Robot joint connecting structure and robot

Abstract

The application relates to the technical field of robots, and discloses a robot joint connecting structure and a robot. The robot joint connecting structure comprises a connecting seat, clamping assemblies, an elastic piece, a first joint module and a second joint module. The two clamping assemblies are arranged at the first end of the connecting seat and oppositely arranged, and the two clamping assemblies can slide towards or away from each other. The elastic piece is located between the two clamping assemblies, and the elastic piece has a movement tendency of driving the two clamping assemblies to separate from each other. The second end of the connecting seat is connected with the second joint module. The end surface of the first joint module is provided with a first clamping hook and a second clamping hook, the first clamping hook and the second clamping hook are respectively clamped with the two clamping assemblies, and the first clamping hook and the second clamping hook are respectively separated from the two clamping assemblies when the clamping assemblies slide to a target position along the direction of approaching each other. The application can realize quick disassembly and assembly of the head module and the neck module of the robot.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a robot joint connection structure and a robot. Background Technology

[0002] Humanoid robots, with their anthropomorphic form and interaction methods, have shown great potential in various fields such as service, companionship, medical rehabilitation, scientific research, and education. The robot's head typically integrates key interaction modules such as visual sensors, auditory sensors, displays, and speakers, while the neck is responsible for supporting the head and enabling posture adjustments (such as rotation and pitch). Since the head and neck are functionally dense and frequently used components, their maintainability is crucial for ensuring the long-term stable operation of the robot and reducing operating costs.

[0003] In existing humanoid robot designs, the common approach to connecting and maintaining the head and neck is to design them as a single structure, or to design them as separate units with complex connection structures that are inconvenient to assemble and disassemble. For example, existing technologies use a large number of fasteners to fix the head and neck together, which often requires disassembling the neck structure when removing the head, resulting in a cumbersome and time-consuming disassembly process that greatly increases the complexity and time cost of maintenance. Summary of the Invention

[0004] This application provides a robot joint connection structure and a robot to solve the problem of quick assembly and disassembly of the robot's head module and neck module.

[0005] In a first aspect, this application provides a robot joint connection structure, including: The connector has a first end and a second end; Two snap-fit ​​components are provided and are located at the first end of the connector. The two snap-fit ​​components are arranged opposite to each other and can slide closer to or further away from each other. An elastic element is located between the two said snap-fit ​​components, and the elastic element has a tendency to drive the two said snap-fit ​​components to separate from each other. A first joint module and a second joint module, wherein the second end of the connecting seat is connected to the second joint module, and the first joint module is provided with an end face facing the first end of the connecting seat; The first joint module has a first hook and a second hook on its end face. The first hook and the second hook are respectively engaged with the two engagement components. When the engagement components slide to the target position in a direction that brings them closer to each other, the first hook and the second hook disengage from the two engagement components.

[0006] Beneficial effects: The robot joint connection structure only requires pressing the two locking components close together to overcome the elastic force of the elastic element, allowing both the first and second hooks to disengage from the locking components. This eliminates the need to disassemble fasteners or the neck structure, significantly reducing head module maintenance time and lowering operating costs. The separation tendency of the elastic element ensures that the locking components remain tightly engaged with the first and second hooks even when not in operation, guaranteeing connection stability.

[0007] In one optional embodiment, the first end of the connector is provided with a groove, the end face of the first joint module abuts against the end face of the first end of the connector, and the first hook, the second hook and the elastic element are all disposed in the groove.

[0008] Beneficial effects: The recessed grooves accommodate related components, reducing external protrusions and preventing interference with other elements. The end face of the first joint module abuts against the end face of the first end of the connector, ensuring alignment accuracy when the head module and neck module are connected and preventing misalignment. The grooves also protect internal elastic elements and locking mechanisms, reducing dust intrusion or mechanical damage.

[0009] In one optional embodiment, the groove includes a first sidewall and a second sidewall disposed opposite to each other. The first sidewall and the second sidewall of the groove are respectively provided with through holes. The two snap-fit ​​components pass through the two through holes respectively, and the portions of the two snap-fit ​​components located in the groove are snapped with the first hook and the second hook respectively.

[0010] Beneficial effects: The through-hole design constrains the movement direction of the snap-fit ​​assembly, ensuring a stable sliding trajectory. The snap-fit ​​points of the snap-fit ​​assembly with the first and second hooks are built into the grooves, preventing them from being exposed and reducing the risk of accidental loosening.

[0011] In one optional implementation, the snap-fit ​​assembly includes: A snap-fit ​​element is located within the groove; The pressing member includes a first end and a second end opposite to each other. The first end of the pressing member is connected to the snap-fit ​​member, and the second end of the pressing member passes through the through hole and extends out of the groove. Both of the aforementioned snap-fit ​​components are located between the first snap hook and the second snap hook, and the two snap-fit ​​components are respectively snapped into the first snap hook and the second snap hook.

[0012] Beneficial effects: The press part protrudes from the groove, making it easy to operate with your fingers without the need for other tools. Furthermore, if damage occurs, the press part or the snap-fit ​​part can be replaced separately, reducing maintenance costs.

[0013] In one alternative embodiment, the snap-fit ​​component includes: The connecting block is provided with a threaded hole, the pressing member is configured as a rod-shaped structure, and the outer wall of the pressing member is provided with a threaded section, the threaded section being connected to the inner wall of the threaded hole by a thread; The limiting rod is connected to the connecting block, and the limiting rods of the two snap-fit ​​components are respectively snapped into the first snap hook and the second snap hook.

[0014] Beneficial effects: The connecting block and the pressing component are connected by threads, which allows for simultaneous connection and displacement, while also enabling adjustment of their relative positions to accommodate different assembly tolerances. The limiting rod is used to bear the clamping force, achieving the clamping state with the first and second latches.

[0015] In one optional embodiment, the groove further includes a third sidewall and a fourth sidewall disposed opposite to each other, and a guide hole is provided on the third sidewall and the fourth sidewall respectively. The guide hole is configured as a strip structure and extends along the direction from the first sidewall to the second sidewall. The limiting rod is slidably disposed in the guide hole. The end face of the first end of the connecting seat is provided with a notch, and the notch communicates with the guide hole.

[0016] Beneficial effects: The guide hole restricts the sliding direction of the limit rod, improving sliding stability. The notch facilitates the insertion of the snap-fit ​​component into the guide hole, improving assembly efficiency.

[0017] In one alternative implementation, it further includes: The guide includes a connecting plate and a guide cylinder. At least one of the third and fourth side walls of the groove is provided with a boss. The connecting plate is connected to the boss by a fastener. The outer wall of the guide cylinder is connected to the side of the connecting plate near the boss. The elastic element passes through the guide cylinder and abuts against the connecting blocks of the two snap-fit ​​members respectively.

[0018] Beneficial effects: The guide cylinder can prevent the elastic element from bending or shifting, ensuring that the direction of the elastic force is constant.

[0019] In one optional embodiment, the guide further includes: A sealing block is connected to the edge of the connecting plate, the sealing block is adapted to the shape of the notch, and is located within the notch.

[0020] Beneficial effects: The sealing block can prevent the entry of external impurities, extend the life of the internal mechanism, and also limit the position of the limit rod, preventing the limit rod from slipping out of the guide hole through the notch.

[0021] In one optional embodiment, a pair of planar structures are provided on the circumferential surface of the limiting rod. The pair of planar structures are arranged opposite to each other and are located at the end of the limiting rod away from the connecting block. The planar structures are in sliding contact with the inner wall of the guide hole.

[0022] Beneficial effects: The planar structure can suppress the rotation of the limiting rod, prevent the connecting block from rotating when connecting the pressing part and the connecting block, ensure that the threaded hole is aligned with the pressing part, facilitate assembly, and achieve an anti-torsion effect.

[0023] Secondly, this application also provides a robot, including a robot joint connection structure.

[0024] Beneficial effects: The robot's head module can be quickly and individually disassembled, which improves work efficiency and reduces the need for disassembly during maintenance, thus reducing mechanical wear. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of a robot joint connection structure according to an embodiment of this application; Figure 2 This is a schematic diagram of the assembly state of the snap-fit ​​component and the connector in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the snap-fit ​​assembly and connector under an exploded state in the embodiments of this application; Figure 4 This is a side view of a robot joint connection structure according to an embodiment of this application; Figure 5 for Figure 4 Cross-sectional view of AA.

[0027] Explanation of reference numerals in the attached figures: 1. Connecting seat; 101. Groove; 102. Through hole; 103. Guide hole; 104. Notch; 105. Boss; 106. Connecting hole; 107. Cylindrical structure; 108. Weight reduction groove; 2. Snap-fit ​​assembly; 201. Snap-fit ​​part; 2011. Connecting block; 2012. Threaded hole; 2013. Limiting rod; 2014. Planar structure; 202. Pressing part; 2021. Threaded section; 3. Elastic part; 4. First joint module; 401. First hook; 402. Second hook; 403. Drive bracket; 404. Fixed bracket; 405. Head rotation joint; 5. Second joint module; 501. First neck rotation joint; 502. Second neck rotation joint; 503. Connecting frame; 504. Swing block; 6. Guide part; 601. Connecting plate; 602. Guide cylinder; 603. Sealing block; 7. Fastener. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] The following is combined Figures 1 to 5 This describes an embodiment of the present application.

[0030] According to an embodiment of this application, a robot joint connection structure is provided, including a connecting seat 1, a snap-fit ​​assembly 2, an elastic element 3, a first joint module 4, and a second joint module 5. The connecting seat 1 has a first end and a second end. Two snap-fit ​​assemblies 2 are provided and disposed at the first end of the connecting seat 1. The two snap-fit ​​assemblies 2 are arranged opposite each other and can slide closer or further apart. The elastic element 3 is located between the two snap-fit ​​assemblies 2 and has a tendency to drive the two snap-fit ​​assemblies 2 to separate from each other. The second end of the connecting seat 1 is connected to the second joint module 5. The first joint module 4 has an end face facing the first end of the connecting seat 1. The end face of the first joint module 4 is provided with a first hook 401 and a second hook 402, which snap into the two snap-fit ​​assemblies 2 respectively. When the snap-fit ​​assemblies 2 slide towards each other in a direction of approach to a target position, the first hook 401 and the second hook 402 disengage from the two snap-fit ​​assemblies 2 respectively.

[0031] It should be noted that the first joint module 4 is configured as the robot's neck module, and the second joint module 5 is configured as the robot's head module. The first joint module 4 includes a drive bracket 403, a fixed bracket 404, and a head rotation joint 405 connected in sequence. The first hook 401 and the second hook 402 are disposed on the side of the drive bracket 403 facing the connecting seat 1.

[0032] The first and second ends of the connecting seat 1 are arranged opposite each other, with the first end of the connecting seat 1 corresponding to the first joint module 4 and the second end of the connecting seat 1 corresponding to the second joint module 5. The moving direction of the two snap-fit ​​components 2 is perpendicular to the direction from the first end to the second end of the connecting seat 1, i.e., the release direction is perpendicular to the assembly direction, which improves the overall connection stability. Multiple first snap hooks 401 and multiple second snap hooks 402 can be spaced apart along a straight line.

[0033] It is understood that the openings of the slots of the first hook 401 and the second hook 402 are positioned opposite each other, and the engaging ends of the two engaging components 2 are located between the first hook 401 and the second hook 402. This allows the first hook 401 and the second hook 402 to disengage from each other when the engaging components 2 slide towards each other to the target position. When the elastic element 3 is in a released state, the two engaging components 2 engage with the first hook 401 and the second hook 402 respectively.

[0034] The groove includes a pair of opposite inclined surfaces, and the distance between the two inclined surfaces gradually decreases along the direction from the opening of the groove to the bottom of the groove, which can center and ensure locking, and automatically compensate for wear.

[0035] In this embodiment, the robot joint connection structure only requires pressing the two locking components 2 together to overcome the elastic force of the elastic element 3, allowing both the first hook 401 and the second hook 402 to disengage from the locking components 2. This eliminates the need to disassemble fastening parts or the neck structure, significantly reducing the maintenance time of the head module and lowering operating costs. The separation tendency of the elastic element 3 ensures that the locking components 2 remain tightly engaged with the first hook 401 and the second hook 402 in the non-operating state, guaranteeing connection stability.

[0036] In one embodiment, the second joint module 5 includes a first neck rotation joint 501, a second neck rotation joint 502, a connecting frame 503, and a swing block 504. One end of the connecting frame 503 is connected to the drive end of the first neck rotation joint 501, allowing the first neck rotation joint 501 to swing back and forth. The other end of the connecting frame 503 is rotatably connected to the swing block 504, allowing the swing block 504 to swing left and right. The connecting seat 1 is configured as a U-shaped structure, with its opening fitted onto the swing block 504. The connecting seat 1 has a connecting hole 106, and the connecting seat 1 and the swing block 504 are connected by bolts inserted into the connecting hole 106. The second neck rotation joint 502 is specifically configured as two cylinders, rotatably connected to both sides of the bottom of the connecting frame 503. Cylinder structures 107 are respectively provided on both sides of the connecting seat 1. The output ends of the two cylinders are rotatably connected to the two cylinder structures 107 via rotating shafts, thereby enabling the swing block 504 to swing left and right.

[0037] In one embodiment, weight reduction grooves 108 are provided on both sides of the connecting seat 1, thereby achieving a weight reduction effect.

[0038] Understandably, the weight-reducing groove 108 can be configured as a rectangular groove, a circular groove, or a near-circular groove. Furthermore, multiple weight-reducing grooves 108 can be provided on the connecting base 1.

[0039] It should be noted that the weight-reducing groove 108 can be set on both side walls of the U-shaped connecting seat 1. Furthermore, the weight-reducing groove 108 can be a recessed groove structure or a through groove structure.

[0040] In one embodiment, the first end of the connector 1 is provided with a groove 101, the end face of the first joint module 4 abuts against the end face of the first end of the connector 1, and the first hook 401, the second hook 402 and the elastic member 3 are all provided in the groove 101.

[0041] Understandably, the connecting seat 1 is an integral casting structure, and the groove 101 is an integral structure with the connecting seat 1. Alternatively, the groove 101 can be created later through machining.

[0042] It should be noted that the end face of the first joint module 4 abuts against the end face of the first end of the connecting seat 1. Specifically, the drive bracket 403 abuts against the end face of the first end of the connecting seat 1. Furthermore, fan-shaped protrusions are provided on both sides of the first end of the connecting seat 1, which increases the end face area of ​​the first end of the connecting seat 1 and makes it compatible with the bottom surface of the drive bracket 403.

[0043] In this embodiment, the groove 101 is provided to accommodate related components, reducing external protrusions and avoiding interference with other components. The end face of the first joint module 4 abuts against the end face of the first end of the connecting seat 1, ensuring the alignment accuracy when the head module and neck module are connected and avoiding misalignment. The groove 101 also protects the internal elastic element 3 and the snap-fit ​​mechanism, reducing dust intrusion or mechanical damage.

[0044] In one embodiment, the groove 101 includes a first sidewall and a second sidewall disposed opposite to each other. The first sidewall and the second sidewall of the groove 101 are respectively provided with through holes 102. Two snap-fit ​​components 2 pass through the two through holes 102 respectively, and the portions of the two snap-fit ​​components 2 located in the groove 101 are snapped with the first hook 401 and the second hook 402 respectively.

[0045] Understandably, the through hole 102 is used to connect the groove 101 with the external space. By placing the snap-fit ​​component 2 in the through hole 102, the snap-fit ​​component 2 can be driven to move from the outside, thereby enabling the snap-fit ​​component 2 to disengage from the first hook 401 and the second hook 402 within the groove 101, thus achieving quick disassembly.

[0046] Optionally, the through hole 102 can be configured as a circular cross-section and slide in conjunction with the snap-fit ​​assembly 2.

[0047] In this embodiment, the through hole 102 constrains the movement direction of the snap-fit ​​component 2, ensuring a stable sliding trajectory. The snap-fit ​​points of the snap-fit ​​component 2 with the first hook 401 and the second hook 402 are built into the groove 101, preventing them from being exposed and reducing the risk of accidental loosening due to contact.

[0048] In one embodiment, the snap-fit ​​assembly 2 includes a snap-fit ​​member 201 and a pressing member 202. The snap-fit ​​member 201 is located within the groove 101. The pressing member 202 includes a first end and a second end opposite to each other. The first end of the pressing member 202 is connected to the snap-fit ​​member 201, and the second end of the pressing member 202 extends out of the groove 101 through the through hole 102. Both snap-fit ​​members 201 are located between the first hook 401 and the second hook 402, and both snap-fit ​​members 201 are snapped into the first hook 401 and the second hook 402, respectively.

[0049] Understandably, part of the pressing member 202 is located inside the groove 101, and part is located outside. By driving the pressing member 202 on the outer wall, the displacement of the locking member 201 can be achieved, thereby enabling the locking member 201 to engage and disengage with the first hook 401 and the second hook 402. Furthermore, the pressing member 202 slides in conjunction with the through hole 102.

[0050] In this embodiment, the pressing member 202 protrudes from the groove 101, which facilitates finger operation without the need for other tools. Furthermore, when damage occurs, the pressing member 202 or the snap-fit ​​member 201 can be replaced separately, reducing maintenance costs.

[0051] In one embodiment, the snap-fit ​​component 201 includes a connecting block 2011 and a limiting rod 2013. The connecting block 2011 is provided with a threaded hole 2012, and the pressing component 202 is configured as a rod-shaped structure, with a threaded section 2021 on the outer wall of the pressing component 202. The threaded section 2021 is threadedly connected to the inner wall of the threaded hole 2012. The limiting rod 2013 is connected to the connecting block 2011, and the limiting rods 2013 of the two snap-fit ​​components 201 are respectively snapped into the first hook 401 and the second hook 402.

[0052] It should be noted that the pressing component 202 can be composed of multiple rod segments connected in sequence, and the diameter of the rod segment located in the through hole 102 is larger than that of the rod segment with the threaded segment 2021, which can limit the connection block 2011.

[0053] Optionally, two limit rods 2013 can be provided, and they are located on two opposite sides of the connecting block 2011 respectively, which can ensure the stability of the engagement with the first hook 401 and the second hook 402 and avoid tilting and detachment due to uneven force.

[0054] Optionally, to facilitate the connection between the pressing member 202 and the connecting block 2011, a strip groove can be provided on the outer end face of the pressing member 202. When the pressing member 202 and the connecting block 2011 are connected, a tool is inserted into the strip groove and rotated to achieve the rotation of the pressing member 202, thereby achieving the threaded connection between the pressing member 202 and the connecting block 2011.

[0055] In this embodiment, the connecting block 2011 and the pressing member 202 are connected by threads, which allows for connection and synchronous displacement of the two, while also allowing adjustment of the relative positions of the connecting block 2011 and the pressing member 202 to accommodate different assembly tolerances. The limiting rod 2013 is used to bear the clamping force, realizing the clamping state with the first hook 401 and the second hook 402.

[0056] In one embodiment, the groove 101 further includes a third sidewall and a fourth sidewall disposed opposite to each other. The third sidewall and the fourth sidewall are respectively provided with guide holes 103. The guide holes 103 are configured as strip structures and extend along the direction from the first sidewall to the second sidewall. The limiting rod 2013 is slidably disposed in the guide hole 103. The end face of the first end of the connecting seat 1 is provided with a notch 104, and the notch 104 communicates with the guide hole 103.

[0057] It should be noted that during installation, the two limiting rods 2013 of the snap-fit ​​201 are introduced from the two notches 104 and enter the guide hole 103, thereby realizing the design of inserting the snap-fit ​​201 into the groove 101.

[0058] In this embodiment, the guide hole 103 can restrict the sliding direction of the limiting rod 2013, thereby improving sliding stability. The notch 104 facilitates the insertion of the snap-fit ​​component 201 into the guide hole 103, improving assembly efficiency.

[0059] In one embodiment, a guide member 6 is also included, comprising a connecting plate 601 and a guide cylinder 602. At least one of the third and fourth side walls of the groove 101 is provided with a boss 105. The connecting plate 601 is connected to the boss 105 by a fastener 7. The outer wall of the guide cylinder 602 is connected to the side of the connecting plate 601 near the boss 105. The elastic member 3 passes through the guide cylinder 602 and abuts against the connecting blocks 2011 of the two snap-fit ​​members 201 respectively.

[0060] It should be noted that the boss 105 is provided with a hole for connecting with the fastener 7, and the top surface of the boss 105 is lower than the first end face of the connecting seat 1. After the connection is completed, the top surface of the connecting plate 601 can be flush with the first end face of the connecting seat 1.

[0061] In this embodiment, the guide cylinder 602 can prevent the elastic element 3 from bending or shifting, ensuring that the direction of the elastic force is constant.

[0062] In one embodiment, the guide 6 further includes a blocking block 603 connected to the edge of the connecting plate 601. The blocking block 603 is adapted to the shape of the notch 104 and is located within the notch 104.

[0063] It should be noted that the sealing block 603 is connected to the bottom edge of the connecting plate 601. When sealing the notch 104, the bottom surface of the sealing block 603 can be flush with the inner wall of the guide hole 103 to avoid obstructing the limit rod 2013 and affecting its sliding.

[0064] In this embodiment, the sealing block 603 can isolate the entry of external impurities, extend the life of the internal mechanism, and at the same time, it can also limit the position of the limiting rod 2013, preventing the limiting rod 2013 from slipping out of the guide hole 103 through the notch 104.

[0065] In one embodiment, a pair of planar structures 2014 are provided on the circumferential surface of the limiting rod 2013. The pair of planar structures 2014 are arranged opposite to each other and are located at the end of the limiting rod 2013 away from the connecting block 2011. The planar structures 2014 slide in contact with the inner wall of the guide hole 103.

[0066] It should be noted that the spacing between the two planar structures 2014 is the same as the width of the guide hole 103, which can improve the torsional resistance.

[0067] In this embodiment, the planar structure 2014 can suppress the rotation of the limiting rod 2013, prevent the connecting block 2011 from rotating when connecting the pressing member 202 and the connecting block 2011, ensure that the threaded hole 2012 is aligned with the pressing member 202, facilitate assembly, and achieve an anti-torsion effect.

[0068] According to an embodiment of this application, another aspect provides a robot, including a robot joint connection structure.

[0069] In this embodiment, the robot's head module can be quickly and individually disassembled, which improves work efficiency and reduces the need for disassembly during maintenance, thus reducing mechanical wear.

[0070] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A robot joint connection structure, characterized in that, include: The connecting seat (1) has a first end and a second end, and the first end of the connecting seat (1) is provided with a groove (101). Two snap-fit ​​components (2) are provided and are located at the first end of the connector (1). The two snap-fit ​​components (2) are arranged opposite to each other and can slide closer to each other or further away from each other. An elastic element (3) is located between the two snap-fit ​​components (2), and the elastic element (3) has a tendency to drive the two snap-fit ​​components (2) to separate from each other; The first joint module (4) and the second joint module (5) are connected to the second joint module (5) at the second end of the connecting seat (1). The first joint module (4) is provided with an end face facing the first end of the connecting seat (1). The first joint module (4) is provided with a first hook (401) and a second hook (402) on its end face. The first hook (401) and the second hook (402) are respectively engaged with the two engagement components (2). When the engagement components (2) slide to the target position in a direction that brings them closer to each other, the first hook (401) and the second hook (402) disengage from the two engagement components (2) respectively. The snap-fit ​​assembly (2) includes a snap-fit ​​member (201) and a pressing member (202). The snap-fit ​​member (201) is located in the groove (101). The pressing member (202) includes a first end and a second end opposite to each other. The first end of the pressing member (202) is connected to the snap-fit ​​member (201), and the second end of the pressing member (202) extends out of the groove (101) through a through hole (102) on the groove (101). Both snap-fit ​​members (201) are located between the first hook (401) and the second hook (402), and both snap-fit ​​members (201) are snapped into the first hook (401) and the second hook (402) respectively.

2. The robot joint connection structure according to claim 1, characterized in that, The end face of the first joint module (4) abuts against the end face of the first end of the connecting seat (1), and the first hook (401), the second hook (402) and the elastic element (3) are all disposed in the groove (101).

3. The robot joint connection structure according to claim 2, characterized in that, The groove (101) includes a first sidewall and a second sidewall disposed opposite to each other. The first sidewall and the second sidewall of the groove (101) are respectively provided with the through hole (102). The two snap-fit ​​components (2) pass through the two through holes (102) respectively. The portions of the two snap-fit ​​components (2) located in the groove (101) are snapped with the first hook (401) and the second hook (402) respectively.

4. The robot joint connection structure according to claim 3, characterized in that, The snap-fit ​​connector (201) includes: The connecting block (2011) is provided with a threaded hole (2012), the pressing member (202) is configured as a rod-shaped structure, and the outer wall of the pressing member (202) is provided with a threaded section (2021), the threaded section (2021) and the inner wall of the threaded hole (2012) are connected by threads; The limiting rod (2013) is connected to the connecting block (2011), and the limiting rods (2013) of the two snap-fit ​​pieces (201) are respectively snapped into the first snap hook (401) and the second snap hook (402).

5. The robot joint connection structure according to claim 4, characterized in that, The groove (101) further includes a third sidewall and a fourth sidewall disposed opposite to each other. The third sidewall and the fourth sidewall are respectively provided with guide holes (103). The guide holes (103) are configured as strip structures and extend along the direction from the first sidewall to the second sidewall. The limiting rod (2013) is slidably disposed in the guide hole (103). The end face of the first end of the connecting seat (1) is provided with a notch (104), and the notch (104) communicates with the guide hole (103).

6. The robot joint connection structure according to claim 5, characterized in that, Also includes: The guide member (6) includes a connecting plate (601) and a guide cylinder (602). At least one of the third sidewall and the fourth sidewall of the groove (101) is provided with a boss (105). The connecting plate (601) and the boss (105) are connected by fasteners (7). The outer wall of the guide cylinder (602) is connected to the side of the connecting plate (601) near the boss (105). The elastic member (3) passes through the guide cylinder (602) and abuts against the connecting blocks (2011) of the two snap-fit ​​members (201) respectively.

7. The robot joint connection structure according to claim 6, characterized in that, The guide (6) also includes: The sealing block (603) is connected to the edge of the connecting plate (601), the sealing block (603) is adapted to the shape of the notch (104), and is located within the notch (104).

8. The robot joint connection structure according to claim 5, characterized in that, A pair of planar structures (2014) are provided on the circumferential surface of the limiting rod (2013). The pair of planar structures (2014) are arranged opposite to each other and are located at the end of the limiting rod (2013) away from the connecting block (2011). The planar structures (2014) slide in contact with the inner wall of the guide hole (103).

9. A robot, characterized in that, include: The robot joint connection structure according to any one of claims 1 to 8.

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