CN111085988B - Light-weight cooperative robot with quick-release connection mode - Google Patents
Light-weight cooperative robot with quick-release connection mode Download PDFInfo
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- CN111085988B CN111085988B CN201911338046.3A CN201911338046A CN111085988B CN 111085988 B CN111085988 B CN 111085988B CN 201911338046 A CN201911338046 A CN 201911338046A CN 111085988 B CN111085988 B CN 111085988B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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Abstract
The invention discloses a light-weight cooperative robot with a quick-release connection mode. The modularized joint is provided with a fixed butt joint disc and a rotary connecting disc driven by a driver; the quick release structure adopts a fixed butt joint disc and a rotary butt joint disc which are formed by butt-buckling two butt joint rings between adjacent modular joints, and then after a bolt is designed to pass through a channel formed by butt-buckling semi-stepped grooves formed in two linked discs, the bolt is matched and positioned with a shoulder in the channel by rotating the bolt. The spring is sleeved on the plug pin, and the spring is compressed and deformed after positioning, so that the plug pin can pop out of the channel after the plug pin is rotated reversely, and quick disassembly is realized. The invention has simple structure and convenient and reliable connection, and the adjacent modular joints have high-efficiency transmission torque after being connected.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a light-weight cooperative robot with a quick-release connection mode
Background
With the development of the automation industry, the ability of the robot is continuously improved by the robot technology, people hope that the robot can complete more complex operations, a lot of work is difficult to complete by a single robot, and more robots are required to be coordinated and cooperated with each other to complete together. This presents new challenges to the robotic industry.
Meanwhile, under different working conditions, the capacity requirements on the robot are different, redundant joint capacity occupies extra space and resources in the process of operation in narrow space, and proper matching cannot be achieved through man-machine cooperation, so that resource waste is caused.
In the maintenance and repair process of the machine body, most of the parts are fastened and connected through screws, the screws are prone to fatigue damage and life problems in the process of repeated dismounting and fastening, and parts are deformed due to overlarge partial stress in the fastening process, so that the service life of the machine is shortened.
Cooperative robots are increasingly accepted by customers by virtue of their safety and lightweight features. Such robots achieve cooperative cooperation around a person without the need for external shielding or safety devices. The occupied area and the used space resources are greatly reduced. Meanwhile, each assembly is a single whole, single joint modularization is achieved, each assembly is an independent driving unit, a driver, a speed reducer, an encoder and other elements are integrated inside the assembly, and an output shaft is connected with a next joint to drive the assembly to move without additionally adding other parts.
The existing cooperative robots are installed and connected through screws, and many of the existing cooperative robots do not have a modular scheme, and after single parts are connected through screws, parts of a next joint are sequentially arranged. The installation process is complicated to in-process at the maintenance dismantlement, easily produce fatigue damage, this scheme can reduce the loaded down with trivial details nature of installation and reduce the part fatigue of dismantling.
Disclosure of Invention
Aiming at the problems, the invention provides a light-weight cooperative robot with a quick-release connection mode, a quick-release structure without screw connection and an external hexagonal hole can be directly assembled and disassembled by using a general tool, so that the fatigue risk can be reduced, meanwhile, the compatibility of the robot to different configurations can be realized, the modular joint configuration can be switched at will according to the requirements of different working conditions, and the man-machine cooperation can achieve proper working efficiency.
The invention is used for a light-weight cooperative robot with a quick-release connection mode, and is formed by connecting a plurality of modularized joints in series, and the adjacent modularized joints are connected through a quick-release structure, so that the power transmission among the modularized joints can be realized.
The modularized joint is provided with two connecting surfaces, namely an active surface and a passive surface, and an active surface positioning disc and a fixed passive surface positioning disc which are driven by a driver to rotate are respectively designed on the two connecting surfaces.
Annular grooves are formed in the circumferential direction of the active surface positioning disc and the passive surface positioning disc to form a tooth groove structure; rectangular bulges and rectangular recesses which are matched with each other are designed at the corresponding positions of the top surfaces of the active surface positioning disk and the passive surface positioning disk; the rectangular protrusions and the rectangular concave recesses on the driving surface tail fixing disc and the driven surface positioning disc in the two modular joints are matched and spliced, so that circumferential fixation between the two modular joints is realized.
The quick release structure comprises a butt joint ring and a quick release plug; the axial positioning between two modularized joints is realized by buckling the active surface positioning disk and the passive surface positioning disk between the adjacent modularized joints by the double butting rings.
The quick-release plug comprises a bolt and a spring; after the bolt penetrates through a positioning disk positioning channel formed by buckling of semi-step grooves formed in the two linkage disks, the bolt is matched and positioned with a shoulder in the channel by rotating the bolt, and fixation between the two modular joints is realized.
The spring is sleeved on the plug pins, and after the two modular joints are fixed, the spring generates compression deformation; after the bolt is rotated reversely, the elasticity of the spring can enable the bolt to pop out of the channel, and quick disassembly is achieved.
The invention has the advantages that:
1. the light-weight cooperative robot with the quick-release connection mode has a simple structure, can adjust the contact area of the telescopic head and the rectangular groove in the circumferential direction and the size of the bolt according to different stress sizes, and is easy to process in batches; the external butt joint rings are provided with mounting clamping grooves, so that the problem of looseness generated in the movement process is solved; meanwhile, the transmission is a square key groove, and by means of the structure, the slipping phenomenon caused by screw connection can be avoided, and the torque is transmitted efficiently. The wiring can be arranged in the hollow hole, so that the number of externally hung cables of the robot is reduced. The screwless connecting structure can reduce the deformation caused by overlarge partial stress in the screw fastening process and prolong the service life.
2. The invention relates to a light-weight cooperative robot with a quick-release connection mode, wherein the connection part of the cooperative robot can use the scheme as a connection interface, and the cooperative robot is suitable for the interconnection of mechanical arms, and can be directly installed only by adjusting and replacing different components if the cooperative robot is required to adapt to different load working conditions. The length of the circular tube of the mechanical arm can be adjusted, so that the mechanical arm is suitable for different working spaces, the configuration is more flexible, the best working efficiency of the mechanical arm can be exerted, and the mechanical arm has good adaptability; the robot body can be sequentially assembled upwards by using the connection mode, and is suitable for quick installation of light-load mechanical arms.
Drawings
FIG. 1 is a schematic view of a modular articulation of a lightweight cooperative robot with quick release connection according to the present invention;
FIG. 2 is a schematic diagram of a modular joint structure of a lightweight cooperative robot with a quick release connection of the present invention;
FIG. 3 is a schematic view of the structure of the active surface docking plate of the modular joint of the lightweight cooperative robot with the quick release connection mode of the present invention;
FIG. 4 is a schematic view of a passive surface interface plate structure of a modular joint in a lightweight cooperative robot with a quick release connection manner according to the present invention;
FIG. 5 is a schematic view of a quick release structure of a lightweight cooperative robot with quick release connection according to the present invention;
FIG. 6 is a schematic view illustrating a docking ring docking manner in a quick release structure;
FIG. 7 is a schematic view of a plug structure in a quick release structure;
FIG. 8 is a schematic view of a structure of a quick release structure after a retractable head of a plug pin is pressed;
FIG. 9 is a schematic view illustrating an insertion manner of a quick release structure in a lightweight cooperative robot with a quick release connection manner according to the present invention;
fig. 10 is a schematic view of a rapid-release structure tightening manner in the lightweight cooperative robot with a rapid-release connection manner of the present invention.
In the figure:
1-modularized joint 2-quick-release structure 101-shell
102-drive 103-reducer 104-encoder
105-active surface positioning disk 106-passive surface positioning disk 107-rectangular protrusion
108-rectangular recess 109-annular recess 110-annular projection
201-docking ring 202-quick release plug 201a 1-docking ring positioning channel inner section
201a 2-outer segment 201b of positioning channel of butt-joint ring-rectangular groove 202 a-latch
202 b-spring 202a 1-outer end cap 202a 2-middle rod
202a 3-inner clip head 202a 4-telescopic head
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The light-weight cooperative robot with a quick-release connection mode is formed by connecting a plurality of modular joints 1 in series, and the adjacent modular joints 1 are connected through a quick-release structure 2, so that the power transmission among the modular joints 1 can be realized, as shown in figure 1.
The modular joint 1 comprises a housing 101, a driver 102, a reducer 103, an encoder 104 and a positioning plate, as shown in fig. 2. The housing 101 has two connecting end surfaces, which are an active surface and a passive surface. The driving surface is vertical to the driven surface. The driver 102 is mounted on the casing 101 through a bracket, the reducer 103 is mounted on an output shaft of the driver 102, an axis of the output shaft of the reducer 103 is axially arranged along the driving surface, and the end part of the output shaft extends out of the driving surface. The encoder 104 is installed on the driver 102, and is used for acquiring a rotational angular displacement signal of an output shaft of the driver 102 in real time and converting the rotational angular displacement signal into an electric signal, so as to detect joint signal feedback.
The positioning discs comprise an active surface positioning disc 105 and a passive surface positioning disc 106. The active surface positioning disk 105 is coaxially and fixedly mounted at the end of the output shaft of the speed reducer 103, and the bottom surface of the active surface positioning disk is in clearance fit with the active surface 101 a. The driven surface positioning disc 106 is a convex disc structure designed on the driven surface of the modular joint 1. The center positions of the top surfaces of the active surface positioning disk 105 and the passive surface positioning disk 106 are respectively and coaxially designed with a rectangular protrusion 107 and a rectangular recess 108 which are matched with each other, as shown in fig. 3 and 4. When the two modular joints 1 are in butt joint, the rectangular protrusions 107 and the rectangular recesses 108 on the driving surface positioning disk 105 on the modular joint A and the driven surface positioning disk 106 on the modular joint B are matched and spliced, and the top surfaces of the driving surface positioning disk 105 and the driven surface positioning disk 106 are attached to realize circumferential fixation between the two modular joints.
The quick release structure 2 includes a docking ring 201 and a quick release plug 202, as shown in fig. 5. Wherein, the butt joint ring cooperation initiative face positioning disk 105 and passive face positioning disk 106 realize the axial positioning between two modularization joints 1, and the concrete mode is:
as shown in fig. 6, the outer walls of the driving surface positioning disk 105 and the driven surface positioning disk 106 are axially provided with a plurality of layers of annular recesses 109 along the axial direction thereof, so that the outer wall of the whole body forms a groove-shaped tooth-shaped structure butt joint surface after the top surfaces of the driving surface positioning disk 105 and the driven surface positioning disk 106 are jointed.
The butt-joint ring 201 comprises a left half butt-joint ring and a right half butt-joint ring, and the end parts of the left half butt-joint ring and the right half butt-joint ring are in butt joint to form an integral annular butt-joint ring. The inner walls of the left half butting ring and the right half butting ring are axially designed with a plurality of layers of annular bulges 110 which are matched with butting faces formed by the outer walls of the driving face positioning disc 105 and the driven face positioning disc 106 after the top faces are jointed. Therefore, after the top surfaces of the active surface positioning disk 105 and the passive surface positioning disk 106 are attached, the left half butt joint ring and the right half butt joint ring are respectively buckled from two sides of the butt joint surface, so that the annular bulge 110 on the inner wall of the butt joint ring 201 is matched and inserted with the annular recess 109 on the butt joint surface, and the axial positioning between the two modular joints 1 is realized.
The quick-release plug 202 is matched with the driving surface positioning disk 105 and the driven surface positioning disk 106 to realize axial fixation between two modularized joints, and the specific mode is as follows:
first, the quick release plug 202 is designed to include a pin 202a and a spring 202b, as shown in FIG. 7. The plug 202a includes an outer end cap 202a1, a middle rod 202a2, and an inner clamp 202a 3. Wherein, outer end cap 202a1 is circular cap, and the surface has the hexagonal hole, can directly realize the dismouting of bolt 202a with general tool. The two opposite sides of the outer end cap 202a1 are designed with a telescopic head 202a4, the telescopic head 202a4 can be entirely inserted into the outer end cap 202a1 after being pressed, and conversely, the outer end cap 202a1 is popped up, as shown in fig. 8. The middle rod 202a2 is a cylindrical rod, on which a spring 202a3 is sleeved. The inner clip 202a3 has a rectangular cross section with the long side perpendicular to the ejection direction of the inner clip 202a 3.
Next, four slots 106f penetrating through the outer wall are designed on the top surfaces of the active surface positioning disk 105 and the passive surface positioning disk 106 at equal angular intervals in the circumferential direction. As shown in fig. 3 and 4, when the active surface positioning disk 105 is attached to the top surface of the passive surface positioning disk 106, every two of the four slots 106f are buckled with each other, so that four positioning disk positioning channels are formed in the circumferential direction; and the formed positioning disk positioning channel is provided with an inner section 3a of the positioning disk positioning channel and an outer section 3b of the positioning disk positioning channel, as shown in fig. 9; the inner section 3a of the positioning plate positioning channel is a cylindrical section, the diameter of the cylindrical section is slightly larger than the length of the long side of the inner clamping head 202a3, and the inner clamping head 202a3 can rotate in the inner section 3a of the positioning plate positioning channel. The transverse width and the longitudinal width of the outer section 3b of the positioning plate positioning channel are respectively matched with the lengths of the long side and the short side of the inner clamping head 202a3, so that the inner clamping head 202a3 can pass through the outer section 3b of the positioning plate positioning channel and then reach the front section 3a of the positioning plate positioning channel. The bottom surface of the inner side of the outer section 3b of the positioning disc positioning channel is also provided with a groove 3c, the transverse length of the groove 3c is matched with the length of the short side of the inner clamping head 202a3, and the depth of the groove 3c ensures that the vertical distance of the bottom surfaces of the grooves 3c of the two slots 106 is matched with the length of the long side of the inner clamping head 202a3 after the two slots 106 are buckled with each other to form the positioning disc positioning channel, so that the positioning groove of the inner clamping head 202a3 is formed.
Finally, a docking ring positioning channel coaxial with the positioning disc positioning channel is further designed at a position corresponding to the positioning disc positioning channel in the circumferential direction of the left half docking ring and the right half docking ring, as shown in fig. 9, the docking ring positioning channel is divided into a docking ring positioning channel inner section 201a1 and a docking ring positioning channel outer section 201a 2. The inner section 201a1 of the butt-joint ring positioning channel is a rectangular groove, and the size of the groove is matched with that of an inner chuck 202a 3; the outer segment 201a2 of the docking ring positioning channel is a circular groove with a size matching the size of the outer end cap 202a 1; therefore, the inner clamping head 202a3 can pass through the outer section 201a2 of the docking ring positioning channel and the inner section 201a1 of the docking ring positioning channel and enter the positioning disk positioning channel; two rectangular grooves 201b are further designed on the outer wall of the docking ring 201 at opposite positions of two transverse sides of the docking ring positioning channel, and the depth of each rectangular groove 201b is smaller than the thickness of the telescopic head 202a 2.
After the docking ring 201 completes the positioning between the two modular joints 1 through the design, the pins 202a are inserted into the four positioning plate positioning channels in the circumferential direction, and the insertion mode of the pins 202a is as follows:
first, the telescoping head 202a4 is pressed to make the telescoping head 202a4 fully enter the outer end cap 202a 1; meanwhile, the quick-release plug 202 is sequentially inserted into the docking ring positioning channel and the positioning disk positioning channel, in the process, the inner chuck 203a3 sequentially passes through the docking ring positioning channel outer section 201a2, the docking ring positioning channel inner section 201a1, the positioning disk positioning channel outer section 3b to reach the positioning disk positioning channel inner section 3a, at the moment, the spring 202a3 and the outer end cap 202a1 are both positioned in the docking ring positioning channel inner section 201a1 and enter the positioning disk positioning channel, and the two telescopic joints 202a4 are blocked by the inner wall of the docking ring positioning channel inner section 201a1 and cannot be ejected. Continuing to insert the pin 202a inwardly, the spring 202b is restrained by the shoulder formed between the inner portion 201a1 of the docking ring positioning channel and the outer portion 201a2 of the docking ring positioning channel, begins to compress, and eventually causes the inner clip 202a3 to reach the end of the inner portion 3a of the positioning plate positioning channel, as shown in fig. 9.
Then the plug 202a is rotated by 90 degrees clockwise or counterclockwise through an inner hexagonal tool, so that the telescopic head 202a4 of the plug 202a reaches the rectangular groove 201b at the opposite position at the two lateral sides of the docking ring positioning channel, and simultaneously, the inner chuck 202a3 rotates 90 degrees together with the plug 202 a. At this time, under the elastic force of the spring 202b, the plug pin 202a is pushed to move outwards, so that the inner clamping head 202a3 enters an inner clamping head positioning groove formed by a groove 3c at the front part of the outer section 3b of the positioning plate positioning channel, and the clamping head positioning groove realizes the circumferential movement and circumferential rotation limitation of the plug pin 202 a; meanwhile, the outer end cap 202a1 reaches the rectangular groove 201b at the opposite position on the two lateral sides of the docking ring positioning channel, at this time, the telescopic head 202a4 automatically pops out into the rectangular groove 201b, and the telescopic head 202a4 protrudes out of the outer wall of the docking ring, as shown in fig. 10. So far, the plug 202a is inserted to realize the relative fixation among the docking ring 201, the active surface positioning disk 106a and the passive surface positioning disk 106b, and further realize the axial fixation among the two modular joints.
Similarly, as shown in the figure, when the two modular joints are disassembled, the telescopic head 202a4 on the plug pin 202 is pressed down, and meanwhile, the plug pin 202 is pushed inwards, the spring 202b is compressed, so that the inner clamping head 202a3 is separated from the inner clamping head positioning groove formed by the front groove 3c of the outer section 3b of the positioning plate positioning channel and reaches the tail end of the inner section 3a of the positioning plate positioning channel, and at the moment, the two telescopic heads 202a4 are blocked by the inner wall of the inner section 201a1 of the docking ring positioning channel and cannot pop up.
Then the pin 202a is rotated by 90 degrees clockwise or counterclockwise by a hexagon socket head tool, and at this time, the pin 202a is pushed to move outward by the elastic force of the spring 202b, so that the inner clip 203a3 is ejected through the outer section 3b of the positioning plate positioning channel, the inner section 201a1 of the docking ring positioning channel, and the outer section 201a2 of the docking ring positioning channel in sequence. Thereby enabling quick disassembly between the two modular joints.
Claims (4)
1. A light-weight cooperative robot with a quick-release connection mode is formed by connecting a plurality of modularized joints in series, and the adjacent modularized joints are connected through a quick-release structure, so that the power transmission among the modularized joints can be realized; the method is characterized in that:
the modularized joint is provided with two connecting surfaces, namely an active surface and a passive surface, and an active surface positioning disc and a fixed passive surface positioning disc which are driven by a driver to rotate are respectively arranged on the two connecting surfaces;
annular grooves are formed in the circumferential direction of the active surface positioning disc and the passive surface positioning disc to form a tooth groove structure; rectangular bulges and rectangular recesses which are matched with each other are designed at the corresponding positions of the top surfaces of the active surface positioning disk and the passive surface positioning disk; the rectangular bulges on the active surface positioning disk and the passive surface positioning disk in the two modular joints are matched with the rectangular recesses for insertion connection, so that circumferential fixation between the two modular joints is realized;
the quick-release structure comprises a butt-joint ring and a quick-release plug; the axial positioning between two modularized joints is realized by buckling a driving surface positioning disk and a driven surface positioning disk between adjacent modularized joints by using double butting rings; the butt joint ring is composed of two semi-rings, is butt-buckled at the connecting position of the driving surface positioning disk and the driven surface positioning disk, and is matched and positioned with the outer walls of the driving surface positioning disk and the driven surface positioning disk in the inner circumferential direction through teeth and tooth grooves;
the quick-release plug comprises a bolt and a spring; after the bolt penetrates through a positioning disc positioning channel formed by buckling semi-stepped grooves formed in the active surface positioning disc and the passive surface positioning disc, the bolt is matched and positioned with a shoulder in the channel by rotating the bolt, so that the two modular joints are fixed;
the spring is sleeved on the plug pins, and after the two modular joints are fixed, the spring generates compression deformation; after the bolt is rotated reversely, the elasticity of the spring enables the bolt to pop out of the channel, and quick disassembly is achieved.
2. A lightweight cooperative robot with quick release attachment as claimed in claim 1, wherein:
wherein, the bolt comprises an outer end cap, a middle rod and an inner clamping head; telescopic heads are designed at opposite positions on two sides of the outer end cap, and the outer end cap can integrally enter the inner part of the outer end cap after being pressed; the middle rod is sleeved with a spring; the inner chuck is rectangular in section;
the positioning plate positioning channel is provided with an inner section of the positioning plate positioning channel and an outer section of the positioning plate positioning channel; the inner section of the positioning channel of the positioning plate is a cylindrical section, so that the inner chuck can rotate in the inner section of the positioning channel of the positioning plate; the transverse width and the longitudinal width of the outer section of the positioning plate positioning channel are respectively matched with the lengths of the long side and the short side of the inner clamping head, so that the inner clamping head can pass through the outer section of the positioning plate positioning channel and then reach the inner section of the positioning plate positioning channel;
a docking ring positioning channel coaxial with the positioning disc positioning channel is further designed at the position corresponding to the positioning disc positioning channel in the circumferential direction of the two docking rings, and the docking ring positioning channel is divided into an inner section of the docking ring positioning channel and an outer section of the docking ring positioning channel; the inner section of the butt joint ring positioning channel is a rectangular groove, and the size of the rectangular groove is matched with that of the inner chuck; the outer section of the butt-joint ring positioning channel is a circular groove, and the size of the circular groove is matched with that of the outer end cap; therefore, the inner chuck can pass through the outer section of the butt joint ring positioning channel and the inner section of the butt joint ring positioning channel and then enter the positioning disc positioning channel; the opposite positions of the two transverse sides of the butt joint ring positioning channel are also provided with two rectangular grooves on the outer wall of the butt joint ring, and the depth of each rectangular groove is smaller than the thickness of the telescopic head.
3. A lightweight cooperative robot with quick release connection as claimed in claim 2, wherein: the inboard bottom surface of positioning disk positioning channel outer section still opens flutedly, and the horizontal length of recess matches with interior dop minor face length, and the degree of depth of recess guarantees that the recess bottom surface vertical distance on driving face positioning disk and the driven face positioning disk matches with the long limit length of interior dop in the positioning disk positioning channel, forms the constant head tank of interior dop.
4. A lightweight cooperative robot with quick release connection as claimed in claim 3, wherein: the inserting mode of the bolt is as follows:
firstly, pressing the telescopic head to enable the telescopic head to completely enter the outer end cap; meanwhile, a quick-release plug is sequentially inserted into the butt-joint ring positioning channel and the positioning disc positioning channel, in the process, an inner clamping head sequentially passes through the outer section of the butt-joint ring positioning channel, the inner section of the butt-joint ring positioning channel and the outer section of the positioning disc positioning channel to reach the inner section of the positioning disc positioning channel, the spring and the outer end cap are both positioned in the inner section of the butt-joint ring positioning channel to enter the positioning disc positioning channel, and the two telescopic joints are blocked by the inner wall of the inner section of the butt-joint ring positioning channel and cannot pop out; inserting the plug pin inwards continuously, limiting the spring by a shoulder formed between the inner section of the butt joint ring positioning channel and the outer section of the butt joint ring positioning channel, starting to compress, and finally enabling the inner clamping head to reach the tail end of the inner section of the positioning channel of the positioning disc;
then, the plug pin is rotated by 90 degrees clockwise or anticlockwise, so that the telescopic head of the plug pin reaches the rectangular groove positions at opposite positions on two transverse sides of the butt joint ring positioning channel, and meanwhile, the inner clamping head rotates by 90 degrees along with the plug pin; at the moment, under the action of the elastic force of the spring, the bolt is pushed to move outwards, so that the inner clamping head enters an inner clamping head positioning groove formed by a groove at the front part of the outer section of the positioning channel of the positioning plate, and the circumferential movement and the circumferential rotation limitation of the bolt are realized by the inner clamping head positioning groove; meanwhile, the outer end cap reaches the rectangular groove at the opposite position of the two transverse sides of the butt joint ring positioning channel, at the moment, the telescopic head automatically pops out to enter the rectangular groove, and the telescopic head protrudes out of the outer wall of the butt joint ring; so far, through inserting the bolt, realized the relative fixed between butt joint ring, initiative face positioning disk, passive face positioning disk three, and then realized the axial fixity between two modularization joints.
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| CN214215979U (en) * | 2021-01-13 | 2021-09-17 | 杭州宇树科技有限公司 | Robot joint quick assembly disassembly structure and use its four-footed robot |
| CN113146679B (en) * | 2021-04-20 | 2022-06-03 | 哈尔滨工业大学 | Incomplete-constraint quick butt joint mechanism |
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