CN-121989214-A - Modularized joint quick-butt-joint mechanical structure of multi-joint flexible robot

Abstract

The invention relates to the technical field of flexible robots, and discloses a modularized joint quick-butt joint mechanical structure of a multi-joint flexible robot, which comprises a male butt joint end and a female butt joint end which are coaxially assembled, wherein one rotation of the male butt joint end and the female butt joint end is arranged on a carrier joint main body; the device also comprises an axial positioning boss, an axial positioning groove, a circumferential meshing structure, a radial locking structure and a synchronous unlocking structure. The axial positioning boss is matched with the groove to realize coaxial positioning, the circumferential engagement structure is engaged with the engagement groove group through the wedge surface engagement tooth group to transmit torque, the self-locking wedge mechanism is used for realizing axial self-locking, and the radial locking structure is in coaxial linkage with the synchronous unlocking structure. The invention realizes double rigid locking, solves the defects of unreliable locking, unstable torque transmission and complicated disassembly and assembly of the traditional quick-disassembly structure and the strong-locking structure, can realize tool-free quick disassembly and assembly, has compact structure and high butting precision, realizes quick and stable butting and disassembly of the joint modules, and meets the modularized application requirements of the multi-joint flexible robot.

Inventors

• CHEN GANG
• LIU SHIYING
• YUAN JIWEI

Assignees

• 嘉兴大学

Dates

Publication Date

20260508

Application Date

20260331

Claims (10)

1. 1. The modularized joint quick-butt joint mechanical structure of the multi-joint flexible robot comprises a male butt joint end (1) and a female butt joint end (2) which are coaxially assembled at the butt joint ends of the upper joint and the lower joint or the front joint and the rear joint, wherein one of the male butt joint end (1) and the female butt joint end (2) is rotatably arranged on a carrier joint main body, and is characterized by further comprising: The axial positioning boss (3) is coaxially and fixedly arranged on the butt joint end face of the male butt joint end (1) and is integrally formed with the male butt joint end (1), and the diameter of the end face of the axial positioning boss (3) is smaller than that of the butt joint end face of the male butt joint end (1); the axial positioning groove (4) is coaxially arranged at the center of the butt joint end surface of the female butt joint end (2) and is matched with the axial positioning boss (3) in shape, so that the male butt joint end (1) and the female butt joint end (2) are axially positioned and butted; The circumferential meshing structure is arranged between the axial positioning boss (3) and the axial positioning groove (4), and comprises a wedge meshing tooth group, a wedge meshing groove group and a self-locking wedge mechanism, wherein the wedge meshing tooth group is fixedly arranged on the outer surface of the axial positioning boss (3), the wedge meshing groove group is arranged on the inner surface of the axial positioning groove (4), the wedge meshing tooth group and the wedge meshing groove group are in one-to-one meshing joint and are used for realizing circumferential mechanical torque transmission after butt joint, and the self-locking wedge mechanism is arranged between the corresponding wedge meshing tooth group and the wedge meshing groove group and is used for realizing axial self-locking after butt joint of the male butt joint end (1) and the female butt joint end (2); the radial locking structure and the synchronous unlocking structure are arranged between the male butt joint end (1) and the female butt joint end (2) and matched with the circumferential meshing structure, and the radial locking structure and the synchronous unlocking structure are coaxially arranged.
2. 2. The modular joint quick docking mechanism of the multi-joint flexible robot according to claim 1, wherein the male docking end (1) is integrally formed as a cylindrical structure, and the outer diameter is consistent with the outer diameter of the carrier joint body; The axial positioning boss (3) is of a right cylindrical shape, the front end of the axial positioning boss is of a chamfer angle type, the axial positioning boss (3) and the male butt end (1) form an integrated step structure, and the step surface is of an annular shape; The female butt joint end (2) is integrally of an integrated cylindrical sleeve structure, the material is consistent with that of the male butt joint end, the outer diameter and the length of the female butt joint end are completely matched with those of the male butt joint end (1), and the inside of the female butt joint end is of a hollow structure; The axial positioning groove (4) is a right cylindrical hollow groove, and the inner diameter and the length of the axial positioning groove are completely matched with those of the axial positioning boss (3).
3. 3. The modularized joint quick docking mechanism of the multi-joint flexible robot according to claim 2, wherein the wedge surface meshing tooth group comprises a plurality of wedge surface meshing teeth which are circumferentially and uniformly distributed on the outer surface of the axial positioning boss (3), the wedge surface meshing teeth and the axial positioning boss (3) are integrally formed, and the number of the wedge surface meshing teeth is more than or equal to four; The wedge surface meshing teeth are formed by integrating a wedge tooth block (5) and a rectangular tooth block (7) along the axial direction of an axial positioning boss (3), wherein the wedge tooth block (5) is positioned at the root of the axial positioning boss (3) and extends forwards from an annular step surface to the middle part of the axial positioning boss (3), the rectangular tooth block (7) is positioned at the inserting end of the axial positioning boss (3) and extends from the inserting end of the axial positioning boss (3) to the middle part of the axial positioning boss (3), and the tooth tops of the wedge tooth block (5) and the rectangular tooth block (7) are in seamless connection; the tooth tops of the wedge-shaped tooth blocks (5) are inclined surfaces, the inclined directions are gathered towards one side of the rectangular tooth block (7), and the height of each inclined surface is smaller than the width of the annular step surface.
4. 4. The modularized joint quick docking mechanism of the multi-joint flexible robot according to claim 3, wherein the wedge surface meshing groove group comprises a plurality of wedge surface meshing grooves which are circumferentially and uniformly distributed on the inner wall of the axial positioning groove (4), the wedge surface meshing grooves are opened corresponding to the docking end surface of the female docking end (2), the position distribution and the number of the wedge surface meshing grooves are consistent with the position distribution and the number of the wedge surface meshing teeth on the axial positioning boss (3), and the wedge surface meshing grooves are accurately matched with the wedge surface meshing teeth and are in fit connection; The wedge surface meshing groove is formed by integrating a wedge surface clamping groove (6) and a rectangular clamping groove (8) along the axial direction of the axial positioning groove (4), wherein the wedge surface clamping groove (6) is formed at the butt joint end of the axial positioning groove (4), the rectangular clamping groove (8) is positioned at the closed end of the axial positioning groove (4) and is communicated with the wedge surface clamping groove (6), the shape of the wedge surface clamping groove (6) is in clamping connection with the shape of the wedge-shaped tooth block (5) in a precise fit manner, and the shape of the rectangular clamping groove (8) is in clamping connection with the shape of the rectangular tooth block (7) in a precise fit manner.
5. 5. The modularized joint quick docking mechanism of the multi-joint flexible robot according to claim 4, wherein the self-locking wedge mechanism comprises rectangular grooves (9), locking wedges (10) and elastic pieces (11), the rectangular grooves (9) are formed in tooth tops of the rectangular tooth blocks (7) in each wedge surface meshing tooth, the locking wedges (10) are rotatably mounted in the rectangular grooves (9), the locking wedges (10) are inclined parallel to tooth top inclined surfaces of the wedge tooth blocks (5), the insertion ends of the rectangular grooves (9) corresponding to the rectangular tooth blocks (7) are in an opening shape, the rotating connection positions of the locking wedges (10) and the rectangular grooves (9) are located at the opening positions close to the rectangular grooves (9), the free ends of the locking wedges (10) are one ends facing the wedge tooth blocks (5), and the elastic pieces (11) distributed along the radial direction of the axial positioning boss (3) are connected between the middle parts of the locking wedges (10) and the concave surfaces of the rectangular tooth blocks (9).
6. 6. The modular joint quick docking mechanism of the multi-joint flexible robot according to claim 5, characterized in that the elastic piece (11) is composed of a plurality of semicircular elastic pieces which are distributed continuously and in a staggered manner, the elastic piece (11) is in a natural state and ejects the free end of the locking wedge block (10) out of the rectangular groove (9); The free end of the locking wedge block (10) is an arc surface, the rotating end of the locking wedge block (10) and the rectangular groove (9) is an arc surface, and the circle center of the arc surface of the free end of the locking wedge block (10) is concentric with the rotating shaft center of the rotating end.
7. 7. The modularized joint quick docking mechanism of the multi-joint flexible robot according to claim 6, wherein the self-locking wedge mechanism further comprises wedge clamping grooves (12), the wedge clamping grooves (12) are formed in the inner wall of each rectangular clamping groove (8), the opening surfaces are overlapped with tooth tops of the rectangular tooth blocks (7), part of the area of the locking wedge (10) is clamped in the wedge clamping grooves (12) in a fit mode, and the inner end face, facing the wedge clamping grooves (6), of the wedge clamping grooves (12) is an arc surface and is matched and abutted with the arc surface of the free end of the locking wedge (10).
8. 8. The modularized joint quick docking mechanism of the multi-joint flexible robot according to claim 7, wherein the radial locking structure comprises a semicircular groove (13), a central rotating rod (14), a first connecting rod (15), a first circular arc through groove (16), a locking circular arc rod (17) and an unlocking circular arc rod (20), the semicircular groove (13) is formed in the outer surface of the female docking end (2) at the joint of each group of wedge surface meshing grooves and wedge surface meshing teeth, the central rotating rod (14) is rotatably mounted in the semicircular groove (13), the first connecting rod (15) which extends obliquely is fixedly connected to the central rotating rod (14), and the free end of the first connecting rod (15) faces the docking end of the female docking end (2); the inner side surface of the semicircular groove (13) facing the butt joint end of the female butt joint end (2) is provided with a through arc through groove I (16), the arc through groove I (16) is arc-shaped, and the circle center of the arc through groove I (16) is concentric with the rotation axis of the center rotating rod (14); The radial locking circular arc groove (21) is formed in the tooth top inclined plane of the rectangular tooth block (7), the port of the radial locking circular arc groove (21) is overlapped with the opening of the circular arc through groove I (16) which is positioned on the inner wall of the wedge surface clamping groove (6), and the radial locking circular arc groove (21) is concentric circular arc-shaped and positioned on the circumference of the same diameter of the circular arc through groove I (16); The locking circular arc rod (17) is formed by integrally bending the free end of the first connecting rod (15), the locking circular arc rod (17) is in a concentric circular arc shape with the circular arc through groove (16) and the radial locking circular arc groove (21), the shape of the locking circular arc rod (17) is accurately matched with the shape of the circular arc through groove (16) and the radial locking circular arc groove (21), and the locking circular arc rod (17) penetrates through the circular arc through groove (16) to be in adaptive connection with the radial locking circular arc groove (21) on the rectangular tooth block (7).
9. 9. The modularized joint quick docking mechanism of the multi-joint flexible robot according to claim 8, wherein the synchronous unlocking structure comprises a connecting rod II (18), an arc through groove II (19) and an unlocking arc rod (20), and a connecting rod II (18) which extends obliquely is fixedly connected to one side, far away from the connecting rod I (15), of the center rotating rod (14); the inner side surface of the semicircular groove (13) far away from the butt joint end of the female butt joint end (2) is provided with a through arc through groove II (19), the arc through groove II (19) is arc-shaped and is communicated with the wedge clamping groove (12), and the circle center of the arc through groove II (19) is concentric with the rotation axis of the center rotating rod (14); The unlocking circular arc rod (20) is formed by integrally bending the free end of the connecting rod II (18), the unlocking circular arc rod (20) is in a circular arc shape concentric with the circular arc through groove II (19), the shape of the unlocking circular arc rod (20) is accurately matched with the shape of the circular arc through groove II (19), and the unlocking circular arc rod (20) is rotationally inserted into the circular arc through groove II (19).
10. 10. The modularized joint quick docking mechanism of the multi-joint flexible robot according to claim 9, wherein the circumference of the circular arc through groove II (19) and the unlocking circular arc rod (20) is tangential to the inclined plane of the locking wedge block (10), and the end of the unlocking circular arc rod (20) is positioned in the circular arc through groove II (19) and is semicircular; The unlocking circular arc rod (20) can extend into the rectangular groove (9) along the circumferential track of the rotation of the circular arc through groove II (19); the connecting ends of the first connecting rod (15) and the locking circular arc rod (17) and the connecting ends of the second connecting rod (18) and the unlocking circular arc rod (20) are protruded out of the outer surface of the female butt joint end (2).

Description

Modularized joint quick-butt-joint mechanical structure of multi-joint flexible robot Technical Field The invention relates to the technical field of flexible robots, in particular to a modularized joint quick-butt-joint mechanical structure of a multi-joint flexible robot. Background In recent 3-5 years, multi-joint flexible robots (including rigid-flexible coupling, pneumatic flexibility and serial elastic joint types) are increasingly widely applied to the fields of industrial manufacture, precise operation, special operation and the like, and the robots generally adopt modularized joint designs, and the core requirement of the robots is that joint modules can be quickly replaced on site so as to flexibly adapt to different operation scenes and compensate for joint loss, thereby improving the operation efficiency of the robots, prolonging the service life and reducing the maintenance cost. The rapid butt joint mechanical structure between the modularized joints is used as a core component for connecting adjacent joint modules, the convenience of joint replacement and the stability after butt joint are directly determined, and the rapid butt joint mechanical structure is a key for realizing rapid replacement of the modularized joints and meeting the plug and play requirements of robots. At present, the mechanical butt joint structure of the modularized joint of the multi-joint flexible robot is mainly divided into two major types, namely a quick-release type and a strong locking type, and the two types of structures have obvious defects and cannot adapt to the special working condition of the joint of the flexible robot, so that the operation reliability and the modularized application effect of the robot are seriously affected. The quick-release type structure (comprising a plug-in type structure, a marble buckle type structure and a circumferential clamp spring type structure) has the core problems that the locking force is inherently insufficient, locking failure is extremely easy to occur, an axial pulling-resistant force is provided by only the elastic buckle or the deformation friction force of the marble, the mechanical self-locking structure is not provided, the axial detachment can be directly generated under the heavy load or impact working condition, the circumferential mechanical engagement structure is not provided, torque is transmitted by only the friction force of the butt joint end surface, when the flexible joint is twisted, the butt joint surface is easy to generate relative slipping and idle rotation phenomena, the torque cannot be stably transmitted, meanwhile, the effective anti-loosening design is lacked, and vibration in the movement process of a robot and deformation shake of the flexible joint can lead to self-rebound unlocking of the buckle, so that great potential safety hazards exist. Although the strong locking structure (comprising flange bolt locking, hoop locking and end face pressure plate locking) can ensure the locking reliability, the requirement of 'quick' butt joint cannot be met completely, namely, the disassembly and assembly process is required to be carried out by means of tools such as an internal hexagonal wrench and the like, the multi-bolt structure is also required to be locked symmetrically and separately, the time for disassembly and assembly of a single joint is not less than 3-5 minutes, the efficiency is extremely low, the force transmission is carried out by means of friction force of end face compression, a circumferential meshing structure is avoided, the problems of slippage and dislocation still occur under the working condition of large torque, meanwhile, the structure is heavy, the parts are numerous, and the modularized requirement of on-site quick replacement of a robot cannot be met, so that the modularized joint quick butt joint mechanical structure of the multi-joint flexible robot is provided. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a modularized joint quick-butt joint mechanical structure of a multi-joint flexible robot, which solves the problems. In order to achieve the above purpose, the invention provides a modular joint quick docking mechanism of a multi-joint flexible robot, comprising a male docking end and a female docking end coaxially assembled at upper and lower or front and rear adjacent joint docking ends, wherein one of the male docking end and the female docking end is rotatably arranged on a carrier joint main body, and further comprising: The axial positioning boss is coaxially and fixedly arranged on the butt joint end face of the male butt joint end, is integrally formed with the male butt joint end, and has an end face diameter smaller than that of the butt joint end face of the male butt joint end; The axial positioning groove is coaxially arranged at the center of the butt joint end face of the female butt joint end and is matched with the axial positioning boss in shape,