An easily disassembled flange connection component and robot

Abstract

The present invention relates to an easily detachable flange connection assembly and a robot, comprising: a first component and a second component, the first component can be sleeved on the second component, the first component and the second component respectively include an annular structure and openings distributed along the circumference of the connection assembly, the connection assembly includes a locking module and a positioning module, the locking module is used to connect the first opening of the first component and the third opening of the second component, the positioning module is used to connect the second opening of the first component and the fourth opening of the second component, the first, second, third, and fourth openings respectively include mating surfaces and non-contact surfaces located on different sides of the central axis of the locking module / positioning module in the circumferential or axial direction, the locking module or the positioning module can abut against its mating surface, and form a gap with its non-contact surface to limit the relative movement of the first component and the second component. The beneficial effects of the present invention are: the first component and the second component are easy to lock, the operating space is large, and the locking effect is stable.

Description

Technical Field

[0001] The invention relates to a connection structure between two components, in particular to an easily detachable flange connection component and a robot comprising the connection component. Background Art

[0002] With the development of society, robots have begun to be widely used in many fields, including household robots, industrial robots and other fields. Industrial robots usually need to connect different parts through joints, and the joints need to be positioned and locked by certain mechanisms. The joint connection structure in the prior art is mainly connected by the side of the joint. This connection method has a small installation space and is complicated to operate. The prior art also provides a method of adding a fixing ring to the outside of the joint shaft and tightening the fixing ring with screws, but this method increases the difficulty of processing and manufacturing, and the aesthetics are insufficient. The exposed screw head will also limit the improvement of the robot's protection level.

[0003] Therefore, it is necessary to design a connection component that is easy to install, simple in structure, and easy to operate, and a robot using the same. Summary of the invention

[0004] In view of this, an object of the present invention is to provide an easily detachable flange connection assembly which is easy to install, simple in structure and easy to operate, and a robot using the same.

[0005] The present invention can adopt the following technical scheme: a connecting component, comprising: a first component and a second component, the first component can be sleeved on the second component, the first component and the second component respectively include annular structures; the first component includes a first opening and a second opening distributed along the circumference of the first component; the second component includes a third opening and a fourth opening distributed along the circumference of the second component; it is characterized in that the connecting component includes a locking module for connecting the first opening and the third opening, and a positioning module for connecting the second opening and the fourth opening, the first opening and the third opening respectively include a mating surface and a non-contact surface, the mating surfaces of the first opening and the third opening in the axial or circumferential direction are located on different sides of the central axis of the locking module, the locking module can form a gap with the non-contact surface, and at least partially abut against the mating surface to limit the relative movement of the first component and the second component.

[0006] Furthermore, the second opening and the fourth opening respectively include a mating surface and a non-contact surface, and the axial or circumferential mating surfaces of the second opening and the fourth opening are located on different sides of the central axis of the positioning module. The positioning module can form a gap with the non-contact surfaces of the second opening and the fourth opening, and at least partially abut with the mating surfaces of the second opening and the fourth opening to limit the relative movement of the first component and the second component.

[0007] Furthermore, at least one of the mating surface abutted by the locking module and the mating surface abutted by the positioning module includes an inclined surface.

[0008] Furthermore, the inclination angle formed by the mating surface abutting the locking module relative to the central axis of the locking module is smaller than the inclination angle formed by the non-contact surface therewith, and / or the inclination angle formed by the mating surface abutting the positioning module relative to the central axis of the positioning module is smaller than the inclination angle formed by the non-contact surface therewith.

[0009] Furthermore, the inclination angle of the mating surface is smaller than the friction angle of the connecting component to achieve a self-locking function.

[0010] Furthermore, the first opening and the third opening include trapezoidal holes.

[0011] Furthermore, the second opening and the fourth opening include at least one of a trapezoidal hole, a circular hole, a polygonal hole, and an anisotropic hole.

[0012] Furthermore, the locking module and / or positioning module includes a locking piece and a limiting element, a through hole is formed inside the limiting element for the locking piece to pass through, and the limiting element can cooperate with the openings of the first component and the second component to limit the relative movement of the first component and the second component.

[0013] Furthermore, the locking member is a threaded rod or a screw, and the third opening and / or the fourth opening includes a thread that cooperates with the locking member.

[0014] Furthermore, the first opening and the second opening are arranged at two ends of the circumference of the first component, and the third opening and the fourth opening are arranged at two ends of the circumference of the second component.

[0015] Furthermore, the mating surface and the non-contact surface are respectively distributed circumferentially and axially along the connecting component, and the locking module can abut against the circumferentially distributed mating surface to limit the circumferential relative movement of the first component and the second component, and the locking module can contact the axially distributed mating surface to limit the axial relative movement of the first component and the second component.

[0016] Furthermore, the connection component is used in the field of robots, and is used to connect adjacent joints of a robot.

[0017] The present invention also provides the following technical solution: a robot, characterized in that the robot includes the above-mentioned connection component.

[0018] Furthermore, the robots include industrial robots and collaborative robots.

[0019] Compared with the prior art, the beneficial effects of the specific embodiments of the present invention are as follows: the first component and the second component include openings distributed along the circumferential direction, so that the user can lock the first component and the second component by operating the outer circumference of the components, and the outer circumference operation mode makes the operation space larger and the operation convenient. At the same time, the locking module and the positioning module are respectively connected to the corresponding openings on the first component and the second component, so that the locking structure is simple, and the locking is firm and the locking effect is relatively stable through the force of the mating surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above-mentioned objectives, technical solutions and beneficial effects of the present invention can be achieved through the following drawings:

[0021] Figure 1 Schematic diagram of a connection assembly according to an embodiment of the present invention

[0022] Figure 2 yes Figure 1 Exploded view of the connection assembly shown

[0023] Figure 3 and Figure 4 Circumferential schematic diagrams of a connection assembly before and after locking according to an embodiment of the present invention

[0024] Figure 5 and Figure 6 Circumferential schematic diagrams of the positioning module before and after the connection assembly is locked according to an embodiment of the present invention

[0025] Figure 7 and Figure 8 Circumferential schematic diagrams of the locking module before and after the locking of the connection assembly according to an embodiment of the present invention

[0026] Fig. 9 and Fig.10 Axial schematic diagrams of a connection assembly before and after locking according to an embodiment of the present invention

[0027] Fig.11 and Fig.12 Axial schematic diagrams of the positioning module before and after the connection assembly is locked according to an embodiment of the present invention

[0028] Fig.13 and Fig.14 Axial schematic diagrams of the locking module before and after the locking of the connecting assembly according to an embodiment of the present invention

[0029] Fig.15 yes Figure 1 Further exploded view of the connection assembly shown

[0030] Fig.16 A partial schematic diagram of a collaborative robot according to an embodiment of the present invention DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the present invention clearer, the scheme in the embodiment of the present invention will be described clearly and completely in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention but not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The present invention protects a connection component, see Figure 1-Figure 2 , Figure 1 A schematic diagram of a connection assembly 100 according to an embodiment of the present invention is exemplarily provided. Figure 2 Shows Figure 1 The structural exploded diagram of the connection assembly. The connection assembly 100 includes a first component 1 and a second component 2. The first component 1 can be sleeved on the second component. The first component 1 and the second component 2 each include an annular structure. Specifically, the first component 1 and the second component 2 both have a certain thickness, that is, their inner diameter and outer diameter have a certain difference. The inner diameter of the first component 1 is greater than or equal to the inner diameter of the second component 2, so that the first component 1 can be sleeved on the second component 2. Figure 2 The first component 1 includes a first opening 11 and a second opening 12 distributed along the circumference of the first component, and the second component 2 includes a third opening 21 and a fourth opening 22 distributed along the circumference of the second component 2. The connection assembly 100 also includes a locking module and a positioning module 30. The locking module is used to connect the first opening 11 and the third opening 21. The positioning module 30 is used to connect the second opening 12 and the fourth opening 22. The first opening 11 and the third opening 21 respectively include a plurality of surfaces, specifically including a mating surface and a non-contact surface. Specifically, the first opening 11 and the third opening The hole 21 includes a mating surface and a non-contact surface, that is, the first opening 11 includes a mating surface and a non-contact surface, and the third opening 21 also includes a mating surface and a non-contact surface. Specifically, the connection component 100 includes a circumferential direction and an axial direction. The circumferential direction and the axial direction not specifically described in the present invention generally refer to the circumferential direction and the axial direction of the connection component 100, and the connection component 100 not specifically described in the present invention generally refers to a component including a first component 1, a second component 2, a locking module and a positioning module 30, and the locking module and the positioning module 30 are installed as a whole with the first component 1 and the second component 2. Figure 3-Figure 4 , Figure 3 and Figure 4The circumferential cross-sectional views of the connection assembly 100 before and after locking are respectively shown. The first opening 11 and the third opening 21 include a mating surface and a non-contact surface respectively, and the mating surfaces of the first opening 11 and the third opening 21 located in the axial or circumferential direction are located on different sides of the central axis of the locking module respectively. Specifically, the first opening 11 and the third opening 21 include a mating surface and a non-contact surface located in the circumferential direction of the connection assembly 100 respectively, and the first opening 11 and the third opening include a mating surface and a non-contact surface located in the axial direction of the connection assembly 100 respectively. Specifically, in the circumferential direction of the connection assembly 100, the mating surfaces and non-contact surfaces of the first opening 11 and the third opening 21 are distributed respectively, and in the axial direction of the connection assembly 100, the mating surfaces and non-contact surfaces of the first opening 11 and the third opening 21 are distributed respectively. Specifically, the first opening 11 and the third opening 21 are located in the axial direction or the axial mating surfaces are located on different sides of the central axis of the locking module. When the locking module is at least partially connected to the first opening 11 and the third opening 21, the central axis of the locking module can pass through the first opening 11 and the third opening 21. In the circumferential direction of the connection component 100, the first opening 11 and the third opening 21 have mating surfaces located on different sides of the central axis of the locking module. In the axial direction of the connection component 100, the first opening 11 and the third opening 21 have mating surfaces located on different sides of the central axis of the locking module. The locking module can form a gap with the non-contact surface, and the locking module can at least partially abut against the mating surface to limit the relative movement of the first component 1 and the second component 2. In this embodiment, the first opening 11 and the third opening 21 respectively include a mating surface and a non-contact surface distributed along the circumference of the connection component 100, and include a mating surface and a non-contact surface distributed along the axial direction of the connection component 100. In the circumferential direction of the connection component 100, the first opening 11 and the third opening 21 respectively include mating surfaces located on different sides of the central axis of the locking module, and the locking module can abut against the mating surfaces on different sides of the central axis of the locking module to limit the circumferential relative movement of the first component 1 and the second component 2. Similarly, in the axial direction of the connection component 100, the first opening 11 and the third opening 21 respectively include mating surfaces located on different sides of the central axis of the locking module, and the locking module can abut against the mating surfaces on different sides of the central axis of the locking module to limit the axial relative movement of the first component 1 and the second component. Specifically, the first component 1 includes the first opening 11, the second component 2 includes the third opening 21, and the locking module can abut against the mating surfaces of the first opening 11 and the third opening 21 to limit the relative movement of the first component and the second component 2, that is, in the axial or circumferential direction of the connecting assembly 100, the locking module abuts against the mating surfaces located on different sides of the central axis of the locking module, that is, the locking module abuts against the mating surfaces of the first opening 11 and the third opening 21 located on different sides of the locking module to limit the relative movement of the first component and the second component 2.Similarly, in the axial direction of the connection assembly 100, the mating surface of the first opening 11 is located on one side of the central axis of the locking module, and the mating surface of the third opening 21 is located on the other side of the central axis of the locking module. Different sides of the locking module can respectively abut against the mating surface of the first opening 11 on one side of the central axis of the locking module and the mating surface of the third opening 21 on the other side of the central axis of the locking module to limit the relative movement of the first component 1 and the second component 2, and the relative movement includes circumferential relative movement and axial relative movement. By arranging openings in the circumference of the first component 1 and the second component 2, and locking the openings by connecting the locking module with the positioning module 30, when locking the first component 1 and the second component 2, it is possible to operate from the outside, and the operation space is large and the operation is convenient. By providing a mating surface and a non-contact surface for the first opening 11 and the third opening 21, the locking module can abut against the mating surface and form a gap with the non-contact surface, thereby locking the first component 1 and the second component 2 and limiting the relative movement of the first component 1 and the second component 2. The design structure is simple and easy to implement, and the abutment on different sides generates opposite forces, so that the locking effect is stable and reliable.

[0033] In this embodiment, the locking module connects the first opening 11 and the third opening 21, and is used to limit the relative movement of the first component 1 and the second component 2. The locking module can abut the matching surface of the first opening 11 and the third opening 21 to limit the relative movement of the first component 1 and the second component 2. Figure 4 As shown, when the locking module is connected to the first opening 11 and the third opening 21 and respectively abuts the mating surfaces of the first opening 11 and the third opening 21, the locking module generates forces in opposite directions on the first component 1 and the second component 2 to assist in locking the first component 1 and the second component 2. The connection assembly 100 includes a positioning module 30, and the positioning module 30 is used to connect the second opening 12 and the fourth opening. The first component includes the second opening 12, and the second component 2 includes the fourth opening 22. The second opening 12 is a through hole, and the positioning module 30 can pass through the second opening 12 and extend to the fourth opening 22. In one embodiment, the positioning module 30 can cooperate with the second opening 12 and the fourth opening 22 to limit the relative movement of the first component 1 and the second component 2. The positioning module 30 is used to preliminarily limit the relative movement of the first component 1 and the second component 2, and the locking module is used to lock the first component 1 and the second component 2 to limit the relative movement of the first component 1 and the second component 2. The positioning module 30 can have various forms, as long as it can connect the second opening 12 and the fourth opening 22 and can initially limit the relative movement of the first component and the second component 2. This embodiment provides a preferred implementation, but it is not the only way. This embodiment provides a preferred design of the positioning module 30 and the second opening 12 and the fourth opening 22. Figure 3-Figure 4Similar to the first opening 11 and the third opening 21, the second opening 12 and the fourth opening 22 include a mating surface and a non-contact surface, respectively. The mating surfaces of the second opening 12 and the fourth opening 22 in the axial or circumferential direction are located on different sides of the central axis of the positioning module 30. Similarly, in the circumferential direction of the connecting component 100, one side of the two sides of the central axis of the positioning module 30 is the mating surface of the second opening 12, and the other side is the mating surface of the fourth opening 22. In the axial direction of the connecting component 100, one side of the two sides of the central axis of the positioning module 30 is the mating surface of the second opening 12, and the other side is the mating surface of the fourth opening 22. From the perspective of the openings themselves, the second opening 12 is located on both sides of the central axis of the positioning module 30, and the mating surface of the second opening 12 and the non-contact surface of the second opening 12 are respectively. The same is true for the fourth opening 22. The positioning module 30 is at least partially connected to the second opening 12 and the fourth opening 22, and the central axis of the positioning module 30 can pass through the second opening 12 and the fourth opening 22. The positioning module 30 can form a gap with the non-contact surface of the second opening 12 and the fourth opening 22, and at least partially abut with the matching surface of the second opening 12 and the fourth opening 22 to limit the relative movement of the first component 2 and the second component 2. Specifically, in the circumferential or axial direction of the connection assembly 100, the second opening 12 is located on one side of the central axis of the positioning module 30 as a matching surface, and the other side is a non-contact surface, and the fourth opening 22 is located on one side of the central axis of the locking module as a matching surface, and the other side is a non-contact surface. By setting the positioning module 30 to respectively abut the circumferential and axial matching surfaces of the second opening 12 and the fourth opening 22, and forming a gap with the non-contact surfaces of the second opening 12 and the fourth opening 22, when the locking module limits the relative movement of the first component and the second component 2, a reverse force can be applied to the movement, so that the locking effect is stronger and the relative movement of the first component and the second component 2 is better limited.

[0034] In this embodiment, the connection assembly 100 includes a positioning module 30 and a locking module. The positioning module 30 is used to connect the second opening 12 and the fourth opening 22 to initially limit the relative movement of the first component 1 and the second component 2. The locking module is used to connect the first opening 11 and the third opening 21 to further limit the relative movement of the first component 1 and the second component 2. Figure 3-Figure 14The connection assembly 100 includes a first component 1 and a second component 2, wherein the first component 1 and the second component 2 include an annular structure. When the first component 1 is sleeved on the second component 2, the first component 1 and the second component 2 may move circumferentially and axially, so that the first component 1 and the second component 2 cannot be locked. The first component 1 and the second component 2 are respectively provided with openings along the circumferential direction. Preferably, the openings extend radially. By providing the openings, the first component 1 and the second component 2 can be connected through a module with a connection function, so as to achieve the effect of locking the first component 1 and the second component 2. Specifically, the distribution of the openings of the first component 1 and the second component 2 should be roughly close, so that when the first component 1 is sleeved on the second component 2, the openings of the first component 1 and the second component 2 can be at least partially aligned, so that the openings of the first component 1 and the second component 2 can be connected. Specifically, the first component 1 and the second component 2 respectively include two or more openings, for example, three holes, four holes or more, respectively, the number of openings of the first component 1 corresponds to the number of openings of the second component 2, and the positions of the openings of the first component 1 and the second component 2 can roughly correspond. In this embodiment, the first component 1 and the second component 2 each include two openings, that is, the first component 1 includes a first opening 11 and a second opening 12, and the second component 2 includes a third opening 21 and a fourth opening 22. The positioning module 30 connects the second opening 12 and the fourth opening 22 to limit the relative movement of the first component 1 and the second component 2, and the locking module connects the first opening 11 and the third opening 21 to further limit the relative movement of the first component 1 and the second component 2. When the first component is sleeved on the second component 2, it is necessary to limit the circumferential and axial movement of the first component 1 and the second component 2. Next, the process of limiting the movement of the first component 1 and the second component 2 will be described in conjunction with the diagram. In this embodiment, the first component 1 and the second component 2 will be described in the form of a ring. Figure 3 , the first component 1 and the second component 2, i.e., the ring, are placed vertically on a horizontal plane, and the main view is a ring for explanation. The "upper", "lower", "left" and "right" mentioned below are explained in the direction of the drawing and the direction of the connection component 100 placed in the current drawing for easy understanding, but it should be noted that this explanatory description does not constitute a limitation on the scope of protection of the present invention. Figure 3-4 , Figure 3 , 4 is a cross-sectional view of a connection assembly 100 along the circumferential direction according to an embodiment of the present invention, Figure 3 is a circumferential schematic diagram of the first component 1 and the second component 2 before being locked. Figure 4It is a circumferential schematic diagram after the first component 1 and the second component 2 are locked. The first component 1 includes a first opening 11 and a second opening 12, and the second component 2 includes a third opening 21 and a fourth opening 22. When the first component 1 is sleeved to the second component 2, the positions of the first opening 11 and the third opening 21 are roughly corresponding, and the positions of the second opening 12 and the fourth opening 22 are roughly corresponding, so that the locking module can connect the first opening 11 and the third opening 21, and the positioning module 30 can connect the second opening 12 and the fourth opening 22. The first opening 11 and the second opening 12 are through holes, and the locking module can extend through the first opening 11 to the third opening 21, and the positioning module 30 can extend through the second opening 12 to the fourth opening 22. When the first component 1 is sleeved to the second component 2, due to the gap between the two, the two will move relative to each other. The positioning module 30 is used to preliminarily limit the relative movement of the first component 1 and the second component 2. When connecting the first component 1 and the second component 2, the first component 1 is sleeved on the second component 2, the second opening 12 and the fourth opening 22 are connected by the positioning module 30, and then the first opening 11 and the third opening 21 are connected by the locking module to lock the connection assembly 100. The locking process of the positioning module 30 will be described in detail below. Figure 5 and Figure 6 The schematic diagram of the circumferential positioning module 30 before and after locking is shown. The positioning module 30 connects the second opening 12 and the fourth opening 22. In the circumferential direction of the connection assembly 100, the second opening 12 and the fourth opening 22 respectively include a mating surface and a non-contact surface. Figure 5 and Figure 6 As shown, before the first component 1 and the second component 2 are locked, the positioning module 30 is not in close contact with the mating surfaces of the second opening 12 and the fourth opening 22. After the first component 1 and the second component 2 are locked, the positioning module 30 abuts against the mating surfaces of the second opening 12 and the fourth opening 22. The central axis of the positioning module 30 is used as a reference line. It should be noted that the central axis of the positioning module 30 is a virtual line, which is used to facilitate the description of the positional relationship of each component. The second opening 12 and the fourth opening 22 both include a mating surface and a non-contact surface in the circumferential direction, that is, the positioning module 30 can abut against the mating surface to generate pressure to help the first component 1 and the second component 2 to be locked, and the positioning module 30 can form a gap with the non-contact surface, such as Figure 6 The matching surfaces of the second opening 12 and the fourth opening 22 are located on both sides of the central axis of the positioning module 30. Specifically, Figure 6The mating surface of the second opening 12 is located on the left side of the central axis of the positioning module 30, and the mating surface of the fourth opening 22 is located on the right side of the central axis of the positioning module 30. The left and right sides of the positioning module 30 are respectively in contact with the mating surface of the second opening 12 located on the left side of the positioning module 30 and the mating surface of the fourth opening 22 located on the right side of the positioning module 30 to limit the relative movement of the first component 1 and the second component 2. The above specifically describes the locking process of the positioning module 30 in the circumferential direction of the connecting component 100. Next, the locking process of the positioning module 30 in the axial direction of the connecting component 100 is described. Figure 11-12 Similarly, in the axial direction of the connecting assembly 100, the second opening 12 and the fourth opening 22 respectively include a mating surface and a non-contact surface. Taking the central axis of the positioning module 30 as a reference line, one side of the central axis of the positioning module 30 includes the mating surface of the second opening 12, and the other side includes the mating surface of the fourth opening 22. Specifically, in 11- Fig.12 In the invention, the left side of the central axis of the positioning module 30 includes a mating surface of the second opening 12, and the right side of the positioning module 30 includes a mating surface of the fourth opening 22. The left side of the positioning module 30 abuts against the mating surface of the second opening 12, and the right side abuts against the mating surface of the fourth opening 22 to limit the relative movement of the first component 1 and the second component 2. It should be noted that the specific position of the above mating surface on which side is located is only an exemplary description and does not constitute a limitation on the invention itself. The positioning module 30 is arranged to cooperate and abut with the second opening 12 and the fourth opening 22 in the circumferential direction and the axial direction respectively to limit the relative movement of the first component 1 and the second component 2.

[0035] The connection assembly 100 includes a locking module, which is used to connect the first opening 11 and the third opening 21 to limit the relative movement of the first component 1 and the second component 2. The process of locking the first component 1 and the second component 2 by the locking module will be described in detail below. First, the locking process in the circumferential direction of the connection assembly 100 will be described. Figure 7-Figure 8 , Figure 7 The schematic diagram of the locking module before locking is shown, and the first opening 11 and the third opening 21 are roughly corresponding. Figure 8 The schematic diagram of the locking module after locking is shown, with the central axis of the locking module as the reference line, in the exemplary Figure 8In the figure, the left side of the central axis of the locking module is the mating surface of the first opening 11, and the right side of the central axis of the locking module is the mating surface of the third opening 21. The left side of the locking module abuts with the mating surface of the first opening 11, and the right side of the locking module abuts with the mating surface of the third opening 21 to limit the circumferential movement of the first component 1 and the second component 2. The first opening 11 and the third opening 21 also include non-contact surfaces, respectively. The mating surface and the non-contact surface of the first opening 11 are respectively located on both sides of the central axis of the locking module, and the mating surface and the non-contact surface of the third opening 21 are respectively located on both sides of the central axis of the locking module, that is, the two sides of the locking module abut with the mating surfaces of the first opening 11 and the third opening 21, respectively. At the same time, the two sides of the locking module form a gap with the first opening 11 and the third opening 21, respectively. The setting of the gap allows the locking module to have a certain movement space, which is convenient for the locking module to complete the abutment with the mating surfaces on both sides to lock the first component 1 and the second component 2. In the axial direction of the connection assembly 100, reference Figure 13-14 Similarly, with the central axis of the locking module as a reference line, the mating surfaces of the first opening 11 and the third opening 21 are respectively located on different sides of the central axis of the locking module, and the locking module abuts against the mating surfaces on both sides thereof to limit the relative movement of the first component 1 and the second component 2. The arrangement of the locking module and the positioning module 30 enables the positioning module 30 to first connect the second opening 12 and the fourth opening 22 to initially limit the relative movement of the first component 1 and the second component 2, and then connect the first opening 11 and the third opening 21 through the locking module, and abut against the mating surfaces of the first opening 11 and the third opening 21 respectively to further limit the relative movement of the first component 1 and the second component 2, thereby locking the first component 1 and the second component 2, so that the stability of the connection assembly 100 is better.

[0036] Figure 3-Figure 4 shows a circumferential schematic diagram of the connection assembly 100 before and after locking, Figure 9-10 1 shows an axial schematic diagram of the connection assembly 100 before and after locking. Figure 3-Figure 4In the circumferential direction of the connecting component 100, after the positioning module 30 connects the second opening 12 and the fourth opening 22, there is a certain gap between the positioning module 30 and the second opening 12 and the fourth opening 22, and the first component 1 and the second component 2 have a certain degree of free movement in the circumferential direction, and can rotate slightly. The first opening 11 and the third opening 21 are connected by the locking module, and the first opening 11 and the third opening 21 are respectively abutted on both sides with the matching surfaces of the first opening 11 and the third opening 21. For example, the left side of the locking module abuts the matching surface of the first opening 11, and the right side of the locking module abuts the matching surface of the third opening 21. The first component 1 rotates counterclockwise relative to the second component due to the abutment and cooperation of the left side of the locking module. When the first component 1 rotates slightly and contacts the positioning module 30, it is restricted from moving, so as to complete the locking of the first component, and the right side of the locking module abuts the matching surface of the third opening 21, so that the second component 2 rotates clockwise relative to the first component, and the second component 2 rotates slightly and contacts the positioning module 30, it is restricted from moving, so as to complete the locking of the second component 2. The relative movement during the above locking process is performed simultaneously, and the locking directions of the first component 1 and the second component 2 are opposite, making the locking more secure. Figure 9-10 In the axial direction of the connecting component 100, similar to the locking of the connecting component 100 in the circumferential direction, after the positioning module 30 connects the second opening 12 and the fourth opening 22, a certain gap is formed between the positioning module 30 and the second opening 12 and the fourth opening 22, so that the first component 1 and the second component 2 have a small movement in the axial direction of the connecting component 100, and the first opening 11 and the third opening 21 are connected by the locking module, the right side of the locking module abuts the mating surface of the first opening 11, and the left side of the locking module abuts the mating surface of the third opening 21, that is, the left and right sides of the locking module are squeezed, the first component 1 moves to the right relative to the second component 2, and the second component 2 moves to the left relative to the first component 1 until they contact the positioning module 30, thereby completing the locking of the first component 1 and the second component, that is, limiting the relative axial movement of the first component and the second component.

[0037] In this embodiment, the mating surface includes an inclined surface. That is, the mating surface of the first opening 11 and the third opening 21 is an inclined surface, and the locking module can abut against the inclined surface to limit the relative movement of the first component 1 and the second component 2, and the mating surface of the second opening 12 and the fourth opening 22 is an inclined surface, and the positioning module 30 can abut against the inclined surface to limit the relative movement of the first component 1 and the second component 2. Specifically, the mating surface of the first opening 11 and the third opening 21 is an inclined surface, that is, the mating surface abutting against the locking module is an inclined surface; the mating surface of the second opening 12 and the fourth opening 22 is an inclined surface, that is, the mating surface abutting against the positioning module 30 is an inclined surface. Specifically, one or both of the mating surface abutted by the locking module and the mating surface abutted by the positioning module are inclined surfaces. By designing the mating surface as an inclined surface, the pressure distribution direction generated by the locking module when abutting the mating surface of the first opening 11 and the third opening 21 is suitable for enhancing the locking effect. At the same time, when the positioning module 30 abuts the mating surface of the second opening 12 and the fourth opening 22, it can generate a force to assist the locking module in locking the first component and the second component 2, thereby enhancing the locking effect, so that the locking effect of the connection assembly 100 is better and the locking is stable. In other embodiments, the mating surface can also take other forms. For example, in an achievable embodiment, the mating surface includes an arc-shaped concave surface. Accordingly, if the mating surface abutted by the locking module, that is, the mating surface of the first opening 11 and the third opening 21 is designed as an arc-shaped concave surface, the locking module has a structure that matches the arc-shaped concave surface, so that when the locking module abuts the mating surface, it can generate a force that causes the first component and the second component 2 to be locked. It should be noted that the pressure generated by the locking module and the mating surface does not require the two to be completely abutted. The locking module can at least partially abut the mating surface as long as it can generate a force that causes the first component and the second component 2 to be locked. Specifically, in this embodiment, the mating surface is an inclined surface, and the locking module and the positioning module 30 abut different mating surfaces respectively. The mating surfaces abutted by the locking module and the positioning module 30 can be designed as inclined surfaces, or only one of them can be designed as an inclined surface, while the other can be implemented in other deformable ways of the present invention. Specifically, the mating surface abutted by the locking module includes a mating surface along the circumference of the connecting component 100 and a mating surface along the axial direction of the connecting component 100, wherein the mating surface along the circumference of the connecting component 100 and the mating surface along the axial direction of the connecting component 100 may have the same shape, for example, both are inclined surfaces, or the shapes of the two may be inconsistent, for example, one of them is an inclined surface and the other has another shape. The mating surface abutted by the positioning module 30 is similar to the mating surface abutted by the locking module, and the mating surfaces in the circumferential direction and the axial direction may be consistent or inconsistent.Specifically, the mating surfaces abutted by the locking module in the circumferential direction or the axial direction respectively include the mating surface of the first opening 11 and the mating surface of the third opening 21. The mating surface of the first opening 11 and the mating surface of the third opening 21 are located on both sides of the central axis of the locking module. The mating surfaces of the first opening 11 and the third opening 21 can be the same shape or different shapes. For example, one of them is a slope and the other is an arc-shaped concave surface.

[0038] The locking module abuts the mating surfaces of the first opening 11 and the third opening 21. The first opening 11 and the third opening 21 include mating surfaces distributed along the circumferential direction and mating surfaces distributed along the axial direction. The inclination angle of the mating surface abutted by the locking module relative to the central axis of the locking module is smaller than the inclination angle formed by the non-contact surface and the central axis of the locking module. Specifically, in the circumferential direction of the connection assembly 100, the reference Figure 4 In the embodiment, the locking module abuts against the mating surface of the first opening 11 located on the left side of the central axis of the locking module, and abuts against the mating surface of the third opening 21 located on the right side of the central axis of the locking module, that is, in the circumferential direction, the first opening 11 located on the left side of the central axis of the locking module is a mating surface, and the first opening 11 located on the right side of the central axis of the locking module is a non-contact surface. The inclination angle formed by the mating surface on the left side relative to the central axis of the locking module is smaller than the inclination angle formed by the non-contact surface relative to the central axis of the locking module. Therefore, the locking module can abut against the mating surface on the left side of its central axis and form a gap with the non-contact surface on the right side. The principle of the third opening 21 in the circumferential direction is similar to that of the first opening 11, except that the directions of the mating surfaces of the third opening 21 and the first opening 11 are located on different sides of the central axis of the locking module. At the same time, the non-contact surface of the third opening 21 and the non-contact surface of the first opening 11 are located on different sides of the central axis of the locking module. In the axial direction of the connecting component 100, reference Fig.10, similar to the circumferential direction, the inclination angles formed by the matching surfaces of the first opening 11 and the third opening 21 and the central axis of the locking module are smaller than the inclination angles formed by the non-contact surfaces of the first opening 11 and the third opening 21 and the central axis of the locking module, and the matching surfaces of the first opening 11 and the third opening 21 are located on different sides of the central axis of the locking module. Also, the positioning module 30 abuts the second opening 12 and the fourth opening 22, and the second opening 12 and the fourth opening 22 include matching surfaces distributed along the circumferential direction and matching surfaces distributed along the axial direction. The inclination angle formed by the matching surface abutted by the positioning module 30 relative to the central axis of the positioning module 30 is smaller than the inclination angle formed by the non-contact surface and the central axis of the positioning module 30. Specifically, in the axial or circumferential direction of the connection assembly 100, the inclination angle formed by the mating surface of the second opening 12 and the central axis of the positioning module 30 is smaller than the inclination angle formed by the non-contact surface of the second opening 12 and the central axis of the positioning module 30, and the inclination angle formed by the mating surface of the fourth opening 22 and the central axis of the positioning module 30 is smaller than the inclination angle formed by the non-contact surface of the fourth opening 22 and the central axis of the positioning module 30. The distribution of the mating surface abutting the positioning module 30 in the circumferential and axial directions is similar to the distribution of the mating surface abutting the locking module, which will not be repeated here. By setting the inclination angle formed by the mating surface abutting the locking module and the central axis of the locking module to be smaller than the inclination angle formed by the non-contact surface not abutting therewith, the locking module can abut against the mating surface while leaving a gap with the non-contact surface, and at the same time, the slightly larger angle of the non-contact surface allows the locking module to have a certain range of movement, which facilitates the locking module to lock the first component 1 and the second component 2 from two different directions. By setting the angle between the mating surface abutting the positioning module 30 and the central axis of the positioning module 30 to be smaller than the angle formed by the non-contact surface therewith, the locking effect of the first component and the second component 2 is enhanced. At the same time, a certain movement range is provided when the locking module is locked, which facilitates the locking action of the locking module.

[0039] The locking module can abut against the mating surfaces of the first opening 11 and the third opening 21, and the positioning module 30 can abut against the mating surfaces of the second opening 12 and the fourth opening 22. The inclination angle formed by the first opening 11 and the third opening 21 relative to the central axis of the locking module is smaller than the friction angle between the mating surfaces of the connecting component 100, so as to achieve a self-locking function. Preferably, the inclination angle formed by the second opening 12 and the fourth opening 22 relative to the central axis of the positioning module 30 is smaller than the friction angle between the mating surfaces of the connecting component 100, so as to achieve a self-locking function. Specifically, the determination of the friction angle depends on the material of the connecting component. For example, in the absence of lubrication, the friction angle between steel and steel is about 8.5 degrees.

[0040] As described above, the first component 1 and the second component may include a plurality of openings, the number of openings of the first component 1 and the second component 2 corresponds, and the positions of the openings of the first component 1 and the second component 2 roughly correspond to facilitate the connection of the positioning module 30 or the locking module 40. Specifically, the positioning module 30 can cooperate with the openings of the first component 1 and the second component 2 to preliminarily limit the relative movement of the first component 1 and the second component 2. Specifically, the openings of the first component 1 and the second component 2 that cooperate with the positioning module 30 may include a variety of conventional shapes, for example, through pin connection, key connection, mortise and tenon connection, threaded connection, etc. Preferably, the connection assembly 100 includes a positioning module 30. Specifically, the locking module 40 can cooperate with the openings of the first component 1 and the second component 2 to further limit the relative movement of the first component 1 and the second component 2. Specifically, the openings of the first component 1 and the second component 2 that cooperate with the locking module 40 include a mating surface and a non-contact surface. The locking module 40 can abut against the mating surface and form a gap with the non-contact surface. The mating surfaces of the first component 1 and the second component 2 that abut against the locking module 40 are respectively located on different sides of the central axis of the locking module 40. Preferably, the openings of the first component 1 and the second component 2 that cooperate with the locking module 40 are trapezoidal holes. Preferably, the openings of the first component 1 and the second component 2 that cooperate with the positioning module 30 are trapezoidal holes. Figure 4 , Fig.10, the trapezoidal hole, i.e., the cross section of the hole along the main view direction is a trapezoid, and the cross section along the left view direction is a trapezoid, and the cross section of the hole may have a variety of shapes, such as rectangular, circular, etc. In a preferred embodiment of the present invention, the first component 1 and the second component 2 each include two openings, i.e., the first component 1 includes a first opening 11 and a second opening 12, and the second component 2 includes a third opening 21 and a fourth opening 22, the first opening 11 and the third opening 21 are trapezoidal holes, and the second opening 12 and the fourth opening 22 are at least one of a trapezoidal hole, a circular hole, a polygonal hole, and an anisotropic hole. Preferably, the second opening 12 and the fourth opening 22 are trapezoidal holes, and when the openings of the first component 1 and the second component 2 are all trapezoidal holes, the locking module 40 and the positioning module 30 are structures that at least partially match the trapezoidal holes. In this embodiment, the first opening 11 and the second opening 12 are arranged at both ends of the circumference of the first component 1, and the third opening 21 and the fourth opening 22 are arranged at both ends of the circumference of the second component 2, that is, the first opening 11 and the second opening 12 are arranged on the annular component of the first component 1, and the third opening 21 and the fourth opening 22 are arranged on the annular component of the second component 2. Preferably, the first opening 11 and the second opening 12 are arranged at both ends of the diameter of the first component 1, and the third opening 21 and the fourth opening 22 are arranged at both ends of the diameter of the second component 2, that is, the annular component has a diameter passing through the center, and the line connecting the first opening 11 and the second opening 12 can pass through the center of the annular component of the first component 1, and the line connecting the third opening 21 and the fourth opening 22 can pass through the center of the annular component of the second component 2. By arranging the first opening 11 and the second opening 12 at both ends of the diameter of the annular component of the first component 1, and arranging the third opening 21 and the fourth opening 22 at both ends of the diameter of the annular component of the second component 2, the first component and the second component are subjected to uniform force, which is convenient for locking.

[0041] The locking module 40 is used to connect the first opening 11 and the third opening 21, and the positioning module 30 is used to connect the second opening 12 and the fourth opening 22. Fig.15The locking module 40 includes a locking member 6 and a limiting element 4, wherein a through hole is formed inside the limiting element 4 for the locking member 6 to pass through, and the limiting element 4 of the locking module 40 is used to cooperate with the first opening 11 and the third opening 21 to limit the relative movement of the first component 1 and the second component 2. Preferably, the positioning module 30 includes a locking member 5 and a limiting element 3, wherein a through hole is formed inside the limiting element 3 for the locking member to pass through, and the limiting element 3 of the positioning module 30 is used to cooperate with the second opening 12 and the fourth opening 22 to limit the relative movement of the first component and the second component. Specifically, the locking member (5, 6) is a screw or a screw, and the third opening 21 and / or the fourth opening 22 include a thread that cooperates with the locking member, and the thread is located on the inner side of the third opening 21 and / or the fourth opening 22. By separating the locking module 40 and / or the positioning module 30, the locking module 40 and the positioning module 30 can be easily replaced after being worn, that is, only the locking member needs to be replaced, which is convenient for replacement on the one hand, and reduces the cost of replacing parts on the other hand. In another embodiment, the third opening and the fourth opening may not include threads, for example, the locking member may pass through the limiting element to extend to the third opening or the fourth opening, and the locking member may pass through the third opening, or the locking member may pass through the fourth opening, and the locking member end includes threads, and a nut can be used to screw and lock from the front end of the locking member to limit the position of the locking member, thereby limiting the relative movement of the first component and the second component.

[0042] It should be noted that in the embodiment described in the specification, the locking module 40 is used to connect the first opening 11 and the third opening 21, and the number of the first opening 11 and the third opening 21 is not limited to one opening each. Specifically, the locking module 40 can connect a group of openings consisting of the first opening 11 and the third opening 21, the first opening 11 can include two or more openings, and the third opening 21 can also include two or more openings correspondingly. The first opening 11 and the third opening 21 can respectively form two or more groups of openings. Correspondingly, the number of locking modules 40 is not limited to one, and two or more locking modules 40 can be used individually to connect two or more groups of openings consisting of the first opening 11 and the third opening 21. Similarly, the number of positioning modules is not limited to 1, and can be greater than or equal to 1.

[0043] The beneficial effects of the above embodiments are as follows: by providing circumferentially distributed openings for the first component and the second component, the relative movement of the first component and the second component is limited by the locking module 40 and the positioning module 30, so that the locking can be manipulated from the outside of the connecting component 100, which is convenient for operation and has a large operating space; the locking module 40 and the positioning module 30 abut against the mating surface to form a gap with the non-contact surface, so that the locking effect is stable.

[0044] The connection component 100 provided by the present invention is mainly used in the field of robots, for example, a modular robot, to connect two adjacent components. Preferably, it is used in the field of industrial robots. An industrial robot has multiple joints, and two adjacent joints can be connected by the connection component 100.

[0045] The present invention also provides a robot, comprising any one of the above-mentioned connection components 100. The robot includes an industrial robot, a collaborative robot, etc. The connection component 100 can be used to connect two adjacent components of the robot to restrict their mutual movement, thereby providing a stable robot structure and ensuring the stability of the robot operation.

[0046] The present invention provides an embodiment of a collaborative robot, Fig.16 The collaborative robot includes a base 200 for carrying the collaborative robot and facilitating the installation of the collaborative robot on the work platform; a mechanical arm including two or more connecting rod structures 400, and the mechanical arm can generate movement to assist the robot in performing work; a joint 300, and the joint is used to connect adjacent connecting rod structures, or can also be used to connect with adjacent joints 300. The collaborative robot also includes the above-mentioned connection component 100, and the connection component includes a first component and a second component, and the first component can be sleeved on the second component, and the first component and the second component respectively include an annular structure. In this embodiment, the connection component can be used to connect joints 300 and joints 300, that is, the first component includes a joint 300, and the second component includes another joint 300 adjacent to the first component. The connection component can be used to connect two adjacent joints, so that the two adjacent joints can be connected from the periphery of the joint, and the connection structure is stable. In this embodiment, the connection assembly can also be used to connect the joint 300 and the connecting rod 400, that is, the first component includes the joint 300, the second component includes the connecting rod 400, or the first component includes the connecting rod 400, the second component includes the joint 300, the first component is sleeved on the second component, that is, the joint 300 is sleeved on the connecting rod 400, or the connecting rod 400 is sleeved on the joint 300 to achieve the connection between the joint 300 and the connecting rod 400. The collaborative robot includes a connection assembly, which makes it more convenient to connect the joints of the collaborative robot, or between the joints and the connecting rods, and can be operated from the outside of the collaborative robot to connect and lock. At the same time, the connection assembly designed by the invention has a good locking effect, so that the collaborative robot can also ensure a good locking effect when working with a large load. Provided is a collaborative robot with a stable connection and locking structure, ensuring the stability and reliability of the collaborative robot.

[0047] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A connection assembly, comprising: A first component and a second component, wherein the first component can be sleeved on the second component, and the first component and the second component respectively include an annular structure; The first component comprises a first opening and a second opening distributed along the circumference of the first component; the second component comprises a third opening and a fourth opening distributed along the circumference of the second component; The connecting assembly comprises a locking module for connecting the first opening and the third opening, and a positioning module for connecting the second opening and the fourth opening, the first opening and the third opening respectively comprise a mating surface and a non-contact surface, the mating surfaces of the first opening and the third opening in the axial direction or the circumferential direction are located on different sides of the central axis of the locking module, the locking module can form a gap with the non-contact surface, and at least partially abut against the mating surface to limit the relative movement of the first component and the second component; The second opening and the fourth opening respectively include a mating surface and a non-contact surface, the mating surfaces of the second opening and the fourth opening in the axial direction or the circumferential direction are located on different sides of the central axis of the positioning module, the positioning module can form a gap with the non-contact surfaces of the second opening and the fourth opening, and at least partially abut with the mating surfaces of the second opening and the fourth opening to limit the relative movement of the first component and the second component; At least one of the mating surface abutted by the locking module and the mating surface abutted by the positioning module comprises an inclined surface; The inclination angle formed by the mating surface abutting the locking module with respect to the central axis of the locking module is smaller than the inclination angle formed by the non-contact surface therewith, and / or the inclination angle formed by the mating surface abutting the positioning module with respect to the central axis of the positioning module is smaller than the inclination angle formed by the non-contact surface therewith; The inclination angle of the mating surface is smaller than the friction angle of the connecting component to achieve a self-locking function; The locking module and / or positioning module comprises a locking member and a limiting element, wherein a through hole is formed inside the limiting element for the locking member to pass through, and the limiting element can cooperate with the opening of the first component and the second component to limit the relative movement of the first component and the second component; The locking member is a threaded rod or a screw, and the third opening and / or the fourth opening comprises a thread that matches the locking member; The mating surface and the non-contact surface are respectively distributed along the circumference and axial direction of the connection component, and the locking module can abut against the circumferentially distributed mating surface to limit the circumferential relative movement of the first component and the second component, and the locking module can contact the axially distributed mating surface to limit the axial relative movement of the first component and the second component.

2. The connection assembly according to claim 1, characterized in that: The first opening and the third opening include trapezoidal holes.

3. The connection assembly according to claim 1, characterized in that: The second opening and the fourth opening include at least one of a trapezoidal hole, a circular hole, a polygonal hole, and a special-shaped hole.

4. The connection assembly according to claim 1, characterized in that: The first opening and the second opening are arranged at two ends of the circumference of the first component, and the third opening and the fourth opening are arranged at two ends of the circumference of the second component.

5. The connection assembly according to any one of claims 1 to 4, characterized in that: The connection component is used in the field of robots, and is used to connect adjacent joints of a robot.

6. A robot, characterized in that: The robot comprises the connection assembly according to any one of claims 1-5.

7. The robot according to claim 6, characterized in that: The robot is an industrial robot.

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