkage mechanism further comprises a second vertical rod and a first rotating shaft, the second vertical rod is perpendicularly connected with the first arc-shaped connecting rod, the second vertical rod is provided with a first through hole, the central axis of the first through hole is parallel to the axial direction of the base plate, the base plate is provided with a first connecting hole matched with the first through hole, the first rotating shaft is rotatably connected in the first through hole and the first connecting hole; the first vertical rod is provided with a second through hole, the central axis of the second through hole is parallel to the axial direction of the base plate, the base plate is provided with a second connecting hole matched with the second through hole; the second linkage mechanism further comprises a second rotating shaft, the second rotating shaft is rotatably connected in the second through hole and the second connecting hole.

[0010] In an embodiment of the present application, the unlocking mechanism further comprises a connecting shaft, a third connecting hole is arranged on the bottom disc, and the connecting shaft is fixedly connected with the third connecting hole; a third sliding groove is arranged on the unlocking mechanism, the third sliding groove has opposite first and second inner walls in the radial direction of the bottom disc; the connecting shaft is located in the third sliding groove, and when the unlocking mechanism moves from the outer periphery of the bottom disc to the center of the bottom disc, the connecting shaft abuts against the first inner wall; when the unlocking mechanism moves from the center of the bottom disc to the outer periphery of the bottom disc, the connecting shaft abuts against the second inner wall.

[0011] In an embodiment of the present application, the quick-change assembly further comprises a first reset mechanism; the first reset mechanism comprises a first reset spring and a baffle, the baffle is vertically arranged on the bottom disc, and the two ends of the first reset spring in the elastic extension direction thereof are connected with the baffle and the unlocking mechanism respectively; when the unlocking mechanism moves from the outer periphery of the bottom disc to the center of the bottom disc, the first reset spring elastically contracts, and the first reset spring elastically extends to push the unlocking mechanism to reset.

[0012] In an embodiment of the present application, the first locking mechanism comprises a sliding block, a first limiting plate, a first limiting piece and a second limiting piece; the top surface of the sliding block has the first protrusion, and the first arc-shaped connecting rod drives the sliding block to move from the center of the bottom disc to the outer periphery of the bottom disc; the first limiting plate is vertically arranged on the bottom disc, and the first limiting plate is located between the sliding block and the first buckle, and a limiting through slot is arranged on the first limiting plate; the first side wall of the sliding block outwardly extends a clamping piece, the clamping piece is connected with the first buckle through the limiting through slot; the sliding block has opposite third and fourth side walls in the circumferential direction of the bottom disc, the third and fourth side walls both intersect with the first side wall, the third side wall is provided with a first flange, and the fourth side wall is provided with a second flange; the first and second limiting pieces are arranged at intervals in the circumferential direction of the bottom disc, the sliding block is located between the first and second limiting pieces, the first limiting piece extends a first pressing plate toward the sliding block, and the second limiting piece extends a second pressing plate toward the sliding block; in the axial direction of the bottom disc, the first pressing plate abuts above the first flange, and the second pressing plate abuts above the second flange.

[0013] In an embodiment of the present application, the quick-change assembly further comprises a second reset mechanism; the second reset mechanism comprises a second limiting plate and a second reset spring; the second limiting plate is vertically arranged on the base plate; the sliding block has a second side wall opposite to the first side wall along the radial direction of the base plate; the second reset spring has opposite first and second ends along the elastic extension direction thereof; the second side wall has a mounting groove, a first inner wall of the mounting groove coincides with the bottom surface of the sliding block; the first end is arranged in the mounting groove and connected with a second inner wall of the mounting groove, the second inner wall intersects with the first inner wall; the second end is connected with the second limiting plate; the second reset spring elastically contracts when the sliding block moves from the center of the base plate to the outer periphery of the base plate, and the second reset spring elastically extends to push the sliding block to reset.

[0014] The embodiment of the present application further provides a bionic robot comprising the joint quick-change device.

[0015] The joint quick-change device and the bionic robot provided by the embodiment of the present application have the following technical effects:

[0016] Symmetrically arranging the at least one quick-change assembly along the center of the base plate can improve the connection strength and stability of the five-fingered dexterous hand and the mechanical arm, and ensure the connection stability of the five-fingered dexterous hand and the mechanical arm during high-speed motion or heavy load bearing.

[0017] When the five-fingered dexterous hand needs to be replaced, the user only needs to press the unlocking mechanism to move it to the center of the base plate, so that the five-fingered dexterous hand can be disassembled and replaced, which is simple to operate and the user can master the disassembly and replacement skills without complex training. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0019] Figure 1 A top view structural schematic diagram of the joint quick-change device provided by the embodiment of the present application;

[0020] Figure 2 An exploded structural schematic diagram of the joint quick-change device provided by the embodiment of the present application;

[0021] Figure 3 A structural schematic diagram of the unlocking mechanism of the joint quick-change device provided by the embodiment of the present application;

[0022] Figure 4 A structural schematic view of a linkage mechanism of a joint quick-change device provided for an embodiment of the present application is shown in FIG. 1.

[0023] Figure 5 A structural schematic view of a first linkage mechanism of a joint quick-change device provided for an embodiment of the present application is shown in FIG. 2.

[0024] Figure 6 A structural schematic view of a locking mechanism of a joint quick-change device provided for an embodiment of the present application is shown in FIG. 3. Figure 1

[0025] Figure 7 A structural schematic view of a locking mechanism of a joint quick-change device provided for an embodiment of the present application is shown in FIG. 4. Figure 2

[0026] Figure 8 A structural schematic view of a sliding block limiting mechanism of a joint quick-change device provided for an embodiment of the present application is shown in FIG. 5. Figure 1

[0027] Figure 9 A structural schematic view of a sliding block limiting mechanism of a joint quick-change device provided for an embodiment of the present application is shown in FIG. 6. Figure 2

[0028] Reference signs:

[0029] 100 - chassis

[0030] 101 - first threaded connection hole; 102 - limiting mechanism; 103 - second connection hole; 104 - first connection hole; 110 - threaded connecting piece

[0031] 1021 - bottom plate; 1022 - first boss; 1023 - second boss

[0032] 201 - sliding block; 202 - first limiting plate; 203 - second limiting plate; 204 - second return spring; 205 - first limiting piece; 206 - second limiting piece; 210 - top surface; 220 - first side wall; 230 - third side wall; 250 - second side wall; 221 - clamping piece; 231 - first flange; 241 - second flange; 251 - mounting groove

[0033] 2011 - first protrusion; 2012 - second protrusion

[0034] 300 - second linkage mechanism

[0035] 301 - second arc-shaped connecting rod; 302 - first vertical rod; 303 - horizontal rod

[0036] 3011 - second sliding groove; 3021 - second through hole

[0037] 400 - first linkage mechanism​​​​

[0038] 401 - first arc-shaped connecting rod; 402 - second vertical rod; 403 - first rotating shaft;

[0039] 4011 - first sliding groove; 4012 - first through hole;

[0040] 500 - unlocking mechanism;

[0041] 501 - first protrusion; 502 - second protrusion; 503 - third protrusion; 504 - fourth protrusion; 505 - third sliding groove; 506 - connecting shaft; 507 - arc-shaped pressing plate; 510 - first end face;

[0042] 601 - first reset spring; 602 - baffle;

[0043] 700 - contact array;

[0044] 801 - first buckle; 802 - second buckle. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0046] Reference Figure 1 and Figure 2 The joint quick-change device is arranged between the dexterous hand and the mechanical arm, and is connected with the dexterous hand and the mechanical arm respectively. The joint quick-change device comprises a base plate 100, a first threaded connecting hole 101 is arranged on the base plate 100, a second threaded connecting hole matched with the first threaded connecting hole 101 is arranged on a wrist joint of the mechanical arm, and the first threaded connecting hole 101 and the second threaded connecting hole are connected through a threaded connecting piece 110, so that the base plate 100 is connected on the wrist joint of the mechanical arm.

[0047] The base plate 100 can be a circular plate, the base plate 100 has opposite front and back surfaces along the axial direction, and the back surface of the base plate 100 is attached to the wrist joint of the mechanical arm when the base plate 100 is connected on the wrist joint of the mechanical arm.

[0048] The joint quick-change device further comprises at least one quick-change assembly arranged on the front surface of the base plate 100.

[0049] The wrist joint of the five-fingered dexterous hand is provided with at least one buckle, each of which is connected with a corresponding quick-change assembly, so that the five-fingered dexterous hand is mounted on the mechanical arm.

[0050] In the embodiment of the present application, the at least one quick-change assembly is centrally symmetrically arranged along the center of the chassis 100, thereby improving the connection strength and stability of the five-fingered dexterous hand and the mechanical arm, and ensuring the connection stability of the five-fingered dexterous hand and the mechanical arm during high-speed motion or heavy load.

[0051] In the embodiment of the present application, the at least one quick-change assembly is centrally symmetrically arranged along the center of the chassis 100, thereby improving the connection strength and stability of the five-fingered dexterous hand and the mechanical arm, and ensuring the connection stability of the five-fingered dexterous hand and the mechanical arm during high-speed motion or heavy load.

[0052] The quick-change assembly comprises a locking mechanism, a linkage mechanism and an unlocking mechanism 500.

[0053] The locking mechanism is connected with the buckle.

[0054] The two ends of the linkage mechanism are respectively in transmission connection with the locking mechanism and the unlocking mechanism 500, and the unlocking mechanism 500 can move from the outer periphery of the chassis 100 to the center of the chassis 100 under the action of external force. When the unlocking mechanism 500 moves, it will drive the linkage mechanism to rotate around the axis of the chassis 100, so that the linear motion of the unlocking mechanism 500 is converted into the rotary motion of the linkage mechanism. When the linkage mechanism rotates, it will drive the locking mechanism to move from the center of the chassis 100 to the outer periphery of the chassis 100, so that the locking mechanism moves away from the buckle, thereby disconnecting the locking mechanism and the buckle.

[0055] That is, when it is necessary to replace the five-fingered dexterous hand, it is only necessary to press the unlocking mechanism 500 to move it to the center of the chassis 100, so as to realize the disassembly and replacement of the five-fingered dexterous hand. The operation is simple, so that the user can easily master the disassembly and replacement skills without complex training.

[0056] In the embodiment of the present application, the locking mechanism can include a first locking mechanism and a second locking mechanism, the first locking mechanism and the second locking mechanism are arranged at intervals along the circumference of the chassis 100, and the unlocking mechanism 500 is arranged between the first locking mechanism and the second locking mechanism; the linkage mechanism includes a second linkage mechanism 300 and a first linkage mechanism 400, one end of the second linkage mechanism 300 and one end of the first linkage mechanism 400 are in transmission connection with the unlocking mechanism 500, the other end of the second linkage mechanism 300 is in transmission connection with the first locking mechanism, and the other end of the first linkage mechanism 400 is in transmission connection with the second locking mechanism.

[0057] The buckle includes a first buckle 801 and a second buckle 802, the first locking mechanism is connected with the first buckle 801, and the second locking mechanism is connected with the second buckle 802.

[0058] That is, when the unlocking mechanism 500 moves from the outer periphery of the chassis 100 to the center of the chassis 100, the unlocking mechanism 500 will drive the first linkage mechanism 400 and the second linkage mechanism 300 to rotate simultaneously around the axial direction of the chassis 100, wherein the first linkage mechanism 400 rotates clockwise around the axial direction of the chassis 100, and the second linkage mechanism 300 rotates counterclockwise around the axial direction of the chassis 100. When the first linkage mechanism 400 rotates, the first locking mechanism will be driven to move from the center of the chassis 100 to the outer periphery of the chassis 100, so that the first locking mechanism is away from the first buckle 801, thereby releasing the connection between the first locking mechanism and the first buckle 801; when the second linkage mechanism 300 rotates, the second locking mechanism will be driven to move from the center of the chassis 100 to the outer periphery of the chassis 100, so that the second locking mechanism is away from the second buckle 802, thereby releasing the connection between the second locking mechanism and the second buckle 802.

[0059] The embodiment of the present application includes two quick-change assemblies, each of which has two locking mechanisms: a first locking mechanism and a second locking mechanism; therefore, the quick-change assembly of the embodiment of the present application can be connected with four buckles, further improving the connection strength and stability of the five-fingered dexterous hand and the mechanical arm, and ensuring the connection stability of the five-fingered dexterous hand and the mechanical arm during high-speed motion or heavy load.

[0060] Further, the unlocking mechanism 500 can simultaneously unlock two locking mechanisms: the first locking mechanism and the second locking mechanism, thereby reducing the replacement steps and improving the replacement efficiency.

[0061] Reference Figure 3 , Figure 3 and Figure 3 In the embodiment of the present application, along the axial direction of the chassis 100 Figure 3The unlocking mechanism 500 comprises a first end face 510 and a second end face arranged oppositely, and the second end face is close to the front face of the chassis 100; the first end face 510 is provided with a first protrusion 501 and a second protrusion 502, and the first protrusion 501 and the second protrusion 502 are arranged at intervals along the radial direction of the chassis 100 (the x-axis shown in the figure) Figure 3 , and the second protrusion 502 is close to the center of the chassis 100.

[0062] The first protrusion 501 has a first arc-shaped end face, and the second protrusion 502 has a second arc-shaped end face, both of which are outward convex arc-shaped faces; the first arc-shaped end face and the second arc-shaped end face are opposite along the radial direction of the chassis 100 (the x-axis shown in the figure) Figure 1 to form a first connecting clamping groove on the first end face 510.

[0063] One end of the first linkage mechanism 400 is rotatably connected in the first connecting clamping groove, and when the first linkage mechanism 400 rotates clockwise around the axial direction of the chassis 100, one end of the first linkage mechanism 400 will rotate in the first connecting clamping groove and fit the first arc-shaped end face and the second arc-shaped end face.

[0064] Similarly, the second end face is provided with a third protrusion 503 and a fourth protrusion 504, the third protrusion 503 and the fourth protrusion 504 are arranged at intervals along the radial direction of the chassis 100, and the fourth protrusion 504 is close to the center of the chassis 100. The third protrusion 503 has a third arc-shaped end face, and the fourth protrusion 504 has a fourth arc-shaped end face, both of which are outward convex arc-shaped faces; the third arc-shaped end face and the fourth arc-shaped end face are opposite along the radial direction of the chassis 100 (the x-axis shown in the figure) Figure 4 to form a second connecting clamping groove on the second end face.

[0065] One end of the second linkage mechanism 300 is rotatably connected in the second connecting clamping groove, and when the second linkage mechanism 300 rotates counterclockwise around the axial direction of the chassis 100, one end of the second linkage mechanism 300 will rotate in the second connecting clamping groove and fit the third arc-shaped end face and the fourth arc-shaped end face.

[0066] That is, the first linkage mechanism 400 and the second linkage mechanism 300 are respectively drivingly connected to the upper and lower surfaces of the unlocking mechanism 500, which is compact in structure and makes full use of the space of the chassis 100 to avoid adding other connecting components. At the same time, only by arranging protrusions with arc-shaped end faces on the upper and lower surfaces of the unlocking mechanism 500, the linear motion of the unlocking mechanism 500 can be converted into the rotary motion of the linkage mechanism to realize the driving connection between the linkage mechanism and the unlocking mechanism 500; the assembly is simplified and the assembly efficiency is improved.

[0067] Reference Figure 5 , Figure 1 and Figure 2In the embodiment of the application, the first linkage mechanism 400 can include a first arc-shaped connecting rod 401, the first arc-shaped connecting rod 401 having one end and the other end, the connection between the one end of the first arc-shaped connecting rod 401 and the other end of the first arc-shaped connecting rod 401 having an arc-shaped bending section, and the included angle between the one end of the first arc-shaped connecting rod 401 and the other end of the first arc-shaped connecting rod 401 being 90 degrees.

[0068] The one end of the first arc-shaped connecting rod 401 is rotatably connected in the first connecting clamping groove, and the other end of the first arc-shaped connecting rod 401 has a first sliding groove 4011, and the first locking mechanism has a first protrusion 2011 which is slidingly connected in the first sliding groove 4011.

[0069] When the unlocking mechanism 500 moves from the outer periphery of the chassis 100 to the center of the chassis 100, the one end of the first arc-shaped connecting rod 401 will be rotated clockwise around the axis of the chassis 100 in the first connecting clamping groove, and the first sliding groove 4011 of the other end of the first arc-shaped connecting rod 401 will drive the first protrusion 2011 to slide in the first sliding groove 4011, so that the first locking mechanism retreats and the first locking mechanism is disconnected with the first buckle 801.

[0070] The second linkage mechanism 300 can include a second arc-shaped connecting rod 301, a first vertical rod 302 and a horizontal rod 303, the two ends of the first vertical rod 302 being perpendicularly connected with the second arc-shaped connecting rod 301 and the horizontal rod 303 respectively, and the horizontal rod 303 being rotatably connected in the second connecting clamping groove; the one end of the second arc-shaped connecting rod 301 away from the first vertical rod 302 has a second sliding groove 3011, and the second locking mechanism has a second protrusion 2012 which is slidingly connected in the second sliding groove 3011.

[0071] When the unlocking mechanism 500 moves from the outer periphery of the chassis 100 to the center of the chassis 100, the horizontal rod 303 will be rotated counterclockwise around the axis of the chassis 100 in the second connecting clamping groove, at the same time, the horizontal rod 303 drives the first vertical rod 302 to rotate, and the first vertical rod 302 drives the second arc-shaped connecting rod 301 to rotate; the second sliding groove 3011 arranged on the second arc-shaped connecting rod 301 will drive the second protrusion 2012 to slide in the second sliding groove 3011, so that the second locking mechanism retreats and the second locking mechanism is disconnected with the second buckle 802.

[0072] The arc-shaped connecting rod has simple design structure and good rotation performance, and can occupy as little space of the chassis as possible.

[0073] Reference Figure 4 , Figure 1 and Figure 3In the embodiment of the present application, the first linkage mechanism 400 can further include a second vertical rod 402 and a first rotating shaft 403. The second vertical rod 402 is connected perpendicularly to the first arc-shaped connecting rod 401, and the second vertical rod 402 is provided with a first through hole 4012. The central axis of the first through hole 4012 is parallel to the axial direction of the chassis 100. The chassis 100 is provided with a first connecting hole 104 matched with the first through hole 4012. The first rotating shaft 403 is rotatably connected in the first through hole 4012 and the first connecting hole 104.

[0074] That is, the first rotating shaft 403 is used to fix the first arc-shaped connecting rod 401 on the chassis 100, and the first arc-shaped connecting rod 401 rotates clockwise around the first rotating shaft 403.

[0075] The first rotating shaft 403 can fix the first arc-shaped connecting rod 401 on the chassis 100, and at the same time, can avoid dislocation of the first arc-shaped connecting rod 401 during rotation, thereby affecting the transmission effect of the linkage mechanism and improving the rotation performance of the first arc-shaped connecting rod 401.

[0076] Similarly, the first vertical rod 302 is provided with a second through hole 3021. The central axis of the second through hole 3021 is parallel to the axial direction of the chassis 100. The chassis 100 is provided with a second connecting hole 103 matched with the second through hole 3021. The second linkage mechanism further includes a second rotating shaft 304. The second rotating shaft 304 is rotatably connected in the second through hole 3021 and the second connecting hole 103.

[0077] That is, the second rotating shaft 304 is used to fix the second arc-shaped connecting rod 301 on the chassis 100, and the second arc-shaped connecting rod 301 rotates clockwise around the second rotating shaft 304.

[0078] The second rotating shaft 304 can fix the second arc-shaped connecting rod 301 on the chassis 100, and at the same time, can avoid dislocation of the second arc-shaped connecting rod 301 during rotation, thereby affecting the transmission effect of the linkage mechanism and improving the rotation performance of the second arc-shaped connecting rod 301.

[0079] Reference Figure 3 And Figure 1 In the embodiment of the present application, the quick-change assembly can further include a first reset mechanism. The first reset mechanism includes a first reset spring 601 and a baffle 602. The baffle 602 is vertically arranged on the chassis 100. The first reset spring 601 is connected to the baffle 602 and the unlocking mechanism 500 at two ends along the elastic extension direction of the first reset spring 601. When the unlocking mechanism 500 moves from the outer periphery of the chassis 100 to the center of the chassis 100, the first reset spring 601 elastically contracts. When the external force acting on the unlocking mechanism 500 disappears, the first reset spring 601 elastically extends and pushes the unlocking mechanism 500 to reset.

[0080] The first reset mechanism not only enables the unlocking mechanism 500 to automatically reset, but also ensures smooth transition of the unlocking mechanism 500 during the replacement process, avoiding damage to other structural components caused by excessive movement of the unlocking mechanism 500.

[0081] With reference to Figure 2 , the unlocking mechanism 500 can further include an arc-shaped pressing plate 507, the curved arc of the arc-shaped pressing plate 507 matching the outer periphery of the chassis 100; after the unlocking mechanism 500 automatically resets, the projection of the arc-shaped pressing plate 507 coincides with the projection of the outer edge of the chassis 100 in the axial direction of the chassis 100, improving the aesthetics of the joint quick changer.

[0082] With reference to Figure 3 , Figure 1 and Figure 6 , in the embodiment, a third sliding groove 505 is arranged on the unlocking mechanism 500, and the third sliding groove 505 has opposite first and second inner walls in the radial direction of the chassis 100.

[0083] The unlocking mechanism 500 can further include a connecting shaft 506, and a third connecting hole 105 is arranged on the chassis 100, and the connecting shaft 506 passes through the third sliding groove 505 and is fixedly connected with the third connecting hole 105.

[0084] That is, the connecting shaft 506 is located in the third sliding groove 505, and when the unlocking mechanism 500 moves from the outer periphery of the chassis 100 to the center of the chassis 100, the connecting shaft 506 abuts against the first inner wall; when the unlocking mechanism 500 moves from the center of the chassis 100 to the outer periphery of the chassis 100, the connecting shaft 506 abuts against the second inner wall.

[0085] The connecting shaft 506 is used to fix the unlocking mechanism 500 on the chassis 100, and when the unlocking mechanism 500 moves, the connecting shaft 506 slides in the third sliding groove 505, the connecting shaft 506 can limit the movement of the unlocking mechanism 500, avoiding deviation of the movement path of the unlocking mechanism 500; the connecting shaft 506 can also prevent the unlocking mechanism 500 from moving excessively and causing the first reset spring 601 to fail; the connecting shaft 506 can also prevent the unlocking mechanism 500 from disengaging from the chassis 100.

[0086] With reference to Figure 7 , Figure 1 and Figure 6 , in the embodiment, the first locking mechanism can include a sliding block 201, which has opposite top and bottom surfaces in the axial direction of the chassis 100, the bottom surface being slidingly arranged on the chassis 100, and the top surface 210 being provided with a first protrusion 2011, the first protrusion 2011 being slidingly connected in the first sliding groove 4011, so that the first arc-shaped connecting rod 401 drives the sliding block 201 to move from the center of the chassis 100 to the outer periphery of the chassis 100.

[0087] The slider 201 has opposite first and second side walls 220 and 250 in the radial direction of the chassis 100, the first side wall 220 being close to the center of the chassis 100, and the first side wall 220 extending outwardly with a clamping piece 221; the slider 201 has opposite third and fourth side walls in the circumferential direction of the chassis 100, the third side wall 230 being close to the second locking mechanism, the third side wall 230 being provided with a first flange 231, and the fourth side wall being provided with a second flange 241.

[0088] The first locking mechanism can further include a first limiting plate 202 vertically arranged on the chassis 100, the first limiting plate 202 being located between the slider 201 and the first buckle 801, and the first limiting plate 202 being provided with a limiting through slot; the clamping piece 221 is connected with the first buckle 801 through the limiting through slot.

[0089] The first limiting plate 202 is used to limit the movement path of the slider 201 to prevent the slider 201 from deviating; the first limiting plate 202 can also ensure that the clamping piece 221 on the slider 201 can be accurately connected with the first buckle 801, and after the clamping piece 221 is connected with the first buckle 801, the first limiting plate 202 can also prevent the clamping piece 221 from deviating, so as to improve the connection stability of the clamping piece 221 and the first buckle 801.

[0090] Continuing to refer to Figure 7 , Figure 7 and Figure 1 , in the embodiment, the quick-change assembly can further include a second reset mechanism; the second reset mechanism includes a second limiting plate 203 and a second reset spring 204, the second limiting plate 203 being vertically arranged on the chassis 100, the first limiting plate 202 and the second limiting plate 203 being opposite in the radial direction of the chassis, and the slider 201 being arranged between the first limiting plate 202 and the second limiting plate 203.

[0091] The second reset spring 204 is connected with the second limiting plate 203 and the second side wall 250 of the slider 201 at two ends in the elastic extension direction of the second reset spring 204; the second reset spring 204 is elastically contracted when the slider 201 moves from the center of the chassis 100 to the outer periphery of the chassis 100; when the first arc-shaped connecting rod 401 stops rotating and no longer applies force to the slider 201, the second reset spring 204 is elastically elongated and pushes the slider 201 to reset.

[0092] The second reset mechanism not only enables the slider 201 to automatically reset, but also enhances the connection strength of the slider 201, ensures smooth transition of the slider 201 during disassembly and replacement, and avoids the risk of accidental falling of the slider 201.

[0093] Referring to Figure 2In the embodiment of the application, the second side wall 250 has a mounting groove 251, the mounting groove 251 has a first opening and a second opening, the first opening is located on the second side wall 250, and the second opening is located on a first inner wall of the mounting groove 251, the first inner wall coincides with the bottom surface of the sliding block 201; that is, the first opening and the second opening intersect and communicate.

[0094] The first end of the second reset spring 204 along the elastic extension direction of the second reset spring 204 is arranged in the mounting groove 251 and connected with a second inner wall of the mounting groove 251, the second inner wall is away from the second side wall 250, and the second inner wall intersects with the first inner wall; the second end of the second reset spring 204 along the elastic extension direction of the second reset spring 204 is connected with the second limiting plate 203.

[0095] That is, part of the second reset spring 204 is arranged in the mounting groove 251, so as to occupy as little space of the chassis 100 as possible, and avoid that the overall size is too large.

[0096] Reference Figure 8 , Figure 9 , ​ and ​ In the embodiment of the application, the chassis 100 further has a sliding block limiting mechanism 102, the sliding block limiting mechanism 102 includes a bottom plate 1021, along the circumferential direction of the chassis 100, the bottom plate 1021 has opposite first and second edges, the first edge is provided with a first boss 1022, and the second edge is provided with a second boss 1023; along the radial direction of the chassis 100, the bottom plate 1021 has opposite third and fourth edges, the third edge is provided with a first limiting plate 202, and the fourth edge is provided with a second limiting plate 203.

[0097] The first boss 1022, the second boss 1023, the first limiting plate 202 and the second limiting plate 203 jointly enclose a limiting space, the sliding block 201 is slidingly arranged on the bottom plate 1021 and located in the limiting space; the first flange 231 arranged on the sliding block 201 is close to the first boss 1022, and the second flange 241 arranged on the sliding block 201 is close to the second boss 1023.

[0098] In the embodiment of the application, the first locking mechanism can further include a first limiting piece 205 and a second limiting piece 206; the first limiting piece 205 is arranged on the first boss 1022, the second limiting piece 206 is arranged on the second boss 1023, the first limiting piece 205 extends a first pressing plate towards the sliding block 201, the second limiting piece 206 extends a second pressing plate towards the sliding block 201, along the axial direction of the chassis 100, the first pressing plate abuts above the first flange 231, and the second pressing plate abuts above the second flange 241.

[0099] The first limiting member 205 and the second limiting member 206 can limit and fix the sliding block 201 in the axial direction of the chassis 100, prevent the sliding block 201 from leaving the chassis 100, and prevent the moving path of the sliding block 201 from deviating.

[0100] In some other embodiments, when the joint quick-change device has two quick-change assemblies, the two quick-change assemblies are symmetrical along the central axis of the chassis 100, each quick-change assembly includes an unlocking mechanism 500, each unlocking mechanism 500 is reset by a first reset mechanism, and the baffles 602 of the two first reset mechanisms are also symmetrical along the central axis of the chassis 100. Among the two first reset mechanisms, the baffle 602 of one of the first reset mechanisms is provided with a positioning groove, and the baffle 602 of the other first reset mechanism is not provided with a positioning groove, and the baffle 602 not provided with the positioning groove is close to the thumb. In this way, by providing the positioning groove on one of the baffles 602, when the five-fingered hand needs to be replaced, the installation of the five-fingered hand can be positioned through the positioning groove first, to prevent installation errors and improve the replacement efficiency of the five-fingered hand.

[0101] The embodiment of the present application also provides a bionic robot, which includes the joint quick-change device, the dexterous hand and the mechanical arm described above. The joint quick-change device is arranged between the dexterous hand and the mechanical arm, and is connected with the dexterous hand and the mechanical arm respectively.

[0102] In summary, the embodiment of the present application provides a joint quick-change device and a bionic robot. The joint quick-change device includes a chassis 100 connected to a wrist joint of a mechanical arm. The joint quick-change device further includes at least one quick-change assembly arranged on the chassis 100 and symmetrical along the center of the chassis 100. A wrist joint of a five-fingered hand is provided with at least one buckle, and each quick-change assembly is connected with a corresponding buckle. The quick-change assembly includes a locking mechanism, a linkage mechanism and an unlocking mechanism 500. The locking mechanism is connected with the buckle. The two ends of the linkage mechanism are respectively in transmission connection with the locking mechanism and the unlocking mechanism 500. The unlocking mechanism 500 can move from the outer periphery of the chassis 100 to the center of the chassis 100 under the action of an external force. When the unlocking mechanism 500 moves, it will drive the linkage mechanism to rotate around the axial direction of the chassis 100, so that the linear motion of the unlocking mechanism 500 is converted into the rotary motion of the linkage mechanism. When the linkage mechanism rotates, it will drive the locking mechanism to move from the center of the chassis 100 to the outer periphery of the chassis 100, so that the locking mechanism moves away from the buckle, thereby releasing the connection between the locking mechanism and the buckle.

[0103] The at least one quick-change assembly is arranged symmetrically along the center of the chassis 100, which can improve the connection strength and stability of the five-fingered hand and the mechanical arm, and ensure the connection stability of the five-fingered hand and the mechanical arm during high-speed movement or heavy load bearing; when the five-fingered hand needs to be replaced, the user only needs to press the unlocking mechanism 500 to move it to the center of the chassis 100, and then the five-fingered hand can be disassembled and replaced, which is simple to operate and the user does not need to receive complex training to master the disassembly and replacement skills.

[0104] The embodiments or examples in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0105] It should be noted that the terms "one embodiment", "an embodiment", "example embodiment", "some embodiments" and the like in the specification indicate that the described embodiment can include a particular feature, structure or characteristic, but not necessarily every embodiment. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a particular feature, structure or characteristic is described in connection with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure or characteristic in connection with other embodiments whether explicitly described or not.

[0106] Generally, the terms should be understood at least partially by the context of use. For example, at least partially according to the context, the term "one or more" used in the specification can be used to describe any feature, structure or characteristic of singular meaning, or can be used to describe a combination of features, structures or characteristics of plural meaning. Similarly, at least partially according to the context, terms such as "a" or "said" can be understood to convey singular usage or plural usage.

[0107] It should be readily understood that "on", "above" and "over" in the present disclosure should be interpreted in the broadest way, so that "on" not only means "directly on", but also includes the meaning of "on" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over", but also can include the meaning of "above" or "over" without intermediate features or layers therebetween (i.e. directly on).

[0108] In addition, spatially relative terms, such as "beneath", "below", "lower", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0109] Finally, it should be noted that the above-described embodiments are merely intended for describing and illustrating, but not limiting, the technical solutions of the present application; even though the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some or all of the technical features thereof; and such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An articulating quick change device, characterized by, A joint quick-change device is connected with a mechanical arm, comprising: a chassis; at least one quick-change assembly, a wrist joint of the mechanical arm and the at least one quick-change assembly are respectively arranged on two sides of the chassis, and the at least one quick-change assembly is arranged symmetrically along the center of the chassis; the quick-change assembly comprises a locking mechanism configured to be connected with a buckle, the buckle is arranged on a wrist joint of a five-fingered dexterous hand; the quick-change assembly further comprises a linkage mechanism and an unlocking mechanism, two ends of the linkage mechanism are respectively in transmission connection with the locking mechanism and the unlocking mechanism, the unlocking mechanism can move from the periphery of the chassis to the center of the chassis and drive the linkage mechanism to rotate around the axis of the chassis, the linkage mechanism rotates and drives the locking mechanism to move from the center of the chassis to the periphery of the chassis, so that the locking mechanism is disconnected with the buckle.

2. The joint quick-change device according to claim 1, wherein the locking mechanism comprises a first locking mechanism and a second locking mechanism, the first locking mechanism and the second locking mechanism are arranged at intervals along the circumference of the chassis, and the unlocking mechanism is arranged between the first locking mechanism and the second locking mechanism; the buckle comprises a first buckle and a second buckle, the first locking mechanism is connected with the first buckle, and the second locking mechanism is connected with the second buckle; the linkage mechanism comprises a first linkage mechanism and a second linkage mechanism, one end of the first linkage mechanism and one end of the second linkage mechanism are in transmission connection with the unlocking mechanism, the other end of the first linkage mechanism is in transmission connection with the first locking mechanism, and the other end of the second linkage mechanism is in transmission connection with the second locking mechanism.

3. The joint quick-change device according to claim 2, wherein the unlocking mechanism comprises a first end face and a second end face arranged opposite along the axis of the chassis; the first end face has a first protrusion and a second protrusion arranged at intervals along the radial direction of the chassis, the first protrusion has a first arc-shaped end face, the second protrusion has a second arc-shaped end face, the first arc-shaped end face and the second arc-shaped end face are opposite along the radial direction of the chassis to form a first connecting slot on the first end face, and one end of the first linkage mechanism is rotatably connected in the first connecting slot; the second end face has a third protrusion and a fourth protrusion arranged at intervals along the radial direction of the chassis, the third protrusion has a third arc-shaped end face, the fourth protrusion has a fourth arc-shaped end face, the third arc-shaped end face and the fourth arc-shaped end face are opposite along the radial direction of the chassis to form a second connecting slot on the second end face, and one end of the second linkage mechanism is rotatably connected in the second connecting slot.

4. The joint quick-change device according to claim 3, wherein the first linkage mechanism comprises a first arc-shaped connecting rod, one end of the first arc-shaped connecting rod is rotatably connected in the first connecting slot, the other end of the first arc-shaped connecting rod has a first sliding slot, the first locking mechanism has a first protrusion, and the first protrusion is slidingly connected in the first sliding slot. The second linkage mechanism comprises a second arc-shaped connecting rod, a first vertical rod and a cross rod, two ends of the first vertical rod are respectively connected perpendicularly with the second arc-shaped connecting rod and the cross rod, and the cross rod is rotatably connected in the second connecting slot; one end of the second arc-shaped connecting rod away from the first vertical rod is provided with a second sliding slot, and the second locking mechanism is provided with a second protrusion which is slidably connected in the second sliding slot.

5. The joint quick change device according to claim 4, wherein, The first linkage mechanism further comprises a second vertical rod and a first rotating shaft, the second vertical rod is connected perpendicularly with the first arc-shaped connecting rod, the second vertical rod is provided with a first through hole, a central axis of the first through hole is parallel to an axial direction of the base plate, the base plate is provided with a first connecting hole matched with the first through hole, and the first rotating shaft is rotatably connected in the first through hole and the first connecting hole; The first vertical rod is provided with a second through hole, a central axis of the second through hole is parallel to the axial direction of the base plate, and the base plate is provided with a second connecting hole matched with the second through hole; The second linkage mechanism further comprises a second rotating shaft, and the second rotating shaft is rotatably connected in the second through hole and the second connecting hole.

6. The joint quick change device according to claim 3, wherein, The unlocking mechanism further comprises a connecting shaft, the base plate is provided with a third connecting hole, and the connecting shaft is fixedly connected with the third connecting hole; The unlocking mechanism is provided with a third sliding slot, the third sliding slot is provided with opposite first and second inner walls along a radial direction of the base plate; The connecting shaft is located in the third sliding slot, when the unlocking mechanism moves from an outer periphery of the base plate to a center of the base plate, the connecting shaft abuts against the first inner wall, and when the unlocking mechanism moves from the center of the base plate to the outer periphery of the base plate, the connecting shaft abuts against the second inner wall.

7. The quick change joint of claim 1, wherein, The quick change assembly further comprises a first reset mechanism; The first reset mechanism comprises a first reset spring and a baffle, the baffle is vertically arranged on the base plate, and two ends of the first reset spring along an elastic extension direction of the first reset spring are respectively connected with the baffle and the unlocking mechanism; When the unlocking mechanism moves from the outer periphery of the base plate to the center of the base plate, the first reset spring is elastically contracted, and the first reset spring is elastically extended to push the unlocking mechanism to reset.

8. The joint quick change device according to claim 4, wherein, The first locking mechanism comprises a sliding block, a first limiting plate, a first limiting piece and a second limiting piece; A top surface of the sliding block is provided with the first protrusion, and the first arc-shaped connecting rod drives the sliding block to move from the center of the base plate to the outer periphery of the base plate; The first limiting plate is vertically arranged on the base plate, the first limiting plate is located between the sliding block and the first buckle, and the first limiting plate is provided with a limiting through slot; A first side wall of the sliding block outwardly extends a clamping piece, and the clamping piece is connected with the first buckle through the limiting through slot; The slider has a third side wall and a fourth side wall opposite in the circumferential direction of the chassis, both of which intersect with the first side wall, the third side wall is provided with a first flange, and the fourth side wall is provided with a second flange; The first limiting piece and the second limiting piece are arranged at intervals in the circumferential direction of the chassis, the slider is located between the first limiting piece and the second limiting piece, the first limiting piece extends a first pressing plate towards the slider, and the second limiting piece extends a second pressing plate towards the slider; In the axial direction of the chassis, the first pressing plate abuts above the first flange, and the second pressing plate abuts above the second flange.

9. The quick change joint of claim 8, wherein, The quick-change assembly further comprises a second reset mechanism; The second reset mechanism comprises a second limiting plate and a second reset spring, the second limiting plate is arranged vertically on the chassis, the slider has a second side wall opposite the first side wall in the radial direction of the chassis, and the second reset spring has opposite first and second ends in the elastic extension direction thereof; The second side wall has a mounting groove, a first inner wall of the mounting groove coincides with the bottom surface of the slider; The first end is arranged in the mounting groove and connected with a second inner wall of the mounting groove, and the second inner wall intersects with the first inner wall; The second end is connected with the second limiting plate; When the slider moves from the center of the chassis to the outer periphery of the chassis, the second reset spring elastically contracts, and the second reset spring elastically extends to push the slider to reset.

10. A biomimetic robot, characterized in that, The joint quick-change device comprises the joint quick-change device according to any one of claims 1-9.

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