Robot arm connecting device and robot

Abstract

The invention provides a robot arm connecting device and a robot, relates to the technical field of robots, and aims to solve the problem of poor reliability caused by the fact that a tail end executing mechanism needs an independent power source. The robot arm connecting device comprises a robot arm and a tail end executing mechanism, the tail end executing mechanism comprises a mounting assembly and an action assembly connected to the mounting assembly, the robot arm is connected with a telescopic output piece, the telescopic output piece is configured to drive the action assembly to act, and a locking assembly is arranged between the telescopic output piece and the mounting assembly. The locking assembly is configured to keep locking of the mounting assembly when the telescopic output piece drives the action assembly. An independent power source does not need to be arranged in the tail end executing mechanism, and the reliability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot arm connection device and a robot. Background Art

[0002] In the field of humanoid robots, if the robot needs to adapt to different working scenarios during operation, the robot hand or gripper is generally replaced manually. Although there are some existing technologies that automatically replace the manipulator or gripper, the robot arm is controlled separately from the manipulator or gripper, that is, the manipulator or gripper has a separate control unit. Generally speaking, this method uses the robot arm to supply power and communication to the manipulator or gripper, which not only has the risk of sparks from the contacts, but also the control system required for the separate control of the manipulator or gripper will significantly increase the cost. Summary of the invention

[0003] The first aspect of the present invention aims to provide a robot arm connection device to solve the technical problem that the existing end actuator requires an independent power source and thus has poor reliability.

[0004] A robot arm connection device provided in a first aspect of the present invention comprises a robot arm and an end actuator, wherein the end actuator comprises a mounting assembly and an action assembly connected to the mounting assembly, a telescopic output member is connected to the robot arm, the telescopic output member is configured to drive the action assembly to move, and a locking assembly is provided between the telescopic output member and the mounting assembly, the locking assembly is configured to keep the mounting assembly locked when the telescopic output member drives the action assembly.

[0005] The beneficial effects brought by the robot arm connection device of the present invention are:

[0006] By setting the locking component in this way, the telescopic output member of the robot arm and the installation component of the end actuator can be first locked by the locking component, thereby achieving relative fixation of the installation component and the robot arm. When the telescopic output member drives the action component, the locking component is still locked on the installation component, so that the action of the telescopic output member can be used to successively achieve the two tasks of fixing the installation component and the robot arm, and driving the locking action component to complete the action. Therefore, there is no need to set up a power source for the end actuator separately, so there is no need to communicate with the power source, which fundamentally avoids the failure problem caused by contact power-on communication and improves the reliability of the end actuator. In addition, the power source set in the end actuator can also be saved. On the one hand, the mass of the end actuator can be reduced to reduce its inertia, and on the other hand, the overall cost of the robot can be reduced.

[0007] In an optional technical solution, the locking assembly includes a first connecting member that is movably arranged relative to the telescopic output member, the first connecting member is provided with a through hole portion, a moving member is provided in the through hole portion, and the moving member can move along the depth of the through hole portion; the mounting assembly includes a second connecting member, the second connecting member is provided with a recessed portion; the telescopic output member has a pushing portion, and the pushing portion is configured to push the moving member to move in the through hole portion and enable the moving member to cooperate with the recessed portion.

[0008] In an optional technical solution, the first connecting member has a first sleeve portion, the first sleeve portion has a first outer conical surface; the second connecting member has a second sleeve portion, the second sleeve portion has an inner conical surface, and the first outer conical surface cooperates with the inner conical surface.

[0009] In an optional technical solution, the telescopic output member is inserted into the first sleeve portion, the telescopic output member has a first shaft segment and a second shaft segment, the diameter of the first shaft segment is smaller than that of the second shaft segment, and the conical segment is the pushing portion; the first shaft segment and the second shaft segment are connected via a conical segment, the conical segment has a second outer conical surface, and the second outer conical surface is configured as follows: when the telescopic output member moves from the first connecting member to the action component, the second outer conical surface pushes the moving member to move in the through hole portion and enables the moving member to cooperate with the recessed portion.

[0010] In an optional technical solution, the moving member is spherical, and the shape of the recessed portion matches the moving member.

[0011] In an optional technical solution, the aperture of the through hole portion gradually decreases along the radial outward direction of the first sleeve portion, and the center of gravity of the moving member is located inside the outer surface of the first sleeve portion.

[0012] In an optional technical solution, the action component includes an action input member, an action arm and a rocker rod; the rocker rod is pivotally connected to the action input member; a clamping portion is provided at one end of the action arm, and the other end of the action arm is pivotally connected to the second connecting member, the action arm is pivoted to the pivot position of the rocker rod, and is located between the clamping portion and the pivot position of the action arm and the second connecting member, and the action input member and the second connecting member are connected by a reset member.

[0013] In an optional technical solution, the reset member is a spring, and the spring is connected to the opposite surfaces of the action input member and the second connecting member.

[0014] In an optional technical solution, the telescopic output member is configured to be able to pass through the spring and abut against the action input member.

[0015] The second aspect of the present invention aims to provide a robot to solve the technical problem that the end effector requires an independent power source, resulting in poor reliability.

[0016] The robot provided in the second aspect of the present invention includes the above-mentioned robot arm connection device.

[0017] By setting the above-mentioned robot arm connection device in the robot, the robot accordingly has all the advantages of the above-mentioned robot arm connection device, which will not be described one by one here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the background technology, the drawings required for use in the embodiments or the background technology description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the exploded structure of a robot arm connection device provided by an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of the structure of the robot arm connection device provided by an embodiment of the present invention when the first connection member is placed in the second connection member;

[0021] Figure 3 A schematic diagram of the structure of the robot arm connection device provided by an embodiment of the present invention when the connection piece is pushed out of the through hole;

[0022] Figure 4 A schematic structural diagram of the robot arm connection device provided in an embodiment of the present invention when the clamping parts are close to each other.

[0023] Description of reference numerals:

[0024] 100-robot arm; 110-telescopic output member; 111-pushing part; 112-first shaft section; 113-second shaft section; 120-first connecting member; 121-through hole; 122-first sleeve part; 123-first flange part; 124-positioning pin; 130-moving member; 140-screw motor;

[0025] 200-end actuator; 210-second connecting member; 211-recessed portion; 212-second sleeve portion; 213-second flange portion; 214-positioning hole; 215-first radial rod; 220-action input member; 221-second radial rod; 230-action arm; 231-clamping portion; 240-rocker rod; 250-reset member. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0027] Embodiment 1:

[0028] Figure 1 A schematic diagram of the exploded structure of a robot arm connection device provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of the robot arm connection device provided by an embodiment of the present invention when the first connection member is placed in the second connection member; Figure 3 A schematic diagram of the structure of the robot arm connection device provided by an embodiment of the present invention when the connection piece is pushed out of the through hole; Figure 4 A schematic diagram of the structure of the robot arm connection device provided by an embodiment of the present invention when the clamping parts are close to each other. Figure 1-Figure 4 As shown, the robot arm connection device provided in the first embodiment of the present invention includes a robot arm 100 and an end actuator 200, the end actuator 200 includes a mounting assembly and an action assembly connected to the mounting assembly, a telescopic output member 110 is connected to the robot arm 100, the telescopic output member 110 is configured to drive the action assembly to move, and a locking assembly is provided between the telescopic output member 110 and the mounting assembly, the locking assembly is configured to keep the mounting assembly locked when the telescopic output member 110 drives the action assembly.

[0029] By setting the locking assembly in this way, the telescopic output member 110 of the robot arm 100 and the mounting assembly of the end effector 200 can be first locked by the locking assembly, thereby achieving relative fixation of the mounting assembly and the robot arm 100. When the telescopic output member 110 drives the action assembly, the locking assembly is still kept locked on the mounting assembly, so that the action of the telescopic output member 110 can be used to successively complete the two tasks of fixing the mounting assembly and the robot arm 100, and driving the locking action assembly to complete the action, so that there is no need to set a power source for the end effector 200 separately, and then there is no need to communicate with the power source, which fundamentally avoids the fault problem caused by contact power-on communication and improves the reliability of the end effector 200. In addition, the power source set in the end effector 200 can also be saved, which can reduce the mass of the end effector 200 to reduce its inertia on the one hand, and reduce the overall cost of the robot on the other hand.

[0030] Specifically, in this embodiment, the end effector 200 can be a manipulator mechanism or a gripper mechanism. In the following text of this application, the end effector 200 is described as a gripper mechanism. However, this does not prevent the application from being applied to the case where the end effector 200 is a manipulator mechanism. As long as the end effector 200 has only one power input terminal and the power can be input to the end effector 200 in a telescopic manner, the robot arm connection device of this application can be applied.

[0031] Specifically, the telescopic output member 110 can be installed at the power output end of the screw motor 140. When the screw motor 140 outputs power, the output shaft drives the telescopic output member 110 fixedly connected thereto to perform the telescopic function. When the output shaft outputs power, it does not drive the telescopic output member 110 to rotate. Of course, in other implementations, an electric push rod, a linear motor or a cylinder can also be used to drive the telescopic output member 110 to complete the telescopic movement.

[0032] like Figure 1-Figure 4 As shown, optionally, the locking assembly includes a first connecting member 120 that is movably arranged relative to the telescopic output member 110, the first connecting member 120 is provided with a through hole portion 121, and a moving member 130 is provided in the through hole portion 121, and the moving member 130 can move along the depth of the through hole portion 121; the installation assembly includes a second connecting member 210, and the second connecting member 210 is provided with a recessed portion 211; the telescopic output member 110 has a pushing portion 111, and the pushing portion 111 is configured to push the moving member 130 to move in the through hole portion 121 and make the moving member 130 cooperate with the recessed portion 211.

[0033] A pushing portion 111 is provided on the telescopic output member 110 to push the moving member 130 on one side of the through hole portion 121, so that the moving member 130 extends out of the other end of the through hole portion 121 and the moving member 130 cooperates with the recessed portion 211, so that the locking assembly and the second connecting member 210 can be fixed. After the moving member 130 moves in the through hole portion 121, the moving member 130 cooperates with the recessed portion 211 and does not retreat along the through hole portion 121, thereby maintaining the locked state.

[0034] like Figure 1-Figure 4 As shown, optionally, the first connecting member 120 has a first sleeve portion 122, and the first sleeve portion 122 has a first outer cone surface; the second connecting member 210 has a second sleeve portion 212, and the second sleeve portion 212 has an inner cone surface, and the first outer cone surface cooperates with the inner cone surface.

[0035] The outer peripheral surface of the first sleeve portion 122 is in the shape of a first outer cone, while the inner side surface of the second sleeve portion 212 is in the shape of an inner cone. The two cooperate with each other and can utilize the self-centering performance of the cone to achieve automatic alignment of the axes of the second sleeve portion 212 and the first sleeve portion 122.

[0036] The first connecting member 120 further comprises a first flange portion 123, and the second connecting member 210 further comprises a second flange portion 213. A positioning pin 124 is provided on the first flange portion 123, and the positioning pin 124 can be inserted into a positioning hole 214 of the second flange portion 213, thereby realizing radial positioning of the first connecting member 120 and the second connecting member 210.

[0037] The inner conical surface of the second sleeve portion 212 is provided with an annular groove, which serves as a recessed portion 211 and cooperates with the moving member 130. The through hole portion 121 penetrates the first sleeve portion 122 along the direction from the axis of the first sleeve portion 122 to the outer circumference of the first sleeve portion 122.

[0038] like Figure 1-Figure 4 As shown, optionally, the telescopic output member 110 is inserted into the first sleeve portion 122, and the telescopic output member 110 has a first shaft segment 112 and a second shaft segment 113, the diameter of the first shaft segment 112 is smaller than that of the second shaft segment 113, the first shaft segment 112 and the second shaft segment 113 are connected by a cone segment, and the cone segment is the pushing portion 111; the cone segment has a second outer cone surface, and the second outer cone surface is configured as follows: when the telescopic output member 110 moves from the first connecting member 120 to the action component, the second outer cone surface pushes the moving member 130 to move in the through hole portion 121 and makes the moving member 130 cooperate with the recessed portion 211.

[0039] By providing a second outer cone surface between the first shaft section 112 and the second shaft section 113, when the telescopic output member 110 is extended, the diameter difference between the first shaft section 112 and the second shaft section 113 on both sides of the second outer cone surface can be used to push the moving member 130 outward along the through hole portion 121. After the moving member 130 is pushed, the second shaft section 113 is used to press the moving member 130 outward, so that the moving member 130 and the recessed portion 211 are kept in a matching state, thereby achieving the locking of the telescopic output member 110 and the mounting assembly.

[0040] Specifically, in this embodiment, the first shaft section 112 and the second shaft section 113 are both cylindrical shaft sections, and the diameter of each shaft section is consistent. In the direction toward the mounting assembly, the second shaft section 113, the cone section and the first shaft section 112 are arranged in sequence. Moreover, the axes of the first shaft section 112, the second shaft section 113 and the cone section are consistent.

[0041] like Figure 1-Figure 4As shown, optionally, the moving member 130 is spherical, and the shape of the recessed portion 211 matches the moving member 130 .

[0042] The moving member 130 is selected to be spherical, so that when the telescopic output member 110 is retracted, the moving member 130 moves axially along the telescopic output member 110 relative to the recessed portion 211. The edge of the recessed portion 211 can push the moving member 130, so that the moving member 130 can move toward the axis of the telescopic output member 110 in the through hole portion 121, and the moving member 130 can be easily reset.

[0043] Specifically, the cross-sectional edge of the annular groove as the recessed portion 211 may be in an arc shape so that the spherical moving member 130 matches the recessed portion 211. In addition, with the spherical moving member 130, when the cone section abuts against the moving member 130, the moving member 130 can roll in the through hole portion 121, thereby reducing the resistance to the movement of the through hole portion 121.

[0044] like Figure 1-Figure 4 As shown, optionally, along the radial outward direction of the first sleeve portion 122 , the aperture of the through hole portion 121 gradually decreases, and the center of gravity of the moving member 130 is located within the outer surface of the first sleeve portion 122 .

[0045] The through hole portion 121 is arranged in this way, so that when the telescopic output member 110 is retracted, the moving member 130 can be prevented from slipping out of the through hole portion 121 .

[0046] It should be noted that the through hole portion 121 can be configured such that when the spherical moving member 130 abuts against the recessed portion 211, the spherical moving member 130 does not achieve annular contact with the through hole portion 121, for example, only the bottom of the moving member 130 contacts the inner wall of the through hole portion 121. That is, the through hole portion 121 should not prevent the moving member 130 from contacting the recessed portion 211.

[0047] like Figure 1-Figure 4 As shown, optionally, the action component includes an action input member 220, an action arm 230 and a rocker rod 240; the rocker rod 240 is pivotally connected to the action input member 220; a clamping portion 231 is provided at one end of the action arm 230, and the other end of the action arm 230 is pivotally connected to the second connecting member 210. The action arm 230 is pivotally connected to the pivot position of the rocker rod 240, which is located between the clamping portion 231 and the pivot position of the action arm 230 and the second connecting member 210. The action input member 220 and the second connecting member 210 are connected via a reset member 250.

[0048] By pivoting the motion input member 220 and the two ends of the motion arm 230, the motion input member 220, the second connecting member 210, the motion arm 230 and the swing rod 240 form a crank slider mechanism. When the motion input member 220 is pushed by the telescopic output member 110, the motion arm 230 can be driven to swing, so as to drive the clamping part 231 on the motion arm 230 to move closer to clamp the product or away to release the product. When the telescopic output member 110 is retracted, the reset member 250 can drive the motion reset member 250 to reset, so that the motion input member 220 drives the motion arm 230 to open.

[0049] Specifically, the second connecting member 210 has a plurality of first radial rods 215, one end of which is fixedly connected to the outer peripheral surface of the second flange portion 213, and the other end of the first radial rod 215 is pivotally connected to one end of the action arm 230; similarly, the action input member 220 may also have a plurality of second radial rods 221, one end of which is pivotally connected to the swing rod 240. Accordingly, there may be a plurality of swing rods 240 and action arms 230. For example, in this embodiment, there may be two action arms 230, which can clamp the product from two opposite sides of the product. In another implementation, there may also be a plurality of action arms 230, which may be evenly distributed circumferentially to clamp the product from three or four directions around the product.

[0050] like Figure 1-Figure 4 As shown, optionally, the reset member 250 is a spring, and the spring is connected to the opposite surfaces of the action input member 220 and the second connecting member 210 .

[0051] By selecting a spring as the reset member 250 and setting the spring in this way, when the telescopic output member 110 is retracted, the action input member 220 can be automatically driven to move toward the second connecting member 210, so that the action input member 220 can be used to drive the swing rod 240 and the action arm 230 to move, so that the action arm 230 is opened. In this way, the opening of the action arm 230 is achieved without the need for a special drive device, and it can be automatically completed with the retraction of the telescopic output member 110. The movement of the telescopic output member 110 can control the clamping part 231 on the action arm 230 to complete the approach and distance movement. There is no need to set a separate power source on the end actuator 200, so there is no need to communicate with the power source, which fundamentally avoids the failure problem caused by contact power communication and improves the reliability of the end actuator 200.

[0052] Specifically, in this embodiment, the spring can be selected as a tension spring, and the two ends of the tension spring are respectively connected to the illustrated lower end of the second connecting member 210 and the illustrated upper surface of the motion input member 220, so that the motion input member 220 tends to move toward the second connecting member 210.

[0053] like Figure 4As shown, optionally, the telescopic output member 110 is configured to be able to pass through the spring and abut against the motion input member 220 .

[0054] With such an arrangement, it can be achieved that the spring is selected as an integral spring rather than a plurality of elastic components arranged along the circumferential direction, so that the spring acts more evenly on the second connecting member 210 and the action input member 220 .

[0055] like Figure 1-Figure 4 As shown, the action principle of this embodiment is:

[0056] like Figure 1 As shown, when the robot arm 100 and the end effector 200 are separated, the moving member 130 corresponds to the first shaft section 112, so the moving member 130 is located at the end of the axis of the through hole portion 121 close to the telescopic output member 110, and the moving member 130 does not extend out of the port located at the first outer cone surface of the through hole portion 121. Under the action of the reset member 250, the distance between the second connecting member 210 and the action input member 220 is relatively close, so that the action input member 220 pushes the action arm 230 outward through the swing rod 240, so that the distance between the clamping parts 231 of the action arm 230 is relatively large, and the product is not clamped.

[0057] like Figure 2 Described, after the first sleeve part 122 of the first connecting member 120 is placed into the second sleeve part 212 of the second connecting member 210, the positioning pin 124 of the first flange part 123 cooperates with the positioning hole 214 of the second flange part 213 to realize the circumferential limit of the first connecting member 120 and the second connecting member 210, and the first inner cone surface and the first outer cone surface realize radial and axial positioning. At this time, the moving member 130 corresponds to the first shaft section 112, so the moving member 130 is located at the inner end of the through hole part 121, and the moving member 130 does not probe the outer end of the through hole part 121. And under the action of the reset member 250, the distance between the second connecting member 210 and the action input member 220 is relatively close, so that the action input member 220 opens the action arm 230 outwards through the swing rod 240, so that the spacing of the clamping part 231 is relatively large, and the product is not clamped.

[0058] like Figure 3As shown, the telescopic output member 110 extends outward, and the cone section abuts against the moving member 130, so that the moving member 130 moves toward the outer end of the through hole portion 121, that is, one end of the through hole portion 121 located at the first outer cone surface, and the moving member 130 extends out of the outer end of the through hole portion 121 and cooperates with the recessed portion 211. Then the telescopic output member 110 continues to extend, so that the second shaft section 113 abuts against the moving member 130. Since the diameter of the second shaft section 113 is larger than that of the first shaft section 112, the abutment of the second shaft section 113 against the moving member 130 can prevent the moving member 130 from moving toward the inner end of the through hole portion 121, that is, one end of the through hole portion 121 facing the axis of the telescopic output member 110, so as to maintain the cooperation between the moving member 130 and the recessed portion 211, and ensure the locking of the first connecting member 120 and the second connecting member 210. At this time, the lower end of the telescopic output member 110 shown in the figure may contact the action input member 220, but does not push the action input member 220, so the spacing of the clamping parts 231 is relatively large and does not clamp the product.

[0059] like Figure 4 As shown, the telescopic output member 110 continues to extend outward. Since the second shaft section 113 is a cylindrical surface, the second shaft section 113 maintains contact with the moving member 130, preventing the moving member 130 from moving toward the inner end of the through hole portion 121, and maintaining the locking of the first connecting member 120 and the second connecting member 210. The lower end of the telescopic output member 110 pushes the action input member 220 toward the lower side of the figure, and the action input member 220 moves toward the lower side of the figure. Therefore, the swing rod 240 is pivoted at the pivot position of the action input member 220, and the action arm 230 is pivoted at the pivot position of the second connecting member 210, and the distance increases. The angle between the swing rod 240 and the upper part of the action arm 230 increases, and the lower parts of each action arm 230 are close to each other to clamp the product. In the process of the clamping part 231 approaching the clamped product, the position of the moving member 130 does not move relative to the position of the recessed part 211, so the second connecting member 210 and the first connecting member 120 can be locked during the clamping process. In addition, if the size of the product is different, as long as it is within the range that the clamping part 231 can stably clamp, although the extension distance of the telescopic output member 110 varies, as long as the moving member 130 is pushed against the recessed part 211, the second connecting member 210 and the first connecting member 120 can remain locked.

[0060] As for the process of releasing the clamping of the product, the action is opposite to the clamping process, and the present application will not repeat it. Among them, when the first connecting member 120 is separated from the second connecting member 210, since the first shaft section 112 is directly facing the moving member 130 instead of the second shaft section 113, and the diameter of the first shaft section 112 is smaller than that of the second shaft section 113, the moving member 130 can be moved to the inner end of the through hole portion 121 under the action of the edge of the recessed portion 211, so as to release the lock between the second connecting member 210 and the first connecting member 120.

[0061] Embodiment 2:

[0062] Embodiment 2 also provides a robot, comprising the above-mentioned robot arm connecting device.

[0063] By setting the above-mentioned robot arm connection device in the robot, the robot accordingly has all the advantages of the above-mentioned robot arm connection device, which will not be described one by one here.

[0064] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

[0065] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0066] In the above embodiments, the descriptions of directions such as “upper” and “lower” are all based on the drawings.

[0067] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0068] Thus, the present invention will not be limited to the embodiments shown herein but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot arm connection device, characterized in that: The invention comprises a robot arm (100) and an end actuator (200), wherein the end actuator (200) comprises a mounting assembly and an action assembly connected to the mounting assembly, wherein a telescopic output member (110) is connected to the robot arm (100), wherein the telescopic output member (110) is configured to drive the action assembly to move, and a locking member is provided between the telescopic output member (110) and the mounting assembly, wherein the locking member is configured to keep the mounting assembly locked when the telescopic output member (110) drives the action assembly.

2. The robot arm connection device according to claim 1, characterized in that: The locking component comprises a first connecting member (120) movably arranged relative to the telescopic output member (110), the first connecting member (120) being provided with a through hole portion (121), a moving member (130) being provided in the through hole portion (121), and the moving member (130) being able to move along the depth of the through hole portion (121); the mounting component comprises a second connecting member (210), the second connecting member (210) being provided with a recessed portion (211); the telescopic output member (110) having a pushing portion (111), the pushing portion (111) being configured to push the moving member (130) to move in the through hole portion (121) and enable the moving member (130) to cooperate with the recessed portion (211).

3. The robot arm connection device according to claim 2, characterized in that: The first connecting member (120) has a first sleeve portion (122), and the first sleeve portion (122) has a first outer conical surface; the second connecting member (210) has a second sleeve portion (212), and the second sleeve portion (212) has an inner conical surface, and the first outer conical surface matches the inner conical surface.

4. The robot arm connection device according to claim 3, characterized in that: The telescopic output member (110) is inserted into the first sleeve portion (122), and comprises a first shaft section (112) and a second shaft section (113). The diameter of the first shaft section (112) is smaller than that of the second shaft section (113). The first shaft section (112) and the second shaft section (113) are connected via a cone section, and the cone section is the pushing portion (111). The cone section has a second outer cone surface, and the second outer cone surface is configured such that when the telescopic output member (110) moves from the first connecting member (120) to the action component, the second outer cone surface pushes the moving member (130) to move in the through hole portion (121) and enables the moving member (130) to cooperate with the recessed portion (211).

5. The robot arm connection device according to claim 4, characterized in that: The moving member (130) is spherical, and the shape of the recessed portion (211) matches that of the moving member (130).

6. The robot arm connection device according to claim 4, characterized in that: Along the radial outward direction of the first sleeve portion (122), the aperture of the through hole portion (121) gradually decreases, and the center of gravity of the moving member (130) is located inside the outer surface of the first sleeve portion (122).

7. The robot arm connection device according to any one of claims 2 to 6, characterized in that: The action component comprises an action input member (220), an action arm (230) and a swing rod (240); the swing rod (240) is pivotally connected to the action input member (220); a clamping portion (231) is provided at one end of the action arm (230), and the other end of the action arm (230) is pivotally connected to the second connecting member (210); the action arm (230) is pivotally connected to the pivot position of the swing rod (240), and is located between the clamping portion (231) and the pivot position of the action arm (230) and the second connecting member (210); the action input member (220) and the second connecting member (210) are connected via a reset member (250).

8. The robot arm connection device according to claim 7, characterized in that: The reset member (250) is a spring, and the spring is connected to the opposite surfaces of the action input member (220) and the second connecting member (210).

9. The robot arm connection device according to claim 8, characterized in that: The telescopic output member (110) is configured to be able to pass through the spring and abut against the motion input member (220).

10. A robot, characterized in that: The robot comprises a robot arm connection device according to any one of claims 1-9.

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