Connecting device for robot arms and joint modules

Abstract

The application relates to a connecting device of a robot arm and a joint module, which comprises a robot arm, a fastener and a connecting assembly. The robot arm is outwardly convex in a first direction to form a first mounting portion, wherein the first direction is the thickness direction of the robot arm; a first mounting groove with a first opening is arranged on the first mounting portion, and the first mounting groove is provided with a first inclined surface; the fastener is provided with a second mounting groove for accommodating the first mounting portion, and the fastener is provided with a first mounting hole opposite to the first opening; the connecting assembly comprises a sliding ring and a connecting piece; the sliding ring is sleeved on the outer periphery of the fastener and slides in the first direction; the connecting piece is in abutment with the sliding ring and can slide relative to the hole wall of the first mounting hole through the first mounting hole; the sliding ring has a first position and a second position when sliding in the first direction; in the first position, the connecting piece is separated from the first inclined surface; and in the second position, the connecting piece is pressed against the first inclined surface. Through the device, the robot arm and the joint module are convenient to disassemble and assemble.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a connecting device of a robot arm and a joint module. BACKGROUND

[0002] A collaborative robot is generally composed of a plurality of joint modules and a robot arm, each joint module providing one or two rotational degrees of freedom, which are transmitted to different joint modules through the robot arm, and finally forming a collaborative robot with six or seven degrees of freedom. The joint module of the collaborative robot is generally composed of a harmonic reducer directly connected to a motor, a flexible gear as an input end, and a steel gear as an output end connected to the robot arm. In the prior art, the connection between the joint module and the robot arm is mostly achieved by the threaded hole of the cross-roller bearing provided with the harmonic reducer and the threaded connecting piece of the robot arm. This connection method, since the threaded hole is parallel to the axis of the harmonic reducer, not only requires additional installation space, but also is extremely difficult to install and disassemble, thereby bringing great inconvenience to the installation, disassembly and processing of the collaborative robot. SUMMARY

[0003] Therefore, it is necessary to provide a connecting device of a robot arm and a joint module in view of the technical problem that the robot arm and the joint module are difficult to install and disassemble.

[0004] A connecting device of a robot arm and a joint module, comprising:

[0005] The robot arm is outwardly convex in a first direction and has a first mounting portion, wherein the first direction is the axial direction of the robot arm; the first mounting portion is configured with a first mounting groove having a first opening, and one side wall of the first mounting groove is configured with a first inclined surface inclined in the first direction from the outer circumferential side of the robot arm to one side of the groove cavity of the first mounting groove;

[0006] A fastener is configured to be in driving connection with the harmonic reducer, and the fastener is configured with a second mounting groove having a second opening, the first mounting portion is contained in the second mounting groove, and the fastener is configured with a first mounting hole penetrating in the radial direction thereof, the first mounting hole is opposite to the first opening;

[0007] A slip ring is sleeved on the outer periphery of the fastener, and the slip ring can slide in the first direction;

[0008] A connecting assembly is arranged on one side of the slip ring, and the other side of the connecting assembly passes through the first mounting hole and can slide relative to the hole wall of the first mounting hole;

[0009] The sliding ring has a first position and a second position when sliding along the first direction; in the first position, the connecting assembly is separated from the first inclined surface; in the second position, the connecting assembly is pressed against the first inclined surface.

[0010] In one embodiment, the sliding ring comprises a first sliding part and a second sliding part connected to each other, wherein the first sliding part has a first sliding surface and the second sliding part has a second sliding surface; the first sliding surface is a second inclined surface arranged from bottom to top along the first direction; the second sliding surface cooperates with the outer circumferential surface of the fastener;

[0011] In the first position, the first sliding surface abuts against the connecting assembly, and the outer circumferential surface of the connecting assembly protrudes from the outer circumferential surface of the fastener; in the second position, the second sliding surface abuts against the connecting assembly, and the outer circumferential surface of the connecting assembly is flush with the outer circumferential surface of the fastener.

[0012] In one embodiment, when the sliding ring slides from the first position to the second position along the first direction, the side of the connecting assembly away from the first inclined surface can slide from the first sliding surface to the second sliding surface, so that the connecting assembly slides towards the side of the first inclined surface relative to the hole wall of the first mounting hole and is pressed against the first inclined surface.

[0013] When the sliding ring slides from the second position to the first position along the first direction, the side of the connecting assembly away from the first inclined surface can slide from the second sliding surface to the first sliding surface, so that the connecting assembly slides towards the side away from the first inclined surface relative to the hole wall of the first mounting hole and is separated from the first inclined surface.

[0014] In one embodiment, the side of the connecting assembly close to the first inclined surface is configured with a third inclined surface arranged from top to bottom along the first direction; in the second position, the third inclined surface cooperates with the first inclined surface.

[0015] In one embodiment, the connecting assembly comprises a connecting piece and a first elastic piece;

[0016] The connecting piece is at least partially accommodated in the first mounting hole, and one end of the connecting piece abuts against the sliding ring, and the other end of the connecting piece passes through the first mounting hole and can slide relative to the hole wall of the first mounting hole;

[0017] The connecting piece is outwardly convex along its radial direction and provided with a clamping arm; the first elastic piece is sleeved on the outer periphery of the connecting piece and can abut between the clamping arm and the hole wall of the first mounting hole; the first elastic piece is in a compressed state and used to apply a pushing force to the connecting piece away from the first inclined surface.

[0018] In one of the embodiments, the connecting piece comprises a mounting seat and a sliding arm;

[0019] The mounting seat abuts against the sliding ring; the sliding arm is connected to the side of the mounting seat away from the sliding ring, the third inclined surface and the clamping arm are both configured on the sliding arm, and the first elastic piece is sleeved on the outer periphery of the sliding arm.

[0020] In one of the embodiments, the mounting seat is outwardly convex along its radial direction and provided with a limiting part, and the limiting part is in sliding connection with the hole wall of the first mounting hole;

[0021] The connecting assembly further comprises a limiting piece installed in the first mounting hole; the limiting piece is in cooperation with the limiting part, so as to limit the sliding distance of the mounting seat along the hole wall of the first mounting hole.

[0022] In one of the embodiments, the mounting seat is configured with a second mounting hole having a third opening,

[0023] The connecting assembly further comprises a second elastic piece, the second elastic piece is contained in the second mounting hole, and the second elastic piece abuts between the sliding arm and the bottom wall of the second mounting hole; the second elastic piece is in a compressed state and used to apply a pushing force to the sliding arm close to the second inclined surface.

[0024] In one of the embodiments, the fastener is recessed along its radial direction and formed with a fourth sliding part;

[0025] The sliding ring further comprises a third sliding part, the third sliding part is provided on the side of the second sliding part away from the first sliding part and outwardly convex along the radial direction of the second sliding part towards the side of the fastener; the third sliding part is in sliding connection with the fourth sliding part.

[0026] In one of the embodiments, the groove wall of the second mounting groove is further configured with a third mounting hole along the first direction, and the outer wall of the first mounting part close to the second mounting groove is further configured with a fourth mounting hole;

[0027] The connecting device of the robot arm and joint module further comprises a positioning piece, one end of the positioning piece is connected with the third mounting hole, and the other end of the positioning piece is connected with the fourth mounting hole.

[0028] The beneficial effects of the present application are as follows:

[0029] The present application provides a connecting device of a robot arm and a joint module. When the robot arm and the joint module need to be installed, the first mounting part of the robot arm is accommodated in the second mounting groove of the fastener, and the sliding ring is slid along the first direction to the second position, and the connecting assembly is pressed against the first inclined surface of the robot arm, thereby realizing the installation of the robot arm and the joint module. When the robot arm and the joint module need to be disassembled, the sliding ring is slid along the first direction from the second position to the first position, and the connecting assembly is slid along the hole wall of the first mounting hole to the side away from the first inclined surface, thereby separating the connecting assembly from the first inclined surface, and then separating the first mounting part from the second mounting groove of the fastener. The connecting device of the robot arm and the joint module makes the installation and disassembly of the robot arm and the joint module more convenient, and the fastener and the robot arm do not need to be additionally designed and processed for the installation space, so the processing is also simple, and finally the installation and disassembly of the entire collaborative robot are convenient and fast, and the processing cost is also low. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 A schematic view of the connecting device of the robot arm and the joint module provided by an embodiment of the present application and the harmonic reducer installation, and the sliding ring is in the second position;

[0031] Figure 2 A partial enlarged view of A shown in FIG. 4; Figure 1

[0032] Figure 3 A schematic view of the sliding ring in the connecting device of the robot arm and the joint module shown in FIG. 5 in the first position; Figure 1

[0033] A partial enlarged view of B shown in FIG. 5; Figure 4 Figure 3 A right view of the fastener in the connecting device of the robot arm and the joint module shown in FIG. 6;

[0034] Figure 5 Figure 1 A sectional view of the fastener along the C-C section shown in FIG. 6;

[0035] Figure 6 A left view of the robot arm in the connecting device of the robot arm and the joint module shown in FIG. 7. Figure 5

[0036] Figure 7 Figure 1

[0037] ​​​​​​100 - robot arm; 110 - first mounting portion; 111 - first inclined surface; 112 - first opening; 113 - fourth mounting hole; 200 - fastener; 210 - second mounting groove; 211 - second opening; 212 - third mounting hole; 220 - first mounting hole; 221 - first stepped hole; 222 - second stepped hole; 223 - third stepped hole; 230 - fourth sliding portion; 300 - slip ring; 310 - first sliding portion; 311 - first sliding surface; 320 - second sliding portion; 321 - second sliding surface; 330 - third sliding portion; 400 - connecting assembly; 410 - connecting piece; 411 - sliding arm; 4111 - third inclined surface; 4112 - clamping arm; 412 - mounting seat; 4121 - limiting portion; 4122 - second mounting hole; 41221 - third opening; 41222 - fourth stepped hole; 41223 - fifth stepped hole; 420 - limiting piece; 430 - first elastic piece; 440 - second elastic piece; 500 - rigid wheel; 600 - mounting piece; 700 - positioning piece. DETAILED DESCRIPTION

[0038] In order to make the above objectives, features and advantages of the present application more clear and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many different ways other than those described herein, and those skilled in the art can make similar improvements without departing from the scope of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0039] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0040] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly and specifically limited.

[0041] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0042] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0044] See Figures 1-4 , Figure 1 A schematic diagram is shown showing the connection device of the robot arm and joint module provided in an embodiment of the present invention, which is installed with a harmonic reducer and the slip ring 300 is in a second position. Figure 2 It shows Figure 1 A magnified view of point A shown below; Figure 3 It shows Figure 1 A schematic diagram showing the slip ring 300 in the first position of the connection device between the robot arm and the joint module; Figure 4 It shows Figure 3 A magnified view of point B shown.

[0045] An embodiment of the present invention provides a connection device for a robot arm and a joint module, which includes a robot arm 100, a fastener 200, a slip ring 300, and a connection assembly 400. The robot arm 100 has a first mounting portion 110 protruding outward along a first direction, wherein the first direction is the axial direction of the robot arm 100; specifically, the first direction is...Figure 2 The first mounting part 110 is configured with a first mounting groove with a first opening 112, and one side wall of the first mounting groove is configured with a first inclined surface 111 arranged along the first direction and inclined from the outer circumferential side of the robot arm 100 to one side of the groove cavity of the first mounting groove. Specifically, the first inclined surface 111 is arranged along the x' to x direction in the x-y-z coordinate system and inclined from the outer circumferential side of the robot arm 100 to one side of the groove cavity of the first mounting groove. Figure 2 The fastener 200 is used for transmission connection with the harmonic reducer, and the fastener 200 is configured with a second mounting groove 210 with a second opening 211, the first mounting part 110 is accommodated in the second mounting groove 210, and the fastener 200 is configured with a first mounting hole 220 penetrating along the radial direction thereof, the first mounting hole 220 is opposite to the first opening 112; the slip ring 300 is sleeved on the outer circumference of the fastener 200, and the slip ring 300 can slide along the first direction, one side of the connecting assembly 400 is in abutment with the slip ring 300, and the other side of the connecting assembly 400 passes through the first mounting hole 220 and can slide relative to the hole wall of the first mounting hole 220; the slip ring 300 has a first position and a second position when sliding along the first direction; in the first position, the connecting assembly 400 is separated from the first inclined surface 111; in the second position, the connecting assembly 400 is pressed against the first inclined surface 111.

[0046] The connecting device of the robot arm and the joint module provided by the application can conveniently install and dismount the robot arm 100 and the joint module, and the fastener 200 and the robot arm 100 do not need to be additionally designed and processed for the mounting space, so that the processing is simple, the installation and dismounting of the entire collaborative robot is convenient and fast, and the processing cost is low.

[0047] Please refer to Figure 1The fastener 200 is fixedly connected with the rigid wheel 500 of the harmonic reducer through the mounting member 600, so that the fastener 200 is driven to rotate when the harmonic reducer rotates, and the robot arm 100 is driven to rotate by the fastener 200, thereby realizing the transmission of multiple degrees of freedom of the collaborative robot. In one specific embodiment, the mounting member 600 is a threaded connecting member.

[0048] The following will be specifically described in connection with the fastener 200 of the connecting device of the robot arm and the joint module. Please refer to Figures 5-7 , Figure 5 The right view of the fastener 200 in the connecting device of the robot arm and the joint module shown in Figure 1 Figure 6 The cross-sectional view of the fastener 200 shown in Figure 5 Figure 7 The left view of the robot arm 100 of the connecting device of the robot arm and the joint module shown in Figure 1

[0049] Please refer to Figures 2-4 , the sliding ring 300 of the connecting device of the robot arm and the joint module provided by the embodiment of the present application comprises a first sliding part 310 and a second sliding part 320 connected with each other, wherein the first sliding part 310 has a first sliding surface 311, and the second sliding part 320 has a second sliding surface 321; the first sliding surface 311 is a second inclined surface arranged obliquely from bottom to top along a first direction; the second sliding surface 321 cooperates with the outer circumferential surface of the fastener 200; at a first position, the first sliding surface 311 abuts against the connecting assembly 400, and the outer circumferential surface of the connecting assembly 400 protrudes from the outer circumferential surface of the fastener 200; at a second position, the second sliding surface 321 abuts against the connecting assembly 400, and the outer circumferential surface of the connecting assembly 400 is flush with the outer circumferential surface of the fastener 200.

[0050] When it is needed to install the robot arm 100 on the joint module, at this time, the sliding ring 300 is slid along the first direction, that is, from left to right along the xx' direction in Figure 2 , so that the sliding ring 300 is slid from the first position in Figure 4 to the second position in Figure 2 . In this process, the connecting assembly 400 is slid along the hole wall of the second mounting hole 4122 and approaches the first inclined surface 111 under the pressure action of the second inclined surface, so as to move the outer circumferential surface of the connecting assembly 400 to be flush with the outer circumferential surface of the fastener 200, and at this time, the side of the connecting assembly 400 away from the sliding ring 300 abuts against the first inclined surface 111. When it is needed to disassemble the robot arm 100 from the joint module, at this time, the sliding ring 300 is slid along the xx' direction from right to left in Figure 2 , so that the sliding ring 300 is slid from the second position in Figure 2 ​​​Slide to the second position in Figure 4 The first position in the process. During this process, the outer peripheral surface of the connecting component 400 slides on the second inclined surface and protrudes from the outer peripheral surface of the fastener 200. At this time, the side of the connecting component 400 away from the slip ring 300 is separated from the first inclined surface 111.

[0051] Please see Figure 2 and Figure 4 In one embodiment of the present invention, when the slip ring 300 of the connecting device for the robot arm and joint module slides from a first position to a second position along a first direction, the side of the connecting component 400 facing away from the first inclined surface 111 can slide from the first sliding surface 311 to the second sliding surface 321, so that the connecting component 400 slides relative to the hole wall of the first mounting hole 220 toward the first inclined surface 111 and is pressed against the first inclined surface 111; when the slip ring 300 slides from the second position to the first position along the first direction, the side of the sliding arm 411 facing away from the first inclined surface 111 can slide from the second sliding surface 321 to the first sliding surface 311, so that the connecting component 400 slides relative to the hole wall of the first mounting hole 220 toward the side facing away from the first inclined surface 111 and separates from the first inclined surface 111.

[0052] When the robotic arm 100 of the collaborative robot is installed with the joint module, the connecting assembly 400 slides from the first sliding surface 311 to the second sliding surface 321 on the side opposite to the first inclined surface 111. The connecting assembly 400 moves along... Figure 2 The yy' direction moves from top to bottom to press against the first inclined surface 111; and when the robot arm 100 of the collaborative robot is detached from the joint module, the side of the connecting component 400 facing away from the first inclined surface 111 slides from the second sliding surface 321 onto the first sliding surface 311, and the connecting component 400 moves along... Figure 2 The yy' direction moves from bottom to top to separate from the first inclined plane 111.

[0053] Please see Figure 2 In one embodiment of the present invention, the connecting component 400 of the connecting device for connecting a robot arm and a joint module has a third inclined surface that is inclined downwards along a first direction on the side near the first inclined surface 111; in a second position, the third inclined surface engages with the first inclined surface 111. Because the connecting component 400 has a third inclined surface on the side near the first inclined surface 111, and the third inclined surface engages with the first inclined surface 111, when the robot arm 100 is mounted on the joint module, the contact surface between the connecting component 400 and the robot arm 100 is large, and the connection between the two is more stable. This results in a more stable transmission process when the joint module transmits power to the robot arm 100.

[0054] Please see Figure 2 and Figure 4The connecting assembly 400 of the connecting device of the robot arm and the joint module provided by the embodiment of the present application comprises a connecting piece 410 and a first elastic piece 430. The connecting piece 410 is at least partially accommodated in the first mounting hole 220, and one end of the connecting piece 410 abuts against the sliding ring 300. The other end of the connecting piece 410 passes through the first mounting hole 220 and can slide relative to the hole wall of the first mounting hole 220. The connecting piece 410 is outwardly convex along the radial direction of the connecting piece 410, and the connecting piece 410 is provided with a clamping arm 4112. The first elastic piece 430 is sleeved on the outer periphery of the connecting piece 410 and can abut between the clamping arm 4112 and the hole wall of the first mounting hole 220. The first elastic piece 430 is in a compressed state and is used to apply a pushing force to the connecting piece 410 away from the first inclined surface 111.

[0055] By arranging the clamping arm 4112 on the connecting piece 410 and sleeving the first elastic piece 430 on the outer periphery of the sliding arm 411, and abutting the first elastic piece 430 between the clamping arm 4112 and the bottom wall of the first stepped hole 221, the first elastic piece 430 applies a pushing force to the connecting piece 410 away from the first inclined surface 111, so that when the sliding ring 300 slides from the first position to the second position, the connecting piece 410 can more easily move along the yy' direction in the first stepped hole 221 from bottom to top to separate from the first inclined surface 111. Figure 2 In one of the specific embodiments, the first elastic piece 430 is a compression spring. Of course, in other embodiments, the first elastic piece 430 can also be other elastic pieces made of elastic materials, such as rubber, etc.

[0056] Please refer to Figure 2 and Figure 4 The connecting piece 410 of the connecting device of the robot arm and the joint module provided by the embodiment of the present application comprises a mounting seat 412 and a sliding arm 411. The mounting seat 412 abuts against the sliding ring 300. The sliding arm 411 is connected to the side of the mounting seat 412 away from the sliding ring 300. The third inclined surface 4111 and the clamping arm 4112 are both arranged on the sliding arm 411, and the first elastic piece 430 is sleeved on the outer periphery of the sliding arm 411. By arranging the connecting piece 410 as the mounting seat 412 and the sliding arm 411 in a split design, the connecting piece 410 can be processed in a split manner during processing, so that the third inclined surface 4111 and the clamping arm 4112 are easy to process on the sliding arm 411.

[0057] Specifically, please refer to Figure 2 and Figure 4The first mounting hole 220 comprises a first stepped hole 221 and a second stepped hole 222 which are in communication with each other, and the aperture of the second stepped hole 222 is smaller than the aperture of the first stepped hole 221. The mounting seat 412 is at least partially accommodated in the first stepped hole 221, and the mounting seat 412 is configured with a second mounting hole 4122 having a third opening 41221, one side of the sliding arm 411 is accommodated in the second mounting hole 4122, and the other side of the sliding arm 411 passes through the third opening 41221 and the second stepped hole 222.

[0058] Referring to Figures 2-4 The mounting seat 412 of the connecting device of the robot arm and the joint module provided in an embodiment of the present application is provided with a limiting portion 4121 which protrudes radially outward, and the limiting portion 4121 is in sliding connection with the hole wall of the first mounting hole 220. The connecting assembly 400 further comprises a limiting member 420 which is installed in the first mounting hole 220, and the limiting member 420 cooperates with the limiting portion 4121 to limit the sliding distance of the mounting seat 412 along the hole wall of the first mounting hole 220.

[0059] By providing the mounting seat 412 and the limiting portion 4121 on the mounting seat 412, the limiting portion 4121 cooperates with the limiting member 420 to limit the sliding distance of the mounting seat 412 along the hole wall of the first mounting hole 220. In this way, the sliding arm 411 is not easy to be disengaged from the first mounting hole 220 when sliding in the first mounting hole 220.

[0060] Referring to Figure 2 and Figure 4 The first mounting hole 220 of the connecting device of the robot arm and the joint module provided in an embodiment of the present application further comprises a third stepped hole 223 which is formed by protruding outward from the hole wall of the first stepped hole 221 towards the side away from the hole cavity, the aperture of the third stepped hole 223 is larger than the aperture of the first stepped hole 221, and the third stepped hole 223 is arranged on the side of the first stepped hole 221 away from the second stepped hole 222. The limiting member 420 is installed in the third stepped hole 223 to limit the sliding stroke of the mounting seat 412.

[0061] Referring to Figure 2 and Figure 4 The mounting seat 412 of the connecting device of the robot arm and the joint module provided in an embodiment of the present application is configured with a second mounting hole 4122 having a third opening 41221, and the connecting assembly 400 further comprises a second elastic member 440 which is accommodated in the second mounting hole 4122, and the second elastic member 440 abuts between the sliding arm 411 and the bottom wall of the second mounting hole 4122. The second elastic member 440 is in a compressed state and is used to apply a pushing force to the sliding arm 411 close to the second inclined surface.

[0062] The second elastic member 440 is arranged to exert a pushing force on the sliding arm 411 close to the second inclined surface, so that when the sliding ring 300 slides from the second position to the first position, the sliding arm 411 can more easily slide along the first installation hole 220 in the direction of yy' in the first inclined surface 111. Figure 2 In one embodiment, the second elastic member 440 is a compression spring, and in other embodiments, the second elastic member 440 can also be other elastic members made of elastic materials, such as rubber, etc.

[0063] The first elastic member 430 and the second elastic member 440 are arranged to exert a pushing force on the sliding arm 411 close to the first inclined surface 111 and a pushing force on the sliding arm 411 away from the first inclined surface 111, so that the sliding arm 411 can maintain a good stable state and is not easy to slide along the hole wall of the first installation hole 220, whether it is in contact with the first inclined surface 111 or separated from the first inclined surface 111. It should be noted that when the sliding ring 300 is in the second position as shown in FIG. 4B, the pushing force exerted by the first elastic member 430 on the sliding arm 411 away from the first inclined surface 111 is greater than the pushing force exerted by the second elastic member 440 on the sliding arm 411 close to the first inclined surface 111, so that in the second state, the sliding arm 411 is better and more thoroughly separated from the first inclined surface 111. Figure 4

[0064] Please refer to FIGS. 4A and 4B, Figure 2 and Figure 4 The second installation hole 4122 of the connecting device of the robot arm and the joint module provided by an embodiment of the present application is also a stepped hole, which includes a fourth stepped hole 41222 and a fifth stepped hole 41223. The hole diameter of the fifth stepped hole 41223 is smaller than the hole diameter of the fourth stepped hole 41222, and the fifth stepped hole 41223 is arranged on the side of the second installation hole 4122 away from the third opening 41221. The second elastic member 440 is at least partially accommodated in the fifth stepped hole 41223, and the second elastic member 440 is not easy to bend through the clamping action of the hole wall of the fifth stepped hole 41223 and the outer periphery of the second elastic member 440.

[0065] Please refer to FIGS. 4A and 4B, Figure 2 and Figure 3 The fastener 200 of the connecting device of the robot arm and the joint module provided by an embodiment of the present application is recessed along its radial direction and is formed with a fourth sliding portion 230; the sliding ring 300 further includes a third sliding portion 330, which is arranged on the side of the second sliding portion 320 away from the first sliding portion 310 and is outwardly protruding along the radial direction of the second sliding portion 320 towards the side of the fastener 200; the third sliding portion 330 is in sliding connection with the fourth sliding portion 230.

[0066] ​Since the fastener 200 is concave along its radial direction and forms the fourth sliding part 230, the fourth sliding part 230 is inside the second sliding part 320 in the radial direction of the fastener 200, so that when the slip ring 300 slides from the first position to the second position, the maximum sliding stroke of the slip ring 300 can be limited by the cooperation of the fourth sliding part 230 and the third sliding part 330, avoiding the slip ring 300 from being separated from the outer periphery of the fastener 200. That is, the length of the fourth sliding part 230 can limit the sliding stroke of the third sliding part 330, and further limit the sliding stroke of the entire slip ring 300 in the first direction.

[0067] Please refer to Figure 6 and in combination with Figure 7 , the second mounting groove 210 of the connecting device of the robot arm and the joint module further comprises a third mounting hole 212 formed on the groove wall of the second mounting groove 210 along the first direction, and the outer wall of the first mounting part 110 close to the second mounting groove 210 is further provided with a fourth mounting hole 113; the connecting device of the robot arm and the joint module further comprises a positioning member 700, one end of the positioning member 700 is connected with the third mounting hole 212, and the other end of the positioning member 700 is connected with the fourth mounting hole 113.

[0068] By forming the third mounting hole 212 on the groove wall of the second mounting groove 210, the fourth mounting hole 113 on the outer wall of the first mounting part 110 close to the second mounting groove 210, and connecting the positioning member 700 with the third mounting hole 212 and the fourth mounting hole 113 respectively, when the robot arm 100 rotates under the drive of the joint module, the robot arm 100 is not easy to slide relative to the fastener 200. In one specific embodiment, the positioning member 700 is a positioning pin, and the two ends of the positioning pin are respectively inserted into the third mounting hole 212 and the fourth mounting hole 113. In some other embodiments, the positioning member 700 can be provided with a thread at one end and a light rod at the other end, which is convenient for installation and can effectively prevent the fastener 200 from sliding relative to the robot arm 100.

[0069] In one embodiment, the number of first mounting holes 220 is multiple, and the multiple first mounting holes 220 are arranged at intervals along the circumference of the fastener 200; the number of connecting assemblies 400 matches the number of first mounting holes 220. By arranging multiple first mounting holes 220 and matching the number of connecting assemblies 400 with the number of first mounting holes 220, the area of the abutting surface of the robot arm 100 connected with the fastener 200 is larger, and the transmission process is more stable.

[0070] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A connection device for a robot arm and a joint module, characterized in that, The connection device between the robot arm and the joint module includes: A robot arm (100) has a first mounting portion (110) protruding outward along a first direction, wherein the first direction is the axial direction of the robot arm (100); the first mounting portion (110) has a first mounting groove with a first opening (112), and one side wall of the first mounting groove has a first inclined surface (111) that is inclined along the first direction and from the outer periphery of the robot arm (100) toward the cavity of the first mounting groove. Fastener (200) for drive connection with harmonic reducer, fastener (200) having a second mounting groove (210) having a second opening (211), a first mounting portion (110) being accommodated in the second mounting groove (210), and fastener (200) having a first mounting hole (220) extending radially therethrough, the first mounting hole (220) being opposite to the first opening (112); A slip ring (300) is sleeved on the outer periphery of the fastener (200) and the slip ring (300) is capable of sliding along the first direction; A connecting assembly (400) is provided, one side of which abuts against the slip ring (300), and the other side of which passes through the first mounting hole (220) and is slidable relative to the hole wall of the first mounting hole (220); the connecting assembly (400) includes a connector (410) and a first elastic member (430); the connector (410) includes a mounting base (412) and a sliding arm (411). The slip ring (300) has a first position and a second position when it slides along the first direction; in the first position, the connecting component (400) is separated from the first inclined surface (111); in the second position, the connecting component (400) is pressed against the first inclined surface (111). The connecting component (400) has a third inclined surface (4111) that is inclined downward along the first direction on the side near the first inclined surface (111); in the second position, the third inclined surface (4111) cooperates with the first inclined surface (111); The slip ring (300) includes a first sliding portion (310) and a second sliding portion (320) connected to each other, wherein the first sliding portion (310) has a first sliding surface (311) and the second sliding portion (320) has a second sliding surface (321); the first sliding surface (311) is a second inclined surface that is inclined from bottom to top along the first direction; the second sliding surface (321) mates with the outer peripheral surface of the fastener (200); The mounting base (412) is configured with a second mounting hole (4122) having a third opening (41221). The connecting assembly (400) further includes a second elastic member (440), which is housed in the second mounting hole (4122) and abuts against the bottom wall of the sliding arm (411) and the second mounting hole (4122). The second elastic member (440) is in a compressed state and is used to apply a thrust to the sliding arm (411) near the second inclined surface.

2. The connection device for the robot arm and joint module according to claim 1, characterized in that, In the first position, the first sliding surface (311) abuts against the connecting component (400), and the outer peripheral surface of the connecting component (400) protrudes beyond the outer peripheral surface of the fastener (200); in the second position, the second sliding surface (321) abuts against the connecting component (400), and the outer peripheral surface of the connecting component (400) is flush with the outer peripheral surface of the fastener (200).

3. The connection device for the robot arm and joint module according to claim 2, characterized in that, When the slip ring (300) slides from the first position to the second position along the first direction, the side of the connecting component (400) facing away from the first inclined surface (111) can slide from the first sliding surface (311) to the second sliding surface (321), so that the connecting component (400) slides relative to the hole wall of the first mounting hole (220) toward the first inclined surface (111) and presses against the first inclined surface (111). When the slip ring (300) slides from the second position to the first position along the first direction, the side of the connecting component (400) away from the first inclined surface (111) can slide from the second sliding surface (321) to the first sliding surface (311), so that the connecting component (400) slides relative to the hole wall of the first mounting hole (220) toward the side away from the first inclined surface (111) and separates from the first inclined surface (111).

4. The connection device for the robot arm and joint module according to claim 2, characterized in that, The connector (410) is at least partially accommodated in the first mounting hole (220), and one end of the connector (410) abuts against the slip ring (300), while the other end of the connector (410) passes through the first mounting hole (220) and is slidable relative to the hole wall of the first mounting hole (220). The connector (410) has a snap-fit ​​arm (4112) protruding outward along its radial direction; the first elastic member (430) is sleeved on the outer periphery of the connector (410) and can abut against the snap-fit ​​arm (4112) and the hole wall of the first mounting hole (220); the first elastic member (430) is in a compressed state and is used to apply a thrust to the connector (410) away from the first inclined surface (111).

5. The connection device for the robot arm and joint module according to claim 4, characterized in that, The mounting base (412) abuts against the slip ring (300); the sliding arm (411) is connected to the side of the mounting base (412) away from the slip ring (300), the third inclined surface (4111) and the snap-fit ​​arm (4112) are both constructed on the sliding arm (411), and the first elastic element (430) is sleeved on the outer periphery of the sliding arm (411).

6. The connection device for the robot arm and joint module according to claim 5, characterized in that, The mounting base (412) is provided with a limiting part (4121) protruding outward along its radial direction, and the limiting part (4121) is slidably connected to the wall of the first mounting hole (220); The connecting assembly (400) further includes a limiting member (420), which is installed in the first mounting hole (220); the cooperation between the limiting member (420) and the limiting part (4121) can limit the distance by which the mounting base (412) slides along the hole wall of the first mounting hole (220).

7. The connection device for the robot arm and joint module according to claim 6, characterized in that, The fastener (200) is recessed radially inward and forms a fourth sliding portion (230). The slip ring (300) further includes a third sliding part (330), which is disposed on the side of the second sliding part (320) away from the first sliding part (310) and protrudes outward along the radial direction of the second sliding part (320) towards the fastener (200); the third sliding part (330) is slidably connected to the fourth sliding part (230).

8. The connection device for the robot arm and joint module according to any one of claims 1-7, characterized in that, The second mounting groove (210) is further provided with a third mounting hole (212) along the first direction, and the outer wall of the first mounting part (110) near the second mounting groove (210) is further provided with a fourth mounting hole (113). The connection device for the robot arm and joint module also includes a positioning element (700), one end of which is connected to the third mounting hole (212), and the other end of which is connected to the fourth mounting hole (113).

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