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CN-122008308-A - Modularized joint connection structure of force feedback main hand

CN122008308ACN 122008308 ACN122008308 ACN 122008308ACN-122008308-A

Abstract

The invention relates to a modularized joint connection structure of a force feedback main hand, which comprises a first joint module and a second joint module, wherein the first joint module is provided with a first connecting end, the second joint module is provided with a second connecting end, the modularized joint connection structure further comprises a prepositioning structure, a final positioning structure and a locking structure, the prepositioning structure comprises a positioning boss and a positioning hole which are matched with each other, the positioning boss is arranged on the first connecting end, the positioning hole is arranged at the center of the second connecting end, the final positioning structure comprises a positioning sleeve, the positioning sleeve can move between the first connecting end and the second connecting end to circumferentially position the first connecting end and the second connecting end, and the locking structure is used for driving the positioning sleeve to move and applying axial locking force to enable the first connecting end and the second connecting end to keep a pressed state. According to the invention, through the modularized connecting structure, the first joint module and the second joint module are detachably and fixedly connected, and a user can replace the joint modules with different torque specifications according to the requirements of different application scenes.

Inventors

  • ZHAO YUXIAN
  • WANG JIN

Assignees

  • 北京慧德智能机器人有限公司

Dates

Publication Date
20260512
Application Date
20260402

Claims (10)

  1. 1. A modularized joint connection structure of a force feedback main hand comprises a first joint module (1) and a second joint module (2), wherein the first joint module (1) is provided with a first connection end (101), the second joint module (2) is provided with a second connection end (201), and the modularized joint connection structure is characterized by further comprising a prepositioning structure, a final positioning structure and a locking structure, The positioning structure comprises a positioning boss (102) and a positioning hole (202) which are matched with each other, the positioning boss (102) is arranged on the first connecting end (101), and the positioning hole (202) is arranged at the center of the second connecting end (201); the final positioning structure comprises a positioning sleeve (3), wherein the positioning sleeve (3) can move between the first connecting end (101) and the second connecting end (201) so as to circumferentially position the first connecting end (101) and the second connecting end (201); And the locking structure is used for driving the positioning sleeve (3) to move and applying axial locking force so that the first connecting end (101) and the second connecting end (201) are kept in a pressed state.
  2. 2. The modular joint structure of a force feedback master hand as set forth in claim 1, wherein at least one guiding inclined surface (206) is disposed between the outer peripheral surface of the positioning boss (102) and the inner peripheral surface of the positioning hole (202), and the positioning boss (102) is in clearance fit with the positioning hole (202).
  3. 3. A modular joint structure of a force feedback master hand according to claim 2, wherein the outer circumferential surface of the positioning boss (102) is provided with at least one rotation preventing plane (103), and the inner circumferential surface of the positioning groove is provided with a corresponding mating plane (203).
  4. 4. A modular joint structure of a force feedback master hand according to claim 3, wherein the anti-rotation plane (103) is provided with an embedded groove (107), the embedded groove (107) is embedded with an elastic strip (108), and the elastic strip (108) protrudes out of the anti-rotation plane (103).
  5. 5. The modular joint connection structure of a force feedback main hand according to claim 1, wherein the positioning sleeve (3) is sleeved on the outer side of the second connecting end (201), the positioning teeth (301) are arranged on the positioning sleeve (3), positioning grooves (104) are formed in the outer peripheral surface of the first connecting end (101), and the positioning teeth (301) are inserted into the positioning grooves (104) through axial movement of the positioning sleeve (3).
  6. 6. A modular joint structure of a force feedback master hand as claimed in claim 5, characterized in that the second connection end (201) is provided with an axially extending sliding groove (204) on its outer circumference, and the positioning teeth (301) are arranged in the sliding groove (204).
  7. 7. A modular articulating structure of a force feedback master hand as claimed in claim 6, characterized in that the front end of the positioning teeth (301) is provided with a conical guide.
  8. 8. The modularized joint connection structure of a force feedback main hand according to claim 1, wherein the locking structure comprises an eccentric locking handle (4) rotatably mounted on a second connecting end (201) and a locking block (5) which is driven by the eccentric locking handle (4) to move in and out of a positioning hole (202) along the radial direction, a locking groove (105) for matching with the locking block (5) is arranged on the positioning boss (102), the end part of the locking block (5) is abutted with the eccentric part of the eccentric locking handle (4), and the eccentric locking handle (4) is connected with the positioning sleeve (3) through a connecting rod (7).
  9. 9. The modularized joint connection structure of a force feedback master hand according to claim 8, wherein a mounting hole (205) penetrating radially to the positioning hole (202) is arranged on the second connection end (201), the locking block (5) is inserted into the mounting hole (205), and a return spring (6) for driving the locking block (5) to be separated from the positioning hole (202) is arranged in the mounting hole (205).
  10. 10. A modular joint structure of a force feedback master according to claim 9, characterized in that a first inclined locking ramp (106) is provided in the locking groove (105), and a second inclined locking ramp (501) for mating with the first inclined locking ramp (106) is provided at an end of the locking block (5) close to the locking groove (105).

Description

Modularized joint connection structure of force feedback main hand Technical Field The invention relates to the technical field of mechanical arms, in particular to a modularized joint connection structure of a force feedback main hand. Background The force feedback master hand is core interaction equipment in the fields of virtual reality, medical robots, teleoperation control and the like, and transmits actions of operators and feeds back force sense information through a joint structure. Along with the development of the force feedback equipment to modularization, high precision and easy maintenance, the connection structure between the joint modules becomes a key factor influencing the performance of the whole machine. In the existing force feedback master hand joint connection technology, for example, chinese patent publication No. CN111604874A discloses a force feedback master hand of a master-slave manipulator, wherein all joint modules of the master hand are connected by adopting an integrated or semi-fixed structure, and joint modules with different functions, such as a rotary joint, a pitching joint and a telescopic joint, are difficult to interchange rapidly, so that flexible configuration and maintenance convenience of equipment are limited. Because the joint module cannot be replaced independently, a user cannot adjust the torque specification of each joint according to a specific application scene. In addition, when the driving unit of a certain joint, such as a motor and a speed reducer, fails, the failure module cannot be replaced independently, the whole machine is required to be repaired, the maintenance cost is high, and the downtime is long. Disclosure of Invention The invention aims to provide a modularized joint connection structure of a force feedback master hand, which solves the problems in the background technology. The above object of the invention is achieved by a modular joint connection structure of a force feedback master hand comprising a first joint module and a second joint module, the first joint module having a first connection end and the second joint module having a second connection end, and further comprising a pre-positioning structure, a final positioning structure and a locking structure, The positioning boss is arranged on the first connecting end, and the positioning hole is arranged at the center of the second connecting end; the final positioning structure comprises a positioning sleeve which can move between the first connecting end and the second connecting end so as to circumferentially position the first connecting end and the second connecting end; And the locking structure is used for driving the positioning sleeve to move and applying axial locking force so that the first connecting end and the second connecting end are kept in a compressed state. Preferably, at least one guiding inclined plane is arranged between the outer peripheral surface of the positioning boss and the inner peripheral surface of the positioning hole, and the positioning boss is in clearance fit with the positioning hole. Preferably, at least one rotation preventing plane is arranged on the outer peripheral surface of the positioning boss, and a corresponding matching plane is arranged on the inner peripheral surface of the positioning groove. Preferably, the anti-rotation plane is provided with an embedded groove, an elastic strip is embedded in the embedded groove, and the elastic strip protrudes out of the anti-rotation plane. Preferably, the positioning sleeve is sleeved on the outer side of the second connecting end, the positioning teeth are arranged on the positioning sleeve, a positioning groove is formed in the outer peripheral surface of the first connecting end, and the positioning teeth are inserted into the positioning groove through axial movement of the positioning sleeve. Preferably, an axially extending sliding groove is provided on the outer peripheral surface of the second connecting end, and the positioning teeth are provided in the sliding groove. Preferably, the front ends of the positioning teeth are provided with conical guide parts. Preferably, the locking structure comprises an eccentric locking handle rotatably mounted on the second connecting end and a locking block driven by the eccentric locking handle to radially move in and out of the positioning hole, a locking groove for matching with the locking block is formed in the positioning boss, the end part of the locking block is abutted to the eccentric part of the eccentric locking handle, and the eccentric locking handle is connected with the positioning sleeve through a connecting rod. Preferably, a mounting hole radially penetrating through the positioning hole is formed in the second connecting end, the locking block is inserted into the mounting hole, and a reset spring for driving the locking block to be separated from the positioning hole is arranged in the mounting hole. Preferably, a first incli