Connection structure, robot arm, and robot

Abstract

The application relates to the technical field of robots, in particular to a connecting structure, a robot arm and a robot, which solve the problem that the connecting structure in the prior art is prone to loosening and failure due to vibration, and the vibration resistance of the connecting structure is poor. The connecting structure comprises a first connecting piece, a second connecting piece and a locking piece. The locking piece can abut against the first limiting part of the first connecting piece through the annular limiting part, and is screwed with the second annular part of the second connecting piece through the annular screwing part, so as to lock the first connecting piece and the second connecting piece. The first acute angle between the second wedge surface and the first end surface of the second annular part is greater than the helix angle of the external thread. When the connecting structure is subjected to vibration, the threaded connection between the second wedge surface and the first wedge surface relative to the annular screwing part and the second annular part first slides, thereby increasing the axial pre-tightening force of the threaded connection on the second annular part, reducing the probability of loosening of the threaded connection, and improving the vibration resistance of the connecting structure.

Description

Technical Field

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

[0002] Humanoid robots, as highly complex intelligent devices, have made significant progress in technological development and application in recent years. However, the arm and leg structures of humanoid robots often malfunction, especially the joint modules. To facilitate maintenance and replacement of faulty joints, the connection methods between joints need to be simple and offer ample operating space. However, humanoid robots generate significant vibrations during walking, which are transmitted to every joint connection, including the legs, arms, waist, and head. Therefore, the joint connection structure not only needs to meet the requirements for rapid replacement but also needs high reliability and vibration resistance to prevent loosening and failure due to vibration.

[0003] However, the connection structure in the related technology is prone to loosening and failure due to vibration, resulting in poor reliability and vibration resistance of the connection structure. Summary of the Invention

[0004] In view of this, embodiments of this application provide a connection structure, a robotic arm, and a robot, which solves the problem in related technologies that connection structures are prone to loosening and failure due to vibration, resulting in poor reliability and vibration resistance of the connection structure.

[0005] In a first aspect, embodiments of this application provide a connection structure for connecting a first connected member and a second connected member. The connection structure includes: a first connecting member capable of connecting to the first connected member, the first connecting member including a first annular portion, the outer surface of the first annular portion having a first limiting portion, a first end face of the first annular portion having a first wedge surface, and the distance between the first wedge surface and a second end face of the first annular portion gradually increasing or decreasing along the circumference of the first annular portion; and a second connecting member capable of connecting to the second connected member, the second connecting member including a second annular portion, the outer surface of the second annular portion having an external thread, a first end face of the second annular portion having a second wedge surface, and the first end face of the first annular portion having a first wedge surface. The first end face of the second annular portion and the second end face of the second wedge surface are engaged by the first wedge surface and the second wedge surface. The distance between the second wedge surface and the second end face of the second annular portion gradually increases or decreases along the circumference of the second annular portion. The second wedge surface can fit against the first wedge surface. The first acute angle between the second wedge surface and the first end face of the second annular portion is greater than the helix angle of the external thread. The locking member includes an annular limiting part and an annular threaded part connected to each other. The annular limiting part is sleeved on the first annular portion and can abut against the side of the first limiting part away from the second connecting member. The annular threaded part has an internal thread and can be threaded with the second annular portion to lock the first connecting member and the second connecting member.

[0006] In some embodiments, there is a gap between the first end face of the first annular portion and the first end face of the second annular portion.

[0007] In some embodiments, the first end face of the first annular portion has a recessed portion, the recessed portion has a first wedge surface, the recessed portion also has a third wedge surface, the distance between the third wedge surface and the second end face of the first annular portion gradually increases or decreases along the circumference of the first annular portion, the third wedge surface is disposed opposite to the first wedge surface; the first end face of the second annular portion has a protrusion, the protrusion has a second wedge surface, the protrusion also has a fourth wedge surface, the distance between the fourth wedge surface and the second end face of the second annular portion gradually increases or decreases along the circumference of the second annular portion, the fourth wedge surface is disposed opposite to the second wedge surface, the fourth wedge surface can fit against the third wedge surface, the second acute angle between the fourth wedge surface and the first end face of the second annular portion is greater than the helix angle of the external thread.

[0008] In some embodiments, the recessed portion further has a first radial limiting surface, and the protruding portion further has a second radial limiting surface. When the protruding portion and the recessed portion are in a concave-convex fit, the first radial limiting surface can abut against the second radial limiting surface. The first radial limiting surface is radially perpendicular to the first annular portion, and the second radial limiting surface is radially perpendicular to the second annular portion.

[0009] In some embodiments, the first acute angle ranges from 10° to 60°; and / or, the second acute angle ranges from 10° to 60°.

[0010] In some embodiments, the first acute angle is equal to the second acute angle.

[0011] In some embodiments, there are multiple first wedge surfaces, which are evenly distributed circumferentially along the first annular portion; and there are multiple second wedge surfaces, which are evenly distributed circumferentially along the second annular portion.

[0012] In some embodiments, the locking member is integrally formed, the locking member is rotatable about the first annular portion and axially movable relative to the first annular portion, and the first limiting portion is able to abut against the side of the annular limiting portion near the annular threaded portion.

[0013] Secondly, embodiments of this application provide a robotic arm, comprising: a first connected member including a first arm joint; a second connected member including a second arm joint; and the connection structure described in the first aspect, wherein a first connector of the connection structure is connected to the first connected member, and a second connector of the connection structure is connected to the second connected member.

[0014] Thirdly, embodiments of this application provide a robot, including the connection structure described in the first aspect.

[0015] The connection structure provided in this application includes a first connector, a second connector, and a locking member. The locking member can abut against the first limiting portion of the first connector through an annular limiting portion, and can be screwed to the second annular portion of the second connector through an annular screw portion, thereby locking the first connector and the second connector, realizing the quick connection and disassembly of the first and second connected parts using the connection structure.

[0016] In addition, the first acute angle between the second wedge surface and the first end face of the second annular portion is greater than the helix angle of the external thread. When the connection structure is subjected to vibration, the second wedge surface and the first wedge surface slide relative to the threaded connection between the annular threaded portion and the second annular portion first, thereby increasing the axial preload of the threaded connection in the second annular portion, reducing the probability of the threaded connection loosening, improving the reliability and vibration resistance of the connection structure, and further improving the reliability and vibration resistance of the connection between the first connected part and the second connected part. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts.

[0018] Figure 1 The diagram shown is a schematic representation of an application scenario of the connection structure provided in an embodiment of this application.

[0019] Figure 2 The diagram shown is a structural schematic of a connection structure provided in an embodiment of this application.

[0020] Figure 3 The image shown is a front view of a connection structure provided in an embodiment of this application.

[0021] Figure 4 As shown Figure 3 The connection structure shown is a cross-sectional view along the AA direction.

[0022] Figure 5 As shown Figure 4 A magnified view of the connection structure in region B.

[0023] Figure 6 The diagram shown is a structural schematic of the second connector provided in an embodiment of this application.

[0024] Figure 7 The image shown is a front view of a second connector provided in an embodiment of this application.

[0025] Figure 8 The diagram shown is a structural schematic of the first connector provided in an embodiment of this application.

[0026] Figure 9 The diagram shown is a structural schematic of a locking component provided in an embodiment of this application.

[0027] Figure 10 The diagram shown is a structural schematic of a robotic arm provided in one embodiment of this application.

[0028] Figure 11 The diagram shown is a structural schematic of a robot provided in one embodiment of this application.

[0029] Figure label:

[0030] 1. Robot; 2. Robot arm; 10. Connecting structure; 100. First connector; 110. First annular portion; 111. First limiting portion; 112. Recessed portion; 1121. First wedge surface; 1122. Third wedge surface; 1123. First radial limiting surface; 113. Countersunk hole; 200. Second connector; 210. Second annular portion; 211. External thread; 212. Protrusion; 2121. Second wedge surface; 2122. Fourth wedge surface; 2123. Second radial limiting surface; 220. Connecting portion; 300. Locking element; 310. Annular limiting portion; 320. Annular threaded portion; 321. Internal thread; 20. First connected component; 21. First arm joint; 30. Second connected component; 31. Second arm joint; α. First acute angle; β. Second acute angle; θ. Helix angle; δ. Clearance. Detailed Implementation

[0031] 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, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0032] Robots, especially humanoid robots, consist of many joint modules that need to be connected via joint structures. During movement, humanoid robots generate significant vibrations, which are transmitted to every joint connection, including the legs, arms, waist, and head. Therefore, the joint connection structures not only need to meet the requirements for quick replacement but also require high reliability and vibration resistance to prevent loosening and failure due to vibration.

[0033] In related technologies, joint modules are fixed to corresponding structural components using screws, pins, or cylindrical mating surfaces. Due to machining errors, cylindrical mating surfaces or pin mating surfaces often cause difficulties in installation and disassembly. Furthermore, to prevent loosening, screws are usually coated with thread-locking adhesive, making screw removal difficult, and once a screw becomes stripped, it is extremely difficult to handle.

[0034] To address the aforementioned technical problems, this application provides a connection structure, including a first connecting member, a second connecting member, and a locking member. The locking member can abut against the first limiting portion of the first connecting member via an annular limiting portion, and can be screwed onto the second annular portion of the second connecting member via an annular screwed portion, thereby locking the first connecting member and the second connecting member, realizing the quick connection and disassembly of the first and second connected members using the connection structure.

[0035] In addition, the first acute angle between the second wedge surface and the first end face of the second annular portion is greater than the helix angle of the external thread. When the connection structure is subjected to vibration, the second wedge surface and the first wedge surface slide relative to the threaded connection between the annular threaded portion and the second annular portion first, thereby increasing the axial preload of the threaded connection in the second annular portion, reducing the probability of the threaded connection loosening, improving the reliability and vibration resistance of the connection structure, and further improving the reliability and vibration resistance of the connection between the first connected part and the second connected part.

[0036] The specific structure of the connection structure of this application will be described in detail below with reference to the embodiments.

[0037] Figure 1 The diagram shown is a schematic representation of an application scenario of the connection structure provided in an embodiment of this application. Figure 2 The diagram shown is a structural schematic of a connection structure provided in an embodiment of this application. Figure 3 The image shown is a front view of a connection structure provided in an embodiment of this application. Figure 4 As shown Figure 3 The connection structure shown is a cross-sectional view along the AA direction. Figure 5 As shown Figure 4 A magnified view of the connection structure in region B. Figure 6 The diagram shown is a structural schematic of the second connector provided in an embodiment of this application. Figure 7 The image shown is a front view of a second connector provided in an embodiment of this application. Figure 8 The diagram shown is a structural schematic of the first connector provided in an embodiment of this application. Figure 9 The diagram shown is a structural schematic of a locking member provided in an embodiment of this application. Figure 1 As shown, the connecting structure 10 is used to connect the first connected member 20 and the second connected member 30. Figures 1 to 9 As shown, the connection structure 10 includes a first connector 100, a second connector 200, and a locking member 300. The first connector 100 can be connected to the first connected member 20. The second connector 200 can be connected to the second connected member 30.

[0038] For example, the first connected member 20 is a partial structure of the robot's arm, a partial structure of its leg, etc. For example, the second connected member 30 is a partial structure of the robot's arm, a partial structure of its leg, etc. For example, the first connected member 20 is a first part of the robot's upper arm, and the second connected member 30 is a second part of the robot's upper arm. The first part of the upper arm is connected to the joint module of the robot's shoulder, and the second part of the upper arm is connected to the joint module of the robot's elbow.

[0039] like Figure 4 , Figure 5 and Figure 8 As shown, the first connector 100 includes a first annular portion 110, the outer surface of the first annular portion 110 has a first limiting portion 111, and the first end face of the first annular portion 110 has a first wedge surface 1121. The distance between the first wedge surface 1121 and the second end face of the first annular portion 110 gradually increases or decreases along the circumference of the first annular portion 110.

[0040] For example, the first end face of the first annular portion 110 has a recessed portion 112, and the recessed portion 112 has a first wedge surface 1121; or, the first end face of the first annular portion 110 may also have a protrusion, and the protrusion has a first wedge surface 1121.

[0041] For example, such as Figure 8 As shown, the distance between the first wedge surface 1121 and the second end face of the first annular portion 110 gradually increases or decreases along the circumference of the first annular portion 110. This can be understood as the distance between the first wedge surface 1121 and the second end face of the first annular portion 110 gradually increasing in the counterclockwise direction along the circumference of the first annular portion 110, or the distance between the first wedge surface 1121 and the second end face of the first annular portion 110 gradually decreasing in the clockwise direction along the circumference of the first annular portion 110.

[0042] For example, such as Figure 8 As shown, the first connector 100 has at least one countersunk hole 113 extending radially along the first annular portion 110. The first connected member 20 has at least one threaded hole extending radially along the first annular portion 110. A screw can pass through the countersunk hole 113 and be screwed into the threaded hole to connect the first connector 100 and the first connected member 20. The screw head is entirely located in the countersunk hole 113, avoiding interference from the screw with the convex-concave fit between the protrusion 212 and the recess 112.

[0043] For example, there can be multiple countersunk holes 113 and multiple threaded holes, with each countersunk hole 113 corresponding to a different threaded hole.

[0044] like Figure 4 , Figures 5 to 7As shown, the second connector 200 includes a second annular portion 210, the outer surface of which has an external thread 211, and the first end face of the second annular portion 210 has a second wedge surface 2121. The distance between the second wedge surface 2121 and the second end face of the second annular portion 210 gradually increases or decreases along the circumference of the second annular portion 210.

[0045] For example, when the first end face of the first annular portion 110 has a recess 112 and the recess 112 has a first wedge surface 1121, the first end face of the second annular portion 210 has a protrusion 212 and the protrusion 212 has a second wedge surface 2121. The first end face of the first annular portion 110 and the first end face of the second annular portion 210 are in a concave-convex fit through the first wedge surface 1121 and the second wedge surface 2121.

[0046] For example, when the first end face of the first annular portion 110 has a protrusion and the protrusion has a first wedge surface 1121, the first end face of the second annular portion 210 has a recess and the recess has a second wedge surface 2121. The first end face of the first annular portion 110 and the first end face of the second annular portion 210 are still in concave-convex engagement through the first wedge surface 1121 and the second wedge surface 2121.

[0047] For example, such as Figure 7 As shown, the distance between the second wedge surface 2121 and the second end face of the second annular portion 210 gradually increases or decreases along the circumference of the second annular portion 210. This can be understood as the distance between the second wedge surface 2121 and the second end face of the second annular portion 210 gradually increasing in the counterclockwise direction along the circumference of the second annular portion 210, or the distance between the second wedge surface 2121 and the second end face of the second annular portion 210 gradually decreasing in the clockwise direction along the circumference of the second annular portion 210.

[0048] In some embodiments, if the distance between the first wedge surface 1121 and the second end face of the first annular portion 110 gradually decreases in the counterclockwise direction of the circumference of the first annular portion 110, then the distance between the second wedge surface 2121 and the second end face of the second annular portion 210 also gradually decreases in the counterclockwise direction of the circumference of the second annular portion 210, thereby ensuring that the first wedge surface 1121 can fit with the second wedge surface 2121.

[0049] In some embodiments, if the distance between the first wedge surface 1121 and the second end face of the first annular portion 110 gradually increases in a clockwise direction along the circumference of the first annular portion 110, then the distance between the second wedge surface 2121 and the second end face of the second annular portion 210 also gradually increases in a clockwise direction along the circumference of the second annular portion 210, thereby ensuring that the first wedge surface 1121 can fit with the second wedge surface 2121.

[0050] When the connecting structures 10 are installed together, the protrusion 212 can engage with the recess 112, and the second wedge surface 2121 can fit against the first wedge surface 1121. Figure 7 As shown, the first acute angle α between the second wedge surface 2121 and the first end face of the second annular portion 210 is greater than the helix angle θ of the external thread 211. When the connecting structure 10 is subjected to vibration, the second wedge surface 2121 and the first wedge surface 1121 slip relative to the threaded connection between the annular threaded portion 320 and the second annular portion 210, thereby increasing the axial preload of the threaded connection in the second annular portion 210, reducing the probability of the threaded connection loosening, improving the reliability and vibration resistance of the connecting structure 10, and further improving the reliability and vibration resistance of the connection between the first connected member 20 and the second connected member 30.

[0051] like Figure 5 As shown, the locking member 300 includes an annular limiting portion 310 and an annular threaded portion 320 connected to each other. The annular limiting portion 310 is sleeved on the first annular portion 110 and can abut against the side of the first limiting portion 111 away from the second connecting member 200. The annular threaded portion 320 has an internal thread 321 and can be threaded with the second annular portion 210 to lock the first connecting member 100 and the second connecting member 200, realizing the quick connection and disassembly of the first connected member 20 and the second connected member 30 using the connecting structure 10.

[0052] In some embodiments, such as Figure 4 As shown, the second connector 200 further includes a connecting portion 220, which is connected to the second annular portion 210. The connecting portion 220 is used to connect to the second connected member 30. Exemplarily, the connecting portion 220 may include an annular support structure, which facilitates the accommodation of a cylindrical joint module. The connecting portion 220 may also be other shapes, such as a plate-like structure, an irregular structure, etc., to suit different types of joint modules.

[0053] In some embodiments, such as Figure 5 As shown, there is a gap δ between the first end face of the first annular portion 110 and the first end face of the second annular portion 210 to prevent the second wedge surface 2121 from not fully fitting with the first wedge surface 1121 due to the abutment between the first end face of the first annular portion 110 and the first end face of the second annular portion 210. This ensures that the second wedge surface 2121 and the first wedge surface 1121 are fully fitted, thereby ensuring the effectiveness of force transmission between the first connector 100 and the second connector 200.

[0054] In some embodiments, such as Figure 8As shown, the first end face of the first annular portion 110 has a recess 112, and the recess 112 has a first wedge surface 1121. The recess 112 also has a third wedge surface 1122. The distance between the third wedge surface 1122 and the second end face of the first annular portion 110 gradually increases or decreases along the circumference of the first annular portion 110. The third wedge surface 1122 is disposed opposite to the first wedge surface 1121.

[0055] For example, when the distance between the first wedge surface 1121 and the second end face of the first annular portion 110 gradually increases in a counterclockwise direction along the circumference of the first annular portion 110, the distance between the third wedge surface 1122 and the second end face of the first annular portion 110 gradually decreases in a counterclockwise direction along the circumference of the first annular portion 110. Conversely, when the distance between the first wedge surface 1121 and the second end face of the first annular portion 110 gradually decreases in a counterclockwise direction along the circumference of the first annular portion 110, the distance between the third wedge surface 1122 and the second end face of the first annular portion 110 gradually increases in a counterclockwise direction along the circumference of the first annular portion 110.

[0056] like Figure 6 As shown, the first end face of the second annular portion 210 has a protrusion 212, and the protrusion 212 has a second wedge surface 2121. The protrusion 212 also has a fourth wedge surface 2122. The distance between the fourth wedge surface 2122 and the second end face of the second annular portion 210 gradually increases or decreases along the circumference of the second annular portion 210. The fourth wedge surface 2122 is disposed opposite to the second wedge surface 2121.

[0057] For example, when the distance between the second wedge surface 2121 and the second end face of the second annular portion 210 gradually increases in a counterclockwise direction along the circumference of the second annular portion 210, the distance between the fourth wedge surface 2122 and the second end face of the second annular portion 210 gradually decreases in a counterclockwise direction along the circumference of the second annular portion 210. Conversely, when the distance between the second wedge surface 2121 and the second end face of the second annular portion 210 gradually decreases in a counterclockwise direction along the circumference of the second annular portion 210, the distance between the fourth wedge surface 2122 and the second end face of the second annular portion 210 gradually increases in a counterclockwise direction along the circumference of the second annular portion 210.

[0058] The fourth wedge surface 2122 can fit against the third wedge surface 1122, and the second acute angle β between the fourth wedge surface 2122 and the first end face of the second annular portion 210 is greater than the helix angle θ of the external thread 211. When the connecting structure 10 is subjected to vibration, the fourth wedge surface 2122 and the third wedge surface 1122 slip relative to the threaded connection between the annular threaded portion 320 and the second annular portion 210, thereby increasing the axial preload of the threaded connection in the second annular portion 210, reducing the probability of the threaded connection loosening, improving the reliability and vibration resistance of the connecting structure 10, and further improving the reliability and vibration resistance of the connection between the first connected member 20 and the second connected member 30.

[0059] By setting the fourth wedge surface 2122 and the third wedge surface 1122, the external thread 211 can be either a right-hand thread or a left-hand thread, which increases the applicability of the second connector 200, facilitates the processing and manufacturing of the second connector 200, and prevents the second connector 200 from being unusable due to incorrect processing of the helical direction of the thread.

[0060] In some embodiments, such as Figure 8 As shown, the recessed portion 112 also has a first radial limiting surface 1123. For example... Figure 6 As shown, the protrusion 212 also has a second radial limiting surface 2123. When the protrusion 212 and the recess 112 are in a convex-concave fit, the first radial limiting surface 1123 can abut against the second radial limiting surface 2123 to limit the radial displacement between the first annular portion 110 and the second annular portion 210, thereby improving the coaxiality of the first annular portion 110 and the second annular portion 210.

[0061] The first radial limiting surface 1123 is radially perpendicular to the first annular portion 110, and the second radial limiting surface 2123 is radially perpendicular to the second annular portion 210.

[0062] In some embodiments, the first acute angle α ranges from 10° to 60°. Exemplarily, the first acute angle α can be 10°, 15°, 20°, 30°, 50°, 60°, etc. In some embodiments, the second acute angle β ranges from 10° to 60°. Exemplarily, the second acute angle β can be 10°, 15°, 20°, 30°, 50°, 60°, etc.

[0063] Experiments have shown that if the first acute angle α is too small, a small force will cause the second wedge surface 2121 to slide relative to the first wedge surface 1121. If the first acute angle α is too large, a large force will be required to cause the second wedge surface 2121 to slide relative to the first wedge surface 1121. By making the first acute angle α range from 10° to 60°, an appropriate external force can be used to cause the second wedge surface 2121 to slide relative to the first wedge surface 1121, thereby increasing the appropriate preload force in the axial direction of the threaded connection in the second annular portion 210.

[0064] Experiments have shown that if the second acute angle β is too small, a small force will cause the fourth wedge surface 2122 and the third wedge surface 1122 to slide relative to each other. If the second acute angle β is too large, a large force will be required to cause the fourth wedge surface 2122 and the third wedge surface 1122 to slide relative to each other. By making the range of the second acute angle β from 10° to 60°, an appropriate external force can be used to cause the fourth wedge surface 2122 and the third wedge surface 1122 to slide relative to each other, thereby increasing the appropriate preload force in the axial direction of the threaded connection in the second annular portion 210.

[0065] In some embodiments, depending on actual needs, the first acute angle α can be greater than 0° and less than 90°, and the second acute angle β can be greater than 0° and less than 90°.

[0066] In some embodiments, the first acute angle α and the second acute angle β are equal, which facilitates manufacturing. Specifically, the first acute angle α and the second acute angle β are equal, meaning that the shape of the protrusion 212 on the cross section perpendicular to the second annular portion 210 is an isosceles triangle, an isosceles trapezoid, etc. During the manufacturing process, the worker does not need to distinguish between the first acute angle α and the second acute angle β; they only need to process the first acute angle α and the second acute angle β to the same angle, reducing the manufacturing difficulty.

[0067] In some embodiments, there are multiple first wedge surfaces 1121, which are evenly distributed circumferentially along the first annular portion 110. There are also multiple second wedge surfaces 2121, which are evenly distributed circumferentially along the second annular portion 210, thereby improving the uniformity of force transmission between the first connector 100 and the second connector 200.

[0068] In some embodiments, there are multiple recesses 112, which are evenly distributed circumferentially along the first annular portion 110. There are also multiple protrusions 212, which are evenly distributed circumferentially along the second annular portion 210, thereby improving the uniformity of force transmission between the first connector 100 and the second connector 200.

[0069] For example, the number of recesses 112 is 3, 4, 6, etc. For example, the number of protrusions 212 is 3, 4, 6, etc. The recesses 112 and the protrusions 212 correspond one-to-one.

[0070] In some embodiments, such as Figure 9 As shown, the locking member 300 is integrally formed. For example, the shape of the locking member 300 is similar to that of a nut. The locking member 300 is circumferentially rotatable relative to the first annular portion 110 and axially movable relative to the first annular portion 110, and the first limiting portion 111 is capable of abutting against the side of the annular limiting portion 310 near the annular threaded portion 320.

[0071] The installation process of the connecting structure 10 can be as follows: The first connecting member 100 extends into the locking member 300 from the end near the annular screw portion 320, so that the first limiting portion 111 abuts against the annular limiting portion 310. Then, the first connecting member 100 is connected to the first connected member 20. Next, the first end face of the second connecting member 20 is aligned with the first end face of the first connecting member 100, so that the protrusion 212 and the recess 112 are in a convex-concave fit. Finally, the locking member 300 is rotated so that the annular screw portion 320 is screwed together with the second annular portion 210. The second connected member 30 can be connected to the second connecting member 200 first, or the second connected member 30 can be connected to the second connecting member 200 after the annular screw portion 320 and the second annular portion 210 are screwed together.

[0072] The disassembly process of the connecting structure 10 can be as follows: rotate the locking member 300 to unscrew the annular screw portion 320 and the second annular portion 210, thereby disassembling the second connecting member 200 and the first connecting member 100, and realizing the disassembly of the first connected member 20 and the second connected member 30.

[0073] The above installation and disassembly methods are quick, simple, and easy to operate.

[0074] For example, the outer surface of the locking member 300 may have a groove, pattern or other structure to increase the friction when rotating the locking member and improve the locking efficiency.

[0075] Figure 10 The diagram shown is a structural schematic of a robotic arm provided in one embodiment of this application. Figure 10 As shown, the robot arm 2 includes a first connected member 20, a second connected member 30, and a connection structure 10 in any of the above embodiments. The first connected member 20 includes a first arm joint 21. The second connected member 30 includes a second arm joint 31. The first connector 100 of the connection structure 10 is connected to the first connected member 20, and the second connector 200 of the connection structure 10 is connected to the second connected member 30.

[0076] For example, both the first arm joint 21 and the second arm joint 31 can be joint modules.

[0077] Since the robotic arm 2 includes the connecting structure 10, the robotic arm 2 has all the technical features and effects of the connecting structure 10, which will not be described in detail here.

[0078] Figure 11 The diagram shown is a structural schematic of a robot provided in one embodiment of this application. Figure 11 As shown, robot 1 includes the connection structure 10 in any of the above embodiments.

[0079] Since robot 1 includes connection structure 10, robot 1 has all the technical features and effects of connection structure 10, which will not be described in detail here.

[0080] The terms "an embodiment" or "embodiment" used in this specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0081] It should be understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0082] Furthermore, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of a component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of components in use or operation other than those shown in the figures. Devices may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0083] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0084] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A connection structure, characterized in that, The connection structure, used for connecting a first connected member and a second connected member, includes: A first connector is capable of connecting to the first connected member. The first connector includes a first annular portion. The outer side of the first annular portion has a first limiting portion. The first end face of the first annular portion has a first wedge surface. The distance between the first wedge surface and the second end face of the first annular portion gradually increases or decreases along the circumference of the first annular portion. The second connector is capable of connecting to the second connected component. The second connector includes a second annular portion. The outer surface of the second annular portion has an external thread. The first end face of the second annular portion has a second wedge surface. The first end face of the first annular portion and the first end face of the second annular portion are in a concave-convex fit through the first wedge surface and the second wedge surface. The distance between the second wedge surface and the second end face of the second annular portion gradually increases or decreases along the circumference of the second annular portion. The second wedge surface can fit against the first wedge surface. The first acute angle between the second wedge surface and the first end face of the second annular portion is greater than the helix angle of the external thread. The locking component includes an annular limiting portion and an annular threaded portion connected to each other. The annular limiting portion is sleeved on the first annular portion and can abut against the side of the first limiting portion away from the second connecting member. The annular threaded portion has an internal thread and can be threaded with the second annular portion to lock the first connecting member and the second connecting member. Wherein, the first end face of the first annular portion has a recessed portion, the recessed portion has a first wedge surface, the recessed portion also has a third wedge surface, the distance between the third wedge surface and the second end face of the first annular portion gradually increases or decreases along the circumference of the first annular portion, and the third wedge surface is disposed opposite to the first wedge surface; The first end face of the second annular portion has a protrusion, the protrusion has a second wedge surface, the protrusion also has a fourth wedge surface, the distance between the fourth wedge surface and the second end face of the second annular portion gradually increases or decreases along the circumference of the second annular portion, the fourth wedge surface is disposed opposite to the second wedge surface, the fourth wedge surface can fit with the third wedge surface, and the second acute angle between the fourth wedge surface and the first end face of the second annular portion is greater than the helix angle of the external thread.

2. The connection structure according to claim 1, characterized in that, There is a gap between the first end face of the first annular portion and the first end face of the second annular portion.

3. The connection structure according to claim 1, characterized in that, The recessed portion also has a first radial limiting surface, and the protruding portion also has a second radial limiting surface. When the protruding portion and the recessed portion are in a concave-convex fit, the first radial limiting surface can abut against the second radial limiting surface. The first radial limiting surface is radially perpendicular to the first annular portion, and the second radial limiting surface is radially perpendicular to the second annular portion.

4. The connection structure according to claim 1, characterized in that, The first acute angle ranges from 10° to 60°; And / or, The second acute angle ranges from 10° to 60°.

5. The connection structure according to claim 4, characterized in that, The first acute angle is equal to the second acute angle.

6. The connection structure according to any one of claims 1 to 5, characterized in that, The number of first wedge surfaces is multiple, and the multiple first wedge surfaces are evenly distributed along the circumference of the first annular portion; the number of second wedge surfaces is multiple, and the multiple second wedge surfaces are evenly distributed along the circumference of the second annular portion.

7. The connection structure according to any one of claims 1 to 5, characterized in that, The locking member is integrally formed, and the locking member can rotate circumferentially around the first annular portion and move axially along the first annular portion relative to the first annular portion, and the first limiting portion can abut against the side of the annular limiting portion near the annular screw portion.

8. A robotic arm, characterized in that, include: The first connected component includes a first arm joint; The second connected component includes a second arm joint; The connection structure according to any one of claims 1 to 7, wherein the first connecting member of the connection structure is connected to the first connected member, and the second connecting member of the connection structure is connected to the second connected member.

9. A robot, characterized in that, include: The connection structure according to any one of claims 1 to 7.

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