WO2022152155A1

WO2022152155A1 - Rapid disassembly and assembly structure for robot joint, and quadruped robot using same

Info

Publication number: WO2022152155A1
Application number: PCT/CN2022/071559
Authority: WO
Inventors: 王兴兴; 钱兢
Original assignee: 杭州宇树科技有限公司
Priority date: 2021-01-13
Filing date: 2022-01-12
Publication date: 2022-07-21
Also published as: CN214215979U

Abstract

A rapid disassembly and assembly structure for a robot joint, the structure comprising a first power unit (1), an adapter (2) and a fastener (3), wherein the fastener (3) comprises a head portion and a rod portion; the adapter (2) is provided with at least one mounting hole of a structure having a larger end and a smaller end; a larger end region (5) of the mounting hole is configured for the head portion and the rod portion of the fastener (3) to pass therethrough, and a smaller end region (6) of the mounting hole is configured for only the rod portion to pass therethrough; and the adapter (2) is fixedly connected to the first power unit (1) by means of the fastener (3) via the smaller end region (6) of the mounting hole. Further disclosed is a quadruped robot using the structure. Before connection of a joint structure, the fastener can be mounted to a portion of the first power unit, which improves the assembly efficiency. In addition, when designing the structure, it is not necessary to consider leaving excessive space for assembly of the fastener, such that the overall structure of a joint unit is more compact.

Description

A fast disassembly and assembly structure of robot joints and a quadruped robot using the same

technical field

The utility model relates to the technical field of robot equipment, in particular to a robot joint quick disassembly and assembly structure and a quadruped robot using the same.

Background technique

At present, robots are widely used in the fields of production, logistics, scientific research and education, and their joint parts are often highly integrated, and disassembly and assembly during production, assembly and maintenance are time-consuming and labor-intensive, especially in the mass production process. Speed has a great impact on production efficiency.

technical problem

Therefore, it is urgent to optimize the connection structure at its joints to improve its production efficiency.

Further, multiple parts are generally required to be stacked together at the joint. When assembling, it is necessary to group the parts to be stacked, and then stack the parts of the same group together, and ensure that the connection holes of each other are aligned; The long bolts pass through the connection holes of different parts in sequence to realize the fixation of the stacked parts, the process is complicated, time-consuming and labor-intensive, and the assembly efficiency is low.

Furthermore, in order to screw the stacked components in the middle area, in the structural design, it is necessary to leave enough space for the use of tools, resulting in the joint structure being bloated and not compact enough.

Further, the assembly of individual parts of the joint structure is limited by the above-mentioned structure and the limitations of the assembly station and other factors, especially when there are interfering parts on both sides, it is impossible to reserve enough space for the use of electric tools, and can only be tightened by hand tools. It is time-consuming and labor-intensive, and the assembly efficiency is low.

technical solutions

In order to overcome the deficiencies of the prior art, one of the purposes of the present utility model is to provide a quick disassembly and assembly structure of a robot joint to improve the production, assembly and maintenance efficiency of the robot.

The second purpose of the present utility model is to provide a quick disassembly and assembly structure of a robot joint, wherein a connecting piece is provided with a mounting hole with a large and small head structure, the mounting hole is inserted and matched with the fastener, and the erected fastener acts as a guide It can realize the rapid and accurate stacking of the two connectors; at the same time, the connector can move relative to the fastener, which can effectively shorten the screw-in distance of the fastener, improve the production, assembly and maintenance efficiency of the robot joint, and save time and effort. , the assembly efficiency is high.

The third purpose of the present utility model is to provide a quick disassembly and assembly structure of a robot joint. When the two connectors are fixedly connected, a fastener is pre-assembled, and the fastener is inserted and moved through the installation hole, which can effectively shorten the tightening The precession distance of the firmware improves the production, assembly and maintenance efficiency of the robot joint, saves time and effort, and has high assembly efficiency; at the same time, the reserved assembly space is small, making the joint structure more compact.

The fourth purpose of the present utility model is to provide a quadruped robot, the joints of which adopt the above-mentioned quick disassembly and assembly structure, so as to improve the production, assembly and maintenance efficiency of the quadruped robot.

One of the purposes of the present utility model adopts the following technical scheme to realize:

A quick disassembly and assembly structure for a robot joint, comprising a first power unit, an adapter, and a fastener, wherein the fastener includes a head and a rod;

The adapter is provided with at least one installation hole with a large and small head structure, the large head area of the installation hole is for the head and the rod part of the fastener to pass through, and the small head area of the installation hole is only used for the installation. The rod part passes through, and the fastener connects the adapter and the first power unit fixedly through the small head area of the installation hole.

In the quick disassembly and assembly structure of the robot joint provided by the utility model, the large end area of the mounting hole is provided for the fastener to pass through as a whole, and the small end area connected with the large end area of the mounting hole is only provided for the rod portion of the fastener to pass through.

When connecting, screw the fastener part into the first power unit first, exposing the head of the fastener and the corresponding part of the rod outside the first power unit. Then the adapter is sleeved from the head of the fastener through its large end area; then the adapter is rotated circumferentially, so that the rod of the fastener enters and moves from the large end area of the mounting hole to the small end area of the mounting hole Inside. Then continue to tighten the fasteners to complete the fixed connection.

Compared with the traditional connection method: first, the fasteners can be installed into a part or most of the first power unit before the connection, which improves the assembly efficiency. In addition, the structure of the joint is complex. The traditional assembly method is limited by factors such as the assembly station. It is often impossible to use electric tools to screw in the fasteners. In this structure, the fasteners can be screwed into a part or a large part of the fasteners with electric tools first. Parts, align and then tighten with hand tools, which greatly saves assembly time. Second, the quick disassembly and assembly structure makes it unnecessary to consider setting aside too much space for the assembly of the fasteners when designing the structure, so that the overall structure of the joint unit is more compact.

Further, the erected fasteners play a guiding role, enabling fast and accurate assembly of the power unit and the adapter; at the same time, the adapter can move relative to the fastener, which can effectively shorten the screw-in distance of the fastener, further , Improve the production, assembly and maintenance efficiency of robots, save time and effort, and have high assembly efficiency.

As a preferred technical measure: the large end area of the mounting hole and the small end area of the mounting hole are respectively a round hole or an oval hole or a square hole or an incomplete hole, and the large end area of the mounting hole and the small end area of the mounting hole are connected to each other .

As a preferred technical measure: the first power unit and the adapter are provided with a convex part and a concave part that cooperate with each other. When the first power unit and the adapter are fixedly connected, the The protruding portion is fitted with the recessed portion to prevent the circumferential rotation of the adapter member relative to the first power unit.

Set up the convex part and the concave part that cooperate with each other, so that after the first power unit and the adapter are fixed, there will be no circumferential rotation under the action of shock and other factors, so as to prevent the rod part of the fastener from sliding in from the small head area Large header area, causing the connection to fail.

Further, the protruding length of the protruding portion is less than the distance value of the second precession of the fastener, that is, less than the precession value of the fastener in the small head area of the mounting hole; ensure that the adapter and the first power unit are During assembly, the protrusions do not interfere with the rotation of the adapter; after the adapter is rotated and fixed, the protrusions fall into the depression to prevent the circumferential rotation of the adapter. The structure is simple and practical, and the concept is fantastic.

As a preferred technical measure: the mounting holes are distributed on the adapter in the circumferential direction; the corresponding positions on the first power unit are provided with mounting holes matched with the fasteners, and the mounting holes are circumferentially arranged distributed on the first power unit.

The mounting holes and the mounting holes are distributed in the circumferential direction, so that the force of the adapter after connection is more uniform and the connection is tighter.

As the preferred technical measures:

the fasteners include bolts or studs or screws or rivets;

The assembling hole of the first power unit is a screw hole or a through hole of a nested nut.

Purpose two or/and three of the present utility model are realized by adopting the following technical solutions:

A quick disassembly and assembly structure for a robot joint, comprising a first connecting piece and a second connecting piece that need to be fixed to each other;

The first connector is provided with an assembly hole for the rod portion of the fastener to pass through; the second connector is provided with at least one mounting hole with a large and small head structure;

The mounting hole includes a large end area through which the head and the shank of the fastener pass, and a small end area through which only the shank of the fastener passes;

The large end area of the mounting hole is communicated with the small end area of the mounting hole to form a moving space for the fastener rod;

During assembly, the fastener first penetrates the assembly hole of the connector 1, and makes the head and a section of the rod near the head partially exposed;

The exposed length of the rod portion near the head is greater than or equal to the aperture depth of the small head area of the mounting hole;

Then the connecting piece 2 passes through the head of the fastener through the large head area of the mounting hole, and then moves the fastener or connecting piece two, so that a section of the rod near the head moves from the large head area of the installation hole to the small head of the installation hole In the area, the screw-in distance of the fasteners is shortened while realizing the accurate stacking of the first and second connecting pieces;

Then, the quick assembly of the first connector and the second connector is completed.

After continuous exploration and testing, the utility model breaks the existing assembly scheme of stacked parts. A connector of the utility model is provided with an installation hole with a large and small head structure, the installation hole is inserted and matched with the fastener, the erected fastener plays a guiding role, and can realize the rapid and accurate stacking of the two connectors; At the same time, the connector can move relative to the fastener, which can effectively shorten the screw-in distance of the fastener, improve the production, assembly and maintenance efficiency of the robot, save time and effort, and have high assembly efficiency.

Further, when the two connectors of the present invention are fixedly connected, one of the connectors is pre-assembled with a fastener, and the other connector is inserted into the head of the fastener and the adjacent rod through the large head area of the mounting hole. , and then move the fastener into the small head area of the installation hole to realize the fast and accurate fixation of the two connecting pieces by the fastener. Through this kind of plug-in movement and cooperation, the screw-in distance of the fastener can be effectively shortened, the production, assembly and maintenance efficiency of the robot can be improved, time and effort are saved, and the assembly efficiency is high; at the same time, the reserved assembly space is small, which makes the joint structure more compact.

Still further, one of the connectors of the present invention is pre-assembled with a fastener, that is, the first screw-in of the fastener can be performed by an electric tool since there are no interfering parts, and the screw-in amount can be adjusted according to the size of the installation hole. The depth of the hole is determined. In general, the length of the exposed rod near the head can be slightly larger than the hole depth of the installation hole to avoid the interference of the head of the fastener on the movement.

The precession value of the fastener in the small head area of the installation hole, that is, the secondary precession of the fastener, should be as small as possible to reduce the manual workload.

As the preferred technical measures:

The mounting hole is a gourd-shaped structure, and the diameter of the large head area is greater than or equal to the head size of the fastener;

The diameter of the small head area of the mounting hole is greater than or equal to the size of the shank of the fastener, and is smaller than the size of the head of the fastener;

The length of the fastener is greater than the depth of the installation hole, the structure is simple and practical, and the solution is feasible.

As the preferred technical measures:

The first connector is a first power unit, a second power unit or a housing or an adapter;

The corresponding connection 2 is an adapter or a power unit, and the utility model has a wide range of applications and is favorable for popularization and use.

The first connector and the second connector are provided with at least one mounting hole with a large and small head structure; the other is provided with a mounting hole for the rod portion of the fastener to pass through;

The large end area of the mounting hole is communicated with the small end area of the mounting hole to form a moving space for the rod of the fastener.

A connector of the utility model is provided with an installation hole with a large and small head structure, the installation hole is inserted and matched with the fastener, the erected fastener plays a guiding role, and can realize the rapid and accurate stacking of the two connectors; At the same time, the connector can move relative to the fastener, which can effectively shorten the screw-in distance of the fastener, improve the production, assembly and maintenance efficiency of the robot, save time and effort, and have high assembly efficiency.

Further, when the two connectors of the present invention are fixedly connected, one of the connectors is pre-assembled with a fastener, and the other connector is inserted into the head of the fastener and the adjacent rod through the large head area of the mounting hole. , and then move the fastener into the small head area of the installation hole to realize the fast and accurate fixation of the two connecting pieces by the fastener. Through this kind of plug-in movement cooperation, the screw-in distance of the fastener can be effectively shortened, the production, assembly and maintenance efficiency of the robot can be improved, time-saving and labor-saving, and the assembly efficiency is high; at the same time, the reserved assembly space is small, which makes the joint structure more compact.

The fourth purpose of the present utility model adopts the following technical scheme to realize:

A quadruped robot includes the above-mentioned robot joint quick disassembly and assembly structure.

beneficial effect

In the quick disassembly and assembly structure of the robot joint provided by the utility model, the large end area of the mounting hole is provided for the fastener to pass through as a whole, and the small end area connected with the large end area of the mounting hole is only provided for the rod portion of the fastener to pass through. When connecting, screw the fastener part into the first power unit first, and expose a part outside the first power unit; then insert the adapter into the head and part of the stem of the fastener through the large head area of the mounting hole; then Rotate the adapter in the circumferential direction, so that the rod of the fastener moves from the large end area of the installation hole to the small end area of the installation hole, and then continues to tighten the fastener to complete the fixed connection.

Compared with the traditional connection method: first, before the connection, the fastener can be installed into a part of the first power unit, which improves the assembly efficiency; and the structure of the joint is complex, and the traditional assembly method is limited by the assembly station, etc. Due to the limitation of factors, it is often impossible to use electric tools to screw in the fasteners. In this structure, the fasteners can be screwed in part with electric tools first, and then tightened with manual tools after alignment, which greatly saves assembly time; second, The quick disassembly and assembly structure makes it unnecessary to consider setting aside too much space for the assembly of the fasteners when designing the structure, so that the overall structure of the joint unit is more compact.

Further, the quadruped robot provided by the present invention includes a robot joint quick disassembly and assembly structure, the large end area of the installation hole is provided for the fastener to pass through as a whole, and the small end area of the installation hole that communicates with the large end area of the installation hole is only provided. For the shank of the fastener to pass through.

When connecting, screw the fastener part into the first power unit first, and expose a part outside the first power unit; then insert the adapter through the large head area of the mounting hole, and then rotate the adapter in the circumferential direction to tighten the The rod part of the fastener moves from the large end area of the installation hole to the small end area of the installation hole; then continue to tighten the fastener to complete the fixed connection.

Compared with the traditional connection method: first, before the connection, the fastener can be installed into a part of the first power unit, which improves the assembly efficiency; and the structure of the robot joint is complex, and the traditional assembly method is limited by the assembly station Due to the limitation of other factors, it is often impossible to use electric tools to screw in the fasteners. In this structure, the fasteners can be screwed in part with electric tools first, and then tightened with manual tools after alignment, which greatly saves assembly time; second , The structure of the robot makes it unnecessary to consider setting aside too much space for the assembly of fasteners when designing the structure, so that the overall structure of the robot is more compact.

Description of drawings

Fig. 1 is the exploded view of a kind of structure of the present utility model;

Fig. 2 is a kind of pre-installed structure schematic diagram of the present invention;

3 is a schematic diagram of a fastening structure of the present invention;

FIG. 4 is a schematic structural diagram of an application example of the present invention.

In the figure: 1, the first power unit; 2, the adapter; 3, the fastener; 4, the second power unit; 5, the large head area; 6, the small head area; 7, the assembly hole; 8, the raised part 9. Depression.

Embodiments of the present invention

Hereinafter, the present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be noted that, on the premise of no conflict, the embodiments or technical features described below can be combined arbitrarily to form new implementations. example.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

The terms "large," "small," "upper," "lower," and similar expressions used herein are for illustrative purposes only. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

As shown in Figure 1, Figure 2, Figure 3, a preferred embodiment of the present utility model:

A quick disassembly and assembly structure of a robot joint, comprising a first power unit 1, an adapter 2, and a fastener 3, wherein the fastener 3 includes a head and a rod;

The adapter 2 is provided with at least one installation hole with a large and small head structure. 6 is only used for the rod portion to pass through, and the fastener 3 fixedly connects the adapter 2 and the first power unit 1 through the small head area 6 of the mounting hole.

In the quick disassembly and assembly structure of the robot joint provided by the present invention, the large end area 5 of the installation hole is provided for the fastener 3 to pass through as a whole, and the small end area 6 communicated with the large end area 5 of the installation hole is provided only for the rod of the fastener 3 Ministry passed.

When connecting, part of the fastener 3 is screwed into the first power unit 1 first, and the head of the fastener 3 and the corresponding part of the rod are exposed outside the first power unit 1 . Then, the adapter 2 is inserted from the head of the fastener 3 through its large head area 5; then the adapter 2 is rotated circumferentially, so that the rod of the fastener 3 enters and moves from the large head area 5 of the mounting hole to the head of the fastener 3. within the small head area 6 of the mounting hole. Then continue to tighten the fastener 3 to complete the fixed connection.

As shown in FIG. 4 , the second power unit 4 will cause certain interference to the disassembly and assembly of the first power unit 1 and the adapter 2 .

Compared with the traditional connection method of the present invention, firstly, before the connection, the fastener 3 can be installed into a part or most of the first power unit 1, which improves the assembly efficiency. In addition, the structure of the joint is complex. The traditional assembly method is limited by factors such as the assembly station, and it is often impossible to screw the fastener 3 with a power tool. In this structure, a power tool can be used to screw the fastener 3 into a part first. Or most of them can be tightened with hand tools after alignment, which greatly saves assembly time. Second, the quick disassembly and assembly structure makes it unnecessary to consider setting aside too much space for the assembly of the fasteners 3 during the structural design, so that the overall structure of the joint unit is more compact.

A specific embodiment of the mounting hole structure of the present utility model:

The large end region 5 of the mounting hole and the small end region 6 of the mounting hole are respectively a round hole or an oval hole or a square hole or an incomplete hole, and the large end region 5 of the mounting hole and the small end region 6 of the mounting hole communicate with each other.

The utility model is provided with a specific embodiment of the anti-misrotation structure:

The first power unit 1 and the adapter 2 are provided with a raised portion 8 and a recess 9 that cooperate with each other. When the first power unit 1 and the adapter 2 are fixedly connected, the The protruding portion 8 is fitted with the recessed portion 9 to prevent the circumferential rotation of the adapter 2 relative to the first power unit 1 .

Set the protruding part 8 and the concave part 9 that cooperate with each other, so that after the first power unit 1 and the adapter 2 are fixed, they will not rotate in the circumferential direction under the action of vibration and shock, and prevent the rod part of the fastener 3 from being The small head area 6 slides into the large head area 5, causing the connection to fail.

Further, the protruding length of the protruding portion 8 is less than the distance value of the second precession of the fastener 3, that is, less than the precession value of the fastener 3 in the small head area 6 of the installation hole; ensure that the adapter 2 When assembled with the first power unit 1, the raised part 8 does not interfere with the rotation of the adapter 2; after the rotation of the adapter 2 is completed, the raised part 8 falls into the concave part 9, preventing the circumferential rotation of the adapter 2. It has a simple and practical structure and a wonderful conception.

A specific embodiment of the mounting hole layout of the present utility model:

The mounting holes are distributed on the adapter 2 in the circumferential direction; the first power unit 1 is provided with an assembly hole 7 in a corresponding position with the fastener 3, and the assembly hole 7 is in the circumferential direction. distributed on the first power unit 1 .

The mounting holes and the mounting holes 7 are distributed in the circumferential direction, so that the force of the adapter 2 after connection is more uniform and the connection is tighter.

The specific embodiment of the structure of the fastener 3 of the present utility model:

The fasteners 3 include bolts or studs or screws or rivets.

The specific embodiment of the structure of the assembling hole 7 of the present utility model:

The assembling hole 7 is a screw hole or a through hole of a nested nut.

An embodiment of a general structure of the present utility model:

The first connector and the second connector are provided with at least one mounting hole with a large and small head structure; the other is provided with an assembly hole 7 for the rod portion of the fastener 3 to pass through;

The mounting hole includes a large head area 5 for the head and the stem of the fastener 3 to pass through, and a small head area 6 for only the stem of the fastener 3 to pass through;

The large end area 5 of the installation hole is communicated with the small end area 6 of the installation hole, forming a moving space for the rod of the fastener 3;

During assembly, the fastener 3 first penetrates the assembly hole 7 of the connector 1, and partially exposes its head and a section of the rod near the head;

The exposed length of the rod portion close to the head is greater than or equal to the aperture depth of the small head area 6 of the mounting hole;

Then the connector 2 passes through the head of the fastener 3 through the large head area 5 of its mounting hole, and then moves the fastener or connector 2, and moves the connector 2 or the fastener 3, so that a section of the rod near the head is removed from the head. The large end area 5 of the installation hole is moved into the small end area 6 of the installation hole, so that the first connection and the second connection are accurately stacked, and the screw-in distance of the fastener 3 is shortened;

After continuous exploration and testing, the utility model breaks the existing assembly scheme of stacked parts. A connector of the present invention is provided with a mounting hole with a large and small head structure, the mounting hole is inserted and matched with the fastener 3, and the erected fastener 3 plays a guiding role, which can realize the rapid and accurate stacking of the two connectors. At the same time, the connector can move relative to the fastener 3, which can effectively shorten the screw-in distance of the fastener 3, improve the production, assembly and maintenance efficiency of the robot, save time and effort, and have high assembly efficiency.

Further, when the two connectors of the present invention are fixedly connected, one of the connectors is pre-assembled with the fastener 3, and the other connector is inserted into the head of the fastener 3 and the adjacent connector through the large head area 5 of the installation hole. Then move the fastener 3 into the small head area 6 of the installation hole, so as to realize the fast and accurate fixing of the fastener 3 to the two connecting pieces. Through this kind of plug-in movement and cooperation, the screw-in distance of the fastener 3 can be effectively shortened, the production, assembly and maintenance efficiency of the robot can be improved, time and effort are saved, and the assembly efficiency is high; at the same time, the reserved assembly space is small, which makes the joint The structure is more compact.

Still further, one of the connectors of the present invention is pre-assembled with the fastener 3, that is, the first precession of the fastener 3, since there are no interfering parts, can be performed by an electric tool, and the amount of precession can be adjusted according to the installation. The hole depth of the hole is determined. Generally, the length of the exposed rod near the head can be slightly larger than the hole depth of the installation hole, so as to avoid the interference of the head of the fastener 3 to the movement.

The precession value of the fastener 3 in the small head area 6 of the installation hole, that is, the secondary precession of the fastener 3, should be as small as possible to reduce the manual workload.

A specific embodiment of the size of the mounting hole of the present utility model:

The mounting hole is a gourd-shaped structure, and the diameter of the large head area 5 is greater than or equal to the head size of the fastener 3;

The diameter of the small head area 6 of the mounting hole is greater than or equal to the size of the stem of the fastener 3, and is smaller than the size of the head of the fastener 3;

The length of the fastener 3 is greater than the depth of the installation hole, the structure is simple and practical, and the solution is feasible.

The specific embodiment of the connector structure of the present utility model:

The first connector is a power unit or a housing or an adapter 2;

The corresponding connection 2 is an adapter 2 or a power unit. The utility model has a wide range of applications and is favorable for popularization and use.

Another embodiment of the general structure of the present utility model:

The large end area 5 of the installation hole is communicated with the small end area 6 of the installation hole to form a moving space for the rod portion of the fastener 3 .

A connector of the present invention is provided with a mounting hole with a large and small head structure, the mounting hole is inserted and matched with the fastener 3, and the erected fastener 3 plays a guiding role, which can realize the rapid and accurate stacking of the two connectors. At the same time, the connector can move relative to the fastener 3, which can effectively shorten the screw-in distance of the fastener 3, improve the production, assembly and maintenance efficiency of the robot, save time and effort, and have high assembly efficiency.

An application embodiment of the present utility model:

The above-mentioned embodiments are only the preferred embodiments of the present invention, and the scope of protection of the present invention cannot be limited by this. Any insubstantial changes and replacements made by those skilled in the art on the basis of the present invention belong to the scope of the present invention. The scope of protection of the utility model.

Claims

A quick disassembly and assembly structure for a robot joint, characterized by comprising a first power unit (1), an adapter (2), and a fastener (3), wherein the fastener (3) includes a head and a rod ;

The adapter (2) is provided with at least one installation hole with a large and small head structure, and the large head area (5) of the installation hole is for the head and the rod of the fastener (3) to pass through, and the The small end area (6) of the mounting hole only passes through the rod part, and the fastener (3) connects the adapter (2) with the first through the small end area (6) of the mounting hole. A power unit (1) is fixedly connected.
The quick disassembly and assembly structure of the robot joint according to claim 1, characterized in that, the large end area (5) of the installation hole and the small end area (6) of the installation hole are round holes or oval holes or square holes or not, respectively. A complete hole, the large end area (5) of the mounting hole and the small end area (6) of the mounting hole communicate with each other.
The quick disassembly and assembly structure of the robot joint according to claim 2, characterized in that, there are mutually matching raised portions (8) and A recessed portion (9), when the first power unit (1) is fixedly connected to the adapter (2), the raised portion (8) is fitted into the recessed portion (9) to prevent Circumferential rotation of the adapter (2) relative to the first power unit (1).
The quick disassembly and assembly structure for a robot joint according to claim 3, characterized in that the mounting holes are distributed on the adapter (2) along the circumferential direction; and the corresponding positions on the first power unit (1) are provided There are mounting holes (7) matched with the fasteners (3), and the mounting holes (7) are distributed on the first power unit (1) in the circumferential direction.
The robot joint quick disassembly and assembly structure according to any one of claims 1-4, characterized in that,

The fasteners (3) include bolts or studs or screws or rivets;

The assembly hole (7) of the first power unit (1) is a screw hole or a hole of a nested nut.
A robot joint quick disassembly structure, characterized in that:

Including connecting piece 1 and connecting piece 2 that need to be fixed to each other;

The connecting piece is provided with an assembly hole for the rod portion of the fastener to pass through;

The second connecting piece has at least one mounting hole with a large and small head structure;

The mounting hole includes a large end area through which the head and the shank of the fastener pass, and a small end area through which only the shank of the fastener passes;

The large end area of the mounting hole is communicated with the small end area of the mounting hole to form a moving space for the fastener rod;

During assembly, the fastener first penetrates the assembly hole of the connector 1, and makes the head and a section of the rod near the head partially exposed;

The exposed length of the rod portion near the head is greater than or equal to the aperture depth of the small head area of the mounting hole;

Then the connecting piece 2 passes through the head of the fastener through the large head area of the mounting hole, and then moves the fastener or connecting piece two, so that a section of the rod near the head moves from the large head area of the installation hole to the small head of the installation hole In the area, the screw-in distance of the fasteners is shortened while realizing the accurate stacking of the first and second connecting pieces;

Complete the quick assembly of connector 1 and connector 2.
The quick disassembly and assembly structure of the robot joint according to claim 6, characterized in that,

The mounting hole is a gourd-shaped structure, and the diameter of the large head area is greater than or equal to the head size of the fastener;

The diameter of the small head area of the mounting hole is greater than or equal to the size of the shank of the fastener, and is smaller than the size of the head of the fastener;

The length of the fastener is greater than the depth of the mounting hole.
The quick disassembly and assembly structure of the robot joint according to claim 6, characterized in that,

The first connecting piece is the first power unit or the second power unit or the casing or the adapter;

The corresponding connection two is an adapter or a power unit.
A quick disassembly and assembly structure of a robot joint, which is characterized in that it comprises a first connecting piece and a second connecting piece that need to be fixed to each other;

The first connector and the second connector are provided with at least one mounting hole with a large and small head structure; the other is provided with a mounting hole for the rod portion of the fastener to pass through;

The mounting hole includes a large end area through which the head and the shank of the fastener pass, and a small end area through which only the shank of the fastener passes;

The large end area of the mounting hole is communicated with the small end area of the mounting hole to form a moving space for the rod of the fastener.
A quadruped robot is characterized in that it comprises the robot joint quick disassembly and assembly structure according to any one of claims 1-9.