Connecting device and robot

Abstract

The invention provides a connecting device and a robot, the connecting device comprises a connecting piece, a connected piece and a locking part, the connected piece comprises a protruding part, and the protruding part comprises a first binding face and a second binding face which are back to back in the axial direction of the connected piece; the connecting piece is provided with a containing ring groove, the containing ring groove comprises a first wall face and a second wall face which are arranged on the two sides of the containing ring groove respectively, and the distance between the first wall face and the second wall face in the axial direction is gradually reduced in the radial direction of the containing ring groove and in the direction from the center of the containing ring groove to the edge. When the protruding part is arranged in the containing ring groove, the locking part penetrates through the connecting piece in the radial direction to be connected with the protruding part, and the first wall face and the second wall face are attached to the first attaching face and the second attaching face respectively. According to the connecting device and the robot provided by the invention, the locking part can bear larger bending moment, and the anti-bending composite strength borne by the connecting device is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a connecting device and a robot. Background Art

[0002] A serial robot is an open kinematic chain robot, which is widely used in automated production, automated processing, automated sales and other fields. It is formed by a series of connecting rods connected in series through rotating joints. As an important structure that bears loads, joints need to ensure high axial connection strength of the joints, while also placing high requirements on the joints' anti-bending and torsional composite strength.

[0003] In today's joints, the connecting piece and the connected piece are usually connected in the radial direction by screws, so when the connected piece is subjected to bending moment, the joint resists the bending moment through the pre-tightening force of the screws. However, in the process of locking the connecting piece and the connected piece, the screw has been subjected to a large pre-tightening force, which results in a limited amount of bending moment that the screw can withstand, which greatly reduces the combined bending and torsion strength that the joint can withstand, making it very easy for the screw to be sheared and the joint to be deformed when the joint is subjected to bending moment. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a connecting device and a robot so as to solve, to a certain extent, the technical problems existing in the prior art that in the process of locking the connecting part and the connected part, the screws are already subjected to a large pre-tightening force, which leads to the limited bending moment that the screws can withstand, which greatly reduces the combined bending and torsion strength that the joint can withstand, making it very easy for the screws to be sheared off and the joint to be deformed when the joint is subjected to bending moment.

[0005] In a first aspect, an embodiment of the present application provides a connection device, including a connection member, a connected member, and a locking portion.

[0006] The connected member includes a protruding portion, and the protruding portion includes a first fitting surface and a second fitting surface that are opposite to each other in the axial direction of the connected member;

[0007] The connecting member is provided with a receiving ring groove for receiving the protruding portion of the connected member, the receiving ring groove comprises a first wall surface and a second wall surface respectively provided on both sides of the receiving ring groove in the axial direction, and along the radial direction of the receiving ring groove, in a direction from the center of the receiving ring groove to the edge of the receiving ring groove, the distance between the first wall surface and the second wall surface in the axial direction gradually decreases;

[0008] When the protrusion is arranged in the accommodating annular groove, the locking portion penetrates the connecting member along the radial direction to be connected with the protrusion, and the first wall surface and the second wall surface are respectively in contact with the first contact surface and the second contact surface.

[0009] On the second aspect, an embodiment of the present application further provides a robot, comprising a connecting device as described in any of the above technical solutions, and thus having all the beneficial technical effects of the connecting device, which will not be elaborated here.

[0010] Compared with the prior art, the beneficial effects of this application are:

[0011] According to the connecting device provided by the present application, the connected part is arranged in the receiving ring groove of the connecting part via the protrusion. On the one hand, the first wall surface of the receiving ring groove is fitted with the first fitting surface and the second wall surface of the receiving ring groove is fitted with the second fitting surface, so that the connecting part locks the position of the connected part in the axial direction; on the other hand, by setting the radial direction of the receiving ring groove and the direction from the center of the receiving ring groove to the edge of the receiving ring groove, the distance between the first wall surface and the second wall surface in the axial direction gradually decreases, so that at least one of the first wall surface and the second wall surface can form an inclined surface (the inclined surface can be understood as a plane inclined relative to the plane perpendicular to the axial direction). In this way, when the locking part is in a state of being connected to the protrusion in the radial direction, the preload force borne by the locking part can be dispersed under the action of the above-mentioned inclined surface, so that the locking part can withstand a larger bending moment, thereby improving the composite bending and torsion strength of the connecting device.

[0012] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 A schematic diagram of the axonometric structure of a connecting device provided in an embodiment of the present application;

[0015] Figure 2 A schematic diagram of an exploded structure of a connecting device provided in an embodiment of the present application;

[0016] Figure 3 A schematic front view of a connecting device provided in an embodiment of the present application;

[0017] Figure 4 for Figure 3 A schematic diagram of a cross-sectional structure obtained by cutting the provided connecting device along the AA direction;

[0018] Figure 5 for Figure 4 A schematic diagram of the enlarged structure of the connecting device at B is provided;

[0019] Figure 6 A schematic diagram of the cross-sectional structure of a connector provided in an embodiment of the present application.

[0020] Figure markings: 1-connecting member; 11-accommodating ring groove; 111-first wall; 112-second wall; 12-blocking piece; 13-entry channel; 14-connecting through hole; 2-connected member; 21-raised portion; 211-first fitting surface; 212-second fitting surface; 213-threaded hole; 22-connecting ring portion; 221-weight-reducing hole; 222-connecting beam; 3-locking portion. DETAILED DESCRIPTION

[0021] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0022] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0023] In the description of the embodiments of the present application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "provided with", "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Refer to the following Figures 1 to 6 Describe the connection device and robot according to some embodiments of the present application.

[0025] Figure 1 A schematic diagram of the isometric structure of a connecting device according to an embodiment of the present application is shown; Figure 2 A schematic diagram showing an exploded structure of a connecting device according to an embodiment of the present application is shown; Figure 3 A schematic front view of a connecting device according to an embodiment of the present application is shown; Figure 4 Shows Figure 3 A schematic diagram of a cross-sectional structure obtained by cutting a connecting device along the AA direction, wherein the dot-dash line shown in the figure is the axis of the connecting device (here, the axis of the connecting device, the axis of the connecting member, the axis of the connected member and the axis of the accommodating annular groove coincide with each other), the double-dash line in the figure shows the following center plane, the first fitting surface and the first wall surface overlap in the figure, and the reference number of the first fitting surface is placed in brackets to indicate (similar to the representation of the second fitting surface and the second wall surface, which will not be repeated); Figure 5 Shows Figure 4 A schematic diagram of an enlarged structure of the connecting device at B; Figure 6 A schematic diagram of a cross-sectional structure obtained by cutting a connecting piece along a plane where an axis line is located according to an embodiment of the present application is shown.

[0026] See also Figures 1 to 6As shown, an embodiment of the first aspect of the present application provides a connection device, which includes a connection member 1, a connected member 2 and a locking portion 3. The connected member 2 includes a protrusion 21, and the protrusion 21 includes a first fitting surface 211 and a second fitting surface 212 facing each other in the axial direction of the connected member 2. The connection member 1 is provided with a receiving annular groove 11 for accommodating the protrusion 21 of the connected member 2, and the receiving annular groove 11 includes a first wall surface 111 and a second wall surface 112 respectively arranged on both sides of the receiving annular groove 11 in the axial direction, and the first wall surface 111 and the second wall surface 112 face each other, wherein, along the radial direction of the receiving annular groove 11, from the center of the receiving annular groove 11 (the center here can be understood as the axis of the receiving annular groove 11) to the direction of the edge of the receiving annular groove 11, the distance between the first wall surface 111 and the second wall surface 112 in the axial direction gradually decreases. When the protrusion 21 is arranged in the accommodating annular groove 11, the locking portion 3 penetrates the connecting member 1 in the radial direction and is connected to the protrusion 21. In this case, the first wall surface 111 and the second wall surface 112 are respectively in contact with the first contact surface 211 and the second contact surface 212.

[0027] According to the connection device provided by the present application, the protrusion 21 is placed in the receiving annular groove 11 of the connection member 1, and the first wall surface 111 and the second wall surface 112 of the receiving annular groove 11 are respectively fitted with the first fitting surface 211 and the second fitting surface 212, so as to realize the position locking of the connection member 1 on the connected member 2 in the axial direction (i.e., the one-time locking of the connection member 1 and the connected member 2); and by setting the radial direction of the receiving annular groove 11 and the direction from the center of the receiving annular groove 11 to the edge of the receiving annular groove 11, the distance between the first wall surface 111 and the second wall surface 112 in the axial direction is gradually reduced, so that at least one of the first wall surface 111 and the second wall surface 112 can form The inclined surface (the inclined surface can be understood as a plane inclined relative to a plane perpendicular to the axial direction), so that when the locking portion 3 is connected to the protruding portion 21 in the radial direction (i.e., the secondary locking of the connecting member 1 and the connected member 2), under the action of the preload force of the locking portion 3, the connecting member 1 and the connected member 2 are more closely fitted through the cooperation at the inclined surface, thereby effectively improving the connection strength between the connecting member 1 and the connected member 2; and, when the locking portion 3 is in a state of being connected to the protruding portion 21 in the radial direction, the preload force borne by the locking portion 3 can be dispersed under the action of the above-mentioned inclined surface, thereby enabling the locking portion 3 to withstand a larger bending moment, thereby improving the composite bending and torsional strength of the connecting device.

[0028] It should be noted that, when the protrusion 21 is placed in the receiving annular groove 11, the first wall surface 111 is in contact with the first fitting surface 211, and the second wall surface 112 is in contact with the second fitting surface 212. In other words, the shape of the protrusion 21 is adapted to the shape of the receiving annular groove 11, that is, the first wall surface 111 is parallel to the first fitting surface 211, and the second wall surface 112 is parallel to the second fitting surface 212. Preferably, the plane where the first wall surface 111 and the plane where the second wall surface 112 are located can intersect with the plane perpendicular to the axial direction respectively, so that the first wall surface 111 and the second wall surface 112 can both be formed into inclined surfaces. In other words, the preload force borne by the locking portion 3 can be shared by the first matching inclined surface and the second matching inclined surface, wherein the first matching inclined surface is formed by the first wall surface 111 and the first fitting surface 211 being fitted together, and the second matching inclined surface is formed by the second wall surface 112 and the second fitting surface 212 being fitted together. In addition, the force direction of the component of the preload force shared on the first mating bevel along the axial direction is opposite to the force direction of the component of the preload force shared on the second mating bevel along the axial direction, so that at least part of the component of the preload force shared on the first mating bevel and the component of the preload force shared on the second mating bevel along the axial direction can offset each other, effectively reducing the shear stress borne by the locking portion 3, allowing the locking portion 3 to withstand a larger bending moment, thereby further improving the composite bending and torsional strength of the connecting device.

[0029] The plane where the intersection of the plane where the first wall 111 is located and the plane where the second wall 112 is located and perpendicular to the axial direction is defined as the central plane (eg Figure 4 and Figure 5 The double-dotted line shows the center plane).

[0030] Preferably, if Figures 4 to 5 The first wall surface 111 and the second wall surface 112 are symmetrically arranged about the center plane. In this way, on the one hand, when the connecting member 1 and the connected member 2 are in a locked state, the component of the preload force shared on the first mating inclined surface in the axial direction and the component of the preload force shared on the second mating inclined surface in the axial direction can be completely offset, further reducing the shear stress borne by the locking portion 3, so that the locking portion 3 can withstand a larger bending moment, thereby further improving the composite bending and torsion strength of the connecting device; on the other hand, when the protrusion 21 enters the accommodating ring groove 11, under the action of the symmetrically arranged first wall surface 111 and the second wall surface 112, the protrusion 21 can be quickly centered in the axial direction in the accommodating ring groove 11, thereby facilitating the docking of the following threaded hole 213 with the connecting through hole 14.

[0031] Here, the angle between the first wall surface 111 and the second wall surface 112 (eg Figure 5 The angle ∠α) shown can be 10° to 60° (for example, ∠α can also be equal to 12°, 13°, 14°, 50°, 55°, etc.). While ensuring that both the first mating bevel and the second mating bevel can offset the sufficient axial force component, it also takes into account the mating accuracy of the protrusion 21 in the accommodating ring groove 11 for rapid centering.

[0032] Furthermore, the angle between the first wall surface 111 and the second wall surface 112 (eg Figure 5 The angle ∠α) shown can be 15° to 45° (for example, ∠α can also be equal to 20°, 25°, 30°, 35°, 40°, etc.), so as to further ensure that both the first mating bevel and the second mating bevel can offset the axial force component sufficiently, while also taking into account the mating accuracy of the protrusion 21 in the receiving ring groove 11 for rapid centering.

[0033] In an optional embodiment, the outer side of the locking portion 3 may be provided with an external thread, and the locking portion 3 may pass through the following connecting through hole along the radial direction of the accommodating ring groove 11 and be bolted to the protruding portion, thereby effectively improving the stability of the secondary locking of the connecting device.

[0034] In a preferred embodiment, Figure 2 , Figure 4 and Figure 5 As shown, the locking portion 3 may be a screw, but is not limited thereto. As long as the locking of the connecting member 1 and the connected member 2 in the radial direction can be achieved, the locking portion 3 may also be other columnar structures having external threads that can be compatible with the threaded hole 213, such as bolts, studs, etc.

[0035] It should be noted that the connection form between the locking part and the protruding part is not limited to the form of threaded locking. As long as the locking part can apply force to both the connecting member and the connected member respectively to achieve secondary locking of the connecting member and the connected member in the radial direction, the locking part can also be in other forms. For example, as not shown in the figure, the locking part can include a locking pin and an elastic tension sleeve. When the locking part performs secondary locking, the elastic tension sleeve is squeezed and arranged between the locking pin and the connecting member and between the locking pin and the protruding part. In this way, the friction force of the elastic tension sleeve provides a pre-tightening force between the connecting member and the connected member.

[0036] In the embodiments of the present application, Figure 2 As shown, the connected component 2 includes a connecting ring portion 22, and the number of the protrusions 21 is multiple, and the multiple protrusions 21 are all arranged on the outer side wall of the connecting ring portion 22, and the multiple protrusions 21 are arranged at circumferential intervals along the connecting ring portion 22. In this way, the connecting ring portion 22 can effectively increase the connection strength of the multiple protrusions 21 and improve the bending strength of the connected component 2.

[0037] Furthermore, if Figure 2 As shown, the multiple protrusions 21 are evenly distributed along the circumference of the connecting ring portion 22, and the lengths of the multiple protrusions 21 in the circumferential direction are all equal. In this way, the uniformity of the force distribution of the connected part 2 in the circumferential direction is ensured when the connected part 2 is in a locked state with the connecting part 1.

[0038] Optionally, the connecting ring portion 22 is integrally connected to the plurality of raised portions.

[0039] In an optional embodiment, Figures 1 to 6 As shown, the connecting member 1 may include a number of baffle portions 12 equal to the number of the above-mentioned protrusions 21, and the multiple baffle portions 12 are all arranged at the same end of the connecting member 1, and the multiple baffle portions 12 are arranged at intervals along the circumferential direction of the connecting member 1, so that an entry channel 13 connected to the accommodating annular groove 11 is formed between two adjacent baffle portions 12 among the multiple baffle portions 12, so that the protrusion 21 enters the accommodating annular groove 11 through the entry channel 13, and the above-mentioned first wall surface 111 is the inner side surface of the baffle portion 12. In this way, during the assembly process of the connected member 2 and the connecting member 1, the protrusion 21 of the connected member 2 passes through the corresponding The entry channel 13 is set to enter the accommodating annular groove 11, and the second wall surface 112 of the accommodating annular groove 11 is fitted with the second fitting surface 212 of the protruding portion 21, driving at least one of the connecting member 1 and the connected member 2 to rotate around the axis of the accommodating annular groove 11, so that the connecting member 1 and the connected member 2 slide relative to each other, and then, the protruding portion 21 of the connected member 2 can fit with the inner side wall (i.e., the first wall surface 111) of the corresponding baffle portion 12, thereby realizing the axial position locking of the connecting member 1 on the connected member 2 (i.e., realizing the one-time locking of the connecting member 1 and the connected member 2).

[0040] Preferably, if Figure 2 As shown, in the circumferential direction of the accommodating annular groove 11, the width of the above-mentioned baffle portion 12 is greater than the width of the protruding portion 21, so as to ensure that when both the connecting member 1 and the connected member 2 are in a locked state, the protruding portion 21 can be completely covered by the baffle portion 12, so as to ensure the stability of the one-time locking of the connecting member 1 and the connected member 2 and the connection strength of the connecting member 1 and the connected member 2.

[0041] Specifically, Figure 2 As shown, in the circumferential direction of the receiving annular groove 11, the width of the above-mentioned entry channel 13 is equal to the width of the above-mentioned protrusion 21. While ensuring that the protrusion 21 can enter the receiving annular groove 11 along the axial direction, the length of the baffle portion 12 in the circumferential direction of the receiving annular groove 11 is effectively guaranteed, thereby ensuring the connection strength of the baffle portion 12, thereby improving the stability of the one-time locking of the connecting member 1 and the connected member 2.

[0042] Furthermore, if Figure 2 and Figure 6 As shown, the connector 1 may further include a plurality of connecting through holes 14 penetrating the side wall of the connector 1 in the radial direction, and the locking portion 3 penetrates the connector 1 via the connecting through holes 14 and is bolted to the protruding portion 21. Figure 2 As shown, the connecting through hole 14 can be a countersunk hole. In this way, when the locking part 3 is bolted to the protruding part 21, the locking part 3 can be completely immersed in the countersunk hole, effectively saving the space of the connecting device and facilitating the integration of the following robot.

[0043] like Figures 1 to 6 As shown, the side wall of the connector 1 can be a cylindrical tube, and the above-mentioned accommodating annular groove 11 can be arranged on the inner side of the side wall of the connector 1, and the accommodating annular groove 11 is coaxial with the side wall, so as to adapt to the use scenarios of most existing connection devices (i.e., joints). However, it is not limited to this, and the shape of the side wall of the connector 1 can be adaptively adjusted according to the use scenario of the connection device (i.e., joint), for example, the side wall of the connector 1 can also be a regular polygonal tube (e.g., a regular hexagon, a regular octagon, a regular decagon, etc.).

[0044] Optionally, the plurality of baffle portions 12 are all integrally connected to the side wall of the connecting member.

[0045] Preferably, if Figure 1 and Figure 2 As shown, a plurality of baffle portions 12 and a plurality of connecting through holes 14 are arranged one by one opposite to each other in the circumferential direction of the connecting member 1. In other words, after the protrusion 21 enters the accommodating ring groove 11 via the entry channel 13, the connected member 2 needs to be rotated relative to the connecting member 1 by a predetermined angle so that the threaded hole 213 of the protrusion 21 described below is aligned with the connecting through hole 14. Only then can the connecting member 1 and the connected member 2 be locked twice via the locking portion 3, and then the connecting member 1 and the connected member 2 are locked via both sides, which effectively enhances the connection strength and bending strength of the connecting device.

[0046] Furthermore, if Figure 2 As shown, each of the above-mentioned protrusions 21 may include a threaded hole 213 extending in the radial direction for bolting the protrusion 21 with the above-mentioned locking portion 3. In this way, the locking portion 3 can be bolted to the connected member 2 from the outside of the connecting member 1, effectively increasing the operating space for bolting the connecting member 1 and the connected member 2, thereby facilitating the assembly of the connecting device.

[0047] Furthermore, if Figure 4 and Figure 5As shown, when the protrusion 21 is disposed in the above-mentioned accommodating ring groove 11, the axis of the threaded hole 213 is on the above-mentioned central plane to ensure that the pre-tightening force of the bolt can be evenly distributed by the first matching bevel and the second matching bevel.

[0048] like Figures 1 to 3 An example is shown in which the number of the protrusions 21 is 8, but it is not limited to this and can be adaptively adjusted according to the use environment and requirements of the connecting device. For example, the number of the protrusions 21 can also be 2, 3, 4, 5, 6, 7, 9, 10 or more.

[0049] Correspondingly, the number of the blocking pieces 12 and the number of the connecting through holes 14 may be equal to the number of the protruding portions 21 .

[0050] In the embodiments of the present application, Figures 1 to 3 As shown, the above-mentioned connecting ring part 22 can also include a weight-reducing hole 221 that penetrates the connecting ring part 22 along the axial direction. In this way, the self-weight of the connected component 2 is effectively reduced, the flexibility of the connecting device is increased, and the energy for driving the connecting device to move is saved.

[0051] Preferably, if Figures 1 to 3 As shown, the number of the above-mentioned weight-reducing holes 221 is equal to the number of the protrusions 21, and the multiple weight-reducing holes 221 are arranged at intervals along the circumferential direction of the connecting ring portion 22, so that a connecting beam 222 is formed between every two adjacent weight-reducing holes 221, and the multiple connecting beams 222 correspond to the multiple protrusions 21 one by one, and the corresponding connecting beams 222 and the protrusions 21 are aligned in the radial direction of the connected component 2, so that the connecting beams 222 effectively increase the connection rigidity between the protrusion 21 and the connecting ring portion 22, thereby increasing the bending strength of the connected component 2.

[0052] Preferably, if Figure 4 and Figure 5 As shown, the threaded hole 213 can extend from the protruding portion 21 to the connecting beam 222 along the radial direction, effectively increasing the bolting length of the locking portion 3 and the connected member 2, thereby ensuring the stability and reliability of the secondary locking of the connecting member 1 and the connected member 2.

[0053] Based on the characteristics described above, Figures 1 to 6 The connection device shown is described as an example, and the assembly process and beneficial effects of the connection device will be described in detail below:

[0054] One-time locking: During the assembly of the connected member 2 and the connecting member 1, the protrusion 21 of the connected member 2 enters the receiving annular groove 11 through the corresponding entry channel 13 until the second wall surface 112 of the receiving annular groove 11 is in contact with the second fitting surface 212 of the protrusion 21 of the connected member 2. At least one of the knob connecting member 1 and the connected member 2 rotates around the axis of the receiving annular groove 11, so that the connecting member 1 and the connected member 2 slide relative to each other, so that the protrusion 21 of the connected member 2 can fit with the inner wall (i.e., the first wall surface 111) of the corresponding baffle portion 12. In this way, the cooperation between the first wall surface 111 and the first fitting surface 211 and the cooperation between the second wall surface 112 and the second fitting surface 212 realizes the position locking of the connected member 1 on the connected member 2 in the axial direction (i.e., the one-time locking of the connecting member 1 and the connected member 2 is realized);

[0055] Secondary locking: On the basis of the above-mentioned primary locking, continue to rotate at least one of the knob connector 1 and the connected part 2 around the axis of the accommodating ring groove 11, so that the connecting through hole 14 of the connector 1 is aligned one by one with the threaded hole 213 of the connected part 2, and they are connected one by one through the locking part 3, thereby realizing the locking of the positions of the connector 1 and the connected part 2 in the radial direction (that is, realizing the secondary locking of the connector 1 and the connected part 2).

[0056] In the prior art, not shown in the figure, when the connected part 2 is subjected to bending moment, it is usually resisted by screws bolting the connecting part 1 and the connected part 2 in the radial direction, but the screws themselves have already generated a large pre-tightening force in the process of locking the connecting part 1 and the connected part 2, so that the bending moment that they can withstand is limited. However, the present application forms at least one of the first wall surface 111 and the second wall surface 112 as the above-mentioned inclined surface, so that part of the pre-tightening force borne by the locking part 3 can be dispersed by the inclined surface, so that the locking part 3 can withstand a larger bending moment.

[0057] In order to more intuitively clarify that the structure of the connection device provided in the present application can effectively improve the combined bending and torsional strength of the connection device, it is explained below in conjunction with simulation data.

[0058] Under the condition of using the same number of screws, specifications, and the same assembly dimensions, for three different connection structures, namely, ordinary axial connection, ordinary radial connection, and the connection device provided by the present application, the data of the maximum shear force borne by the monitoring screws and the maximum deformation of the assembly under the action of a pure torque of 100 NM are shown in Attached Table 1;

[0059] Appendix 1 Deformation / shear stress reference table under 100NM pure torque

[0060]

[0061] According to the data shown in Appendix 1, when the connection device is subjected to pure torque, the shear stress borne by the screw (i.e., the locking portion 3) of the connection device provided by the present application is much smaller than that of the common axial connection structure and the common radial connection structure in the prior art. And the maximum deformation of the assembly is significantly smaller than that of the common axial connection structure and the common radial connection structure in the prior art, which effectively illustrates the high torsional strength of the connection device provided by the present application.

[0062] Under the condition of using the same number of screws, specifications, and the same assembly dimensions, for three different connection structures, namely, ordinary axial connection, ordinary radial connection, and the connection device provided by the present application, the data of the maximum shear force borne by the monitoring screws and the maximum deformation of the assembly under the action of a pure bending moment of 100 NM are shown in Attached Table 2;

[0063] Appendix 2 Deformation / shear stress reference table under 100NM pure bending moment

[0064]

[0065] According to the data shown in Appendix 2, when the connection device is subjected to pure bending moment, the shear stress borne by the screw (i.e., the locking portion 3) of the connection device provided by the present application is much smaller than that of the common axial connection structure and the common radial connection structure in the prior art. And the maximum deformation of the assembly is significantly smaller than that of the common axial connection structure and the common radial connection structure in the prior art, which effectively illustrates the high bending strength of the connection device provided by the present application.

[0066] In addition, the connecting device provided in the present application can achieve one-time locking of the connecting member 1 and the connected member 2 through the cooperation of the knobs of the connected member 2 and the connecting member 1. The connection between the connecting member 1 and the connected member 2 does not require any external auxiliary parts except the locking part 3, so that the connecting member 1 and the connected member 2 can be locked twice, which effectively simplifies the assembly steps and improves the assembly efficiency of the connecting device.

[0067] In addition, in the connection device provided by the present application, the locking portion 3 can pass through the connecting through hole 14 of the connecting member 1 from the outside of the connecting member 1 and be bolted to the corresponding threaded hole 213 of the connected member 2. In this way, during the assembly process of the connecting member 1 and the connected member 2, the outside of the connecting member 1 has sufficient space for using assembly tools (for example, a wrench, an electric screwdriver, etc.) for screwing the locking portion 3, which facilitates operation and effectively improves the assembly efficiency of the connection device.

[0068] On the second aspect, the embodiments of the present application also provide a robot, comprising the connecting device described in any of the above embodiments, and thus having all the beneficial technical effects of the connecting device, which will not be elaborated here.

[0069] It should be noted that the robot here can be a robot in a broad sense, and the robot can refer to a manipulator, a robotic arm, etc.

[0070] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A connection device, characterized in that: It includes a connecting piece, a connected piece and a locking part, The connected member includes a protruding portion, and the protruding portion includes a first fitting surface and a second fitting surface facing away from each other in the axial direction of the connected member; The connecting member is provided with a receiving ring groove for receiving the protruding portion of the connected member, the receiving ring groove comprises a first wall surface and a second wall surface respectively provided on both sides of the receiving ring groove in the axial direction, and along the radial direction of the receiving ring groove, in a direction from the center of the receiving ring groove to the edge of the receiving ring groove, the distance between the first wall surface and the second wall surface in the axial direction gradually decreases; When the protrusion is placed in the accommodating annular groove, the locking portion penetrates the connecting member along the radial direction to be connected with the protrusion, and the first wall surface and the second wall surface are respectively in contact with the first contact surface and the second contact surface.

2. The connection device according to claim 1, characterized in that: The connected member includes a connecting ring portion, and the number of the protruding portions is multiple, and the multiple protruding portions are all arranged on the outer side wall of the connecting ring portion, and the multiple protruding portions are arranged at intervals along the circumference of the connecting ring portion.

3. The connection device according to claim 2, characterized in that: The connecting member includes a baffle portion whose number is equal to the number of the protrusions, and the multiple baffle portions are all arranged at the same end of the connecting member. The multiple baffle portions are arranged at intervals along the circumference of the connecting member so that an entry channel connected to the accommodating ring groove and for the protrusion to enter is formed between two adjacent baffle portions among the multiple baffle portions, and the first wall surface is the inner side surface of the baffle portion.

4. The connection device according to claim 1, characterized in that: The plane where the first wall surface is located and the plane where the second wall surface is located both intersect with a plane perpendicular to the axial direction.

5. The connection device according to claim 1, characterized in that: A plane where the intersection of the plane where the first wall surface is located and the plane where the second wall surface is located and which is perpendicular to the axial direction is defined as a central plane; The first wall surface and the second wall surface are symmetrically arranged with respect to the central plane.

6. The connection device according to claim 1, characterized in that: The included angle between the first wall surface and the second wall surface is 10° to 60°.

7. The connection device according to claim 3, characterized in that: The connecting member comprises a plurality of connecting through holes penetrating the side wall of the connecting member along the radial direction, and the locking portion penetrates the connecting member via the connecting through holes and is connected to the protruding portion; The plurality of blocking pieces and the plurality of connecting through holes are arranged opposite to each other in a circumferential direction of the connecting member.

8. The connection device according to claim 2, characterized in that: The connecting ring portion includes a lightening hole penetrating the connecting ring portion along the axial direction.

9. The connection device according to claim 8, characterized in that: The number of the weight-reducing holes is equal to the number of the protruding portions, and the plurality of weight-reducing holes are spaced apart along the circumferential direction of the connecting ring portion, so that a connecting beam is formed between every two adjacent weight-reducing holes, and the connecting beams correspond to the protruding portions one by one, and the corresponding connecting beams are aligned with the protruding portions in the radial direction of the connected component.

10. A robot, characterized in that: A connecting device comprising the connection device according to any one of claims 1 to 9.

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