Connecting structures, robotic arms, and medical assistive systems

Abstract

This application discloses a connection structure, a robotic arm, and a medical assistive system. The connection structure is used for a robotic arm. The connection structure includes a first connector, a second connector, and at least one latch. The first connector is provided with at least one first connector limiting portion and at least one connector locking portion. The second connector is provided with at least one second connector limiting portion. The latch is used to connect the first connector and the second connector. The latch includes at least one latch limiting portion and at least one latch locking portion. The latch limiting portion is used to connect with the first connector limiting portion and the second connector limiting portion, so that both the first connector and the second connector are limited relative to the latch. At least one of the latch locking portions is used to connect with the connector locking portion, so that the latch is securely fastened to the first connector and the second connector. According to this application, the connection structure is easy to assemble, has high installation accuracy, and high connection strength and rigidity.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and more specifically to a connection structure for a robotic arm, as well as a robotic arm and a medical assistance system having the connection structure. Background Technology

[0002] A robotic arm typically consists of multiple movably connected arms, and the movably connected portion between two adjacent arms can be called a joint. The movement of a joint can be independent or mechanically linked with adjacent joints. For linked rotary joints, linkage is achieved through a transmission mechanism housed within the relevant connecting arms. To ensure transmission accuracy, the mating of the components that enable mutual transmission between the two connecting arms at the rotary joint must meet requirements of coaxiality, limiting, and high strength. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] To at least partially address the aforementioned problems, a first aspect of this application provides a connection structure for a robotic arm, the connection structure including a first connector, a second connector, and at least one latch. The first connector is provided with at least one first connector limiting portion and at least one connector locking portion. The second connector is provided with at least one second connector limiting portion. The latch is used to connect the first connector and the second connector, and the latch includes at least one latch limiting portion and at least one latch locking portion. The latch limiting portion is used to connect with the first connector limiting portion and the second connector limiting portion, such that both the first connector and the second connector are limited relative to the latch. At least one of the latch locking portions is used to connect with the connector locking portion, such that the at least one latch is fastened to the first connector and the second connector.

[0005] Optionally, the connector locking part and the snap-locking part are connected by fasteners.

[0006] Optionally, the first connector includes a connector body and an attachment. A limiting portion of the first connector is disposed on the connector body. The attachment is fixed to the outer periphery of the connector body, and a locking portion is disposed at the circumferential end of the attachment.

[0007] Optionally, the attachment includes an additional portion protruding from the connector body along the axial direction of the connection structure, the additional portion being provided with a first additional limiting portion. The second connector is provided with a second additional limiting portion for connecting with the first additional limiting portion, so as to limit the second connector relative to the first connector.

[0008] Optionally, the first additional limiting portion includes a first limiting surface facing the connector body, and the second additional limiting portion includes a second limiting surface, which is used to fit against the first limiting surface to limit the second connector relative to the first connector in the axial direction.

[0009] Optionally, the first additional limiting portion further includes a third limiting surface, which is at an angle to the first limiting surface, and the second additional limiting portion further includes a fourth limiting surface, which is at an angle to the second limiting surface. The fourth limiting surface is used to fit against the third limiting surface so that the second connector is limited relative to the first connector in the circumferential direction of the connection structure.

[0010] Optionally, one of the first additional limiting portion and the second additional limiting portion is configured as an additional protrusion, and the other of the first additional limiting portion and the second additional limiting portion is configured as an additional groove that matches the shape of the additional protrusion for accommodating the additional protrusion.

[0011] Optionally, the first connector limiting portion and the attachment are offset from each other along the circumferential direction of the connector body.

[0012] Optionally, the first connector includes two connector locking portions, which are respectively disposed at two ends of the attachment in the circumferential direction. The latch includes two latch locking portions, which are respectively disposed at two ends of the latch. The at least one latch forms a closed loop with the attachment.

[0013] Optionally, the first connector further includes at least one first connector positioning part disposed on the connector body. The second connector further includes at least one second connector positioning part. The latch further includes a latch positioning part for connecting with both the first connector positioning part and the second connector positioning part to align the first connector with the second connector.

[0014] Optionally, the first connector positioning part and the attachment are offset from each other in the circumferential direction of the connector body, and the first connector positioning part and the first connector limiting part are offset from each other in the circumferential direction of the connector body.

[0015] Optionally, the buckle limiting part is disposed between the buckle locking part and the buckle positioning part.

[0016] Optionally, the buckle includes two buckle limiting parts, which are respectively disposed on both sides of the buckle positioning part.

[0017] Optionally, the latching limiting part includes a first engaging part and a second engaging part. The first engaging part is used to engage with the first connector limiting part, and the second engaging part is used to engage with the second connector limiting part. The first engaging part and the second engaging part are respectively disposed on both sides of the latching positioning part.

[0018] Optionally, the snap-fit ​​positioning part is configured as a positioning protrusion, and the first connector positioning part and the second connector positioning part are configured as positioning grooves, the positioning grooves being used to accommodate the positioning protrusion; or, the first connector positioning part and the second connector positioning part are configured as positioning protrusions, and the snap-fit ​​positioning part is configured as a positioning groove, the positioning grooves being used to accommodate the positioning protrusion.

[0019] Optionally, the positioning protrusion includes two first positioning surfaces facing away from each other, and the positioning groove includes two second positioning surfaces disposed opposite to each other, with the two first positioning surfaces respectively contacting the two second positioning surfaces.

[0020] Optionally, the first positioning surface includes a convex curved surface, and the second positioning surface includes a plane or a concave curved surface.

[0021] Optionally, at least one of the two ends of the attachment in the circumferential direction is provided with the connector locking portion. The buckle includes a buckle locking portion disposed at one end of the buckle, and the other end of the buckle is connected to both the first connector and the second connector. Each buckle locking portion is connected to an adjacent connector locking portion.

[0022] Optionally, the first connector further includes at least one first connector positioning part, and the second connector further includes at least one second connector positioning part. The latch also includes a latch positioning part, and a latch limiting part is disposed between the latch locking part and the latch positioning part. The latch positioning part is used to connect with both the first connector positioning part and the second connector positioning part to align the two connectors.

[0023] Optionally, the buckle positioning part is disposed at the other end of the buckle.

[0024] Optionally, the snap-fit ​​positioning part is configured as a positioning protrusion, and the first connector positioning part and the second connector positioning part are configured as positioning grooves, the positioning grooves being used to accommodate the positioning protrusion; or, the first connector positioning part and the second connector positioning part are configured as positioning protrusions, and the snap-fit ​​positioning part is configured as a positioning groove, the positioning grooves being used to accommodate the positioning protrusion.

[0025] Optionally, the positioning protrusion includes two first positioning surfaces that are opposite to each other and inclined to each other, and the positioning groove includes two second positioning surfaces that are opposite to each other and inclined to each other, wherein the included angle between the two first positioning surfaces is smaller than the included angle between the two second positioning surfaces.

[0026] Optionally, the positioning protrusion further includes an arcuate convex surface connecting the two first positioning surfaces, and the positioning groove further includes an arcuate concave surface connecting the two first positioning surfaces, wherein the curvature of the arcuate convex surface is greater than or equal to the curvature of the arcuate concave surface.

[0027] Optionally, the locking part of the connector is provided with a threaded hole. In the axial projection of the first connector, the first straight line is the line connecting the rotation axis of the connecting structure and the center point of the first connector positioning part, the second straight line is the axis of the threaded hole, the angle between the first straight line and the second straight line is the first angle, and the circumferential distance between the center point of the first connector positioning part and the opening of the threaded hole is the second angle. Wherein, the first angle is less than or equal to 90 degrees, and the second angle is greater than the first angle.

[0028] Optionally, the first connector has a first through hole that extends through the first connector along the rotation axis of the connecting structure; the second connector has a second through hole that extends through the second connector along the rotation axis of the connecting structure.

[0029] A second aspect of this application provides a robotic arm comprising a first connecting arm, a second connecting arm, and a connection structure according to any one of the first aspects. The first connecting arm has a drive shaft. The second connecting arm is rotatably connected to the first connecting arm about the axis of the drive shaft. A second connector is disposed at the axial end of the drive shaft, and the first connector is disposed within the housing of the second connecting arm.

[0030] A third aspect of this application provides an assistive medical system, characterized in that it includes a robotic arm as described in the second aspect.

[0031] Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims. Attached Figure Description

[0032] The following drawings, which are incorporated herein by reference as part of this application, are provided for understanding the application. The drawings illustrate representative embodiments of the application and are used to explain the principles of the application, not to limit it.

[0033] In the attached image:

[0034] Figure 1 This is a schematic diagram of the structure of the robotic arm system of the medical assistive system according to a specific embodiment of this application;

[0035] Figure 2 for Figure 1 The diagram shows a partial structure of the robotic arm, including a first connecting arm and a second connecting arm, as well as the connecting structure connecting the two.

[0036] Figure 3 for Figure 1 The diagram shows a cross-sectional view of the rotating joint connecting the first and second connecting arms of the robotic arm.

[0037] Figure 4 This is a schematic diagram of the connection structure according to the first embodiment of this application, wherein the second connector is connected to a drive shaft;

[0038] Figure 5 for Figure 4 The exploded three-dimensional diagram of the connection structure shown shows that the second joint is connected to a drive shaft.

[0039] Figure 6 This is a schematic diagram of the axial section of the connection structure according to a specific embodiment of this application;

[0040] Figure 7 for Figure 5 Enlarged view of section A;

[0041] Figure 8 This is a schematic diagram of the snap fastener of the connection structure according to the first embodiment of this application;

[0042] Figures 9 to 11 This is a schematic diagram of a partial structural axial section of the connection structure according to a specific embodiment of this application, showing the connection method between the snap-fit ​​positioning part and the connector positioning part;

[0043] Figures 12 to 17 This is a front view schematic diagram of a specific example of a first connector and a second connector of a connection structure according to the first embodiment of this application, wherein the first connector is on the left and the second connector is on the right;

[0044] Figure 18 This is a schematic diagram of the snap fastener of the connection structure according to the second embodiment of this application;

[0045] Figure 19 for Figure 18 Another angle view of the buckle shown;

[0046] Figures 20 to 23 This is a front view schematic diagram of a specific example of a first connector and a second connector of a connection structure according to a second embodiment of this application, wherein the first connector is on the left and the second connector is on the right;

[0047] Figure 24 This is an exemplary schematic diagram of the first connector of the connection structure according to the third embodiment of this application;

[0048] Figures 25 to 29 This is a front view schematic diagram of a specific example of a first connector and a second connector of a connection structure according to a third embodiment of this application, wherein the first connector is on the left and the second connector is on the right;

[0049] Figures 30 to 34 This is a front view schematic diagram of a specific example of a first connector and a second connector of a connection structure according to the fourth embodiment of this application, wherein the first connector is on the left and the second connector is on the right.

[0050] Explanation of reference numerals in the attached figures:

[0051] 10 / 510 / 610 / 710: First connector 10A: Inner circumferential surface of the first connector

[0052] 10B: First through hole; 11: First connector limiting part / recessed structure

[0053] 12: First connector positioning part; 13: Outer peripheral surface of the first connector

[0054] 14: Attachment 14A: Circumferential end surface of the attachment

[0055] 15: Additional part; 16: First additional limiting part

[0056] 16A: First limiting surface; 16B: Third limiting surface

[0057] 17: Connector locking part; 18: Connector threaded hole

[0058] 19: Connector body; 20 / 520 / 620 / 720: Second connector

[0059] 21: Second connector limiting part / recessed structure 22: Second connector positioning part

[0060] 23: Outer circumferential surface of the second joint; 24: Inner circumferential surface of the second joint

[0061] 25: Second through hole; 26: Second additional limiting part

[0062] 27: Additional groove bottom surface 31 / 31A / 31B: First working surface

[0063] 32 / 32A / 32B: Second working surface; 50 / 550: Buckle.

[0064] 51: Buckle limiting part / buckle protrusion 51A: First engaging part

[0065] 51B: Second engaging part; 52: Buckle positioning part

[0066] 54: Snap-on locking part; 55: Snap-on threaded hole

[0067] 56 / 56A / 56B: Third working surface; 57 / 57A / 57B: Fourth working surface

[0068] 58: First surface of the buckle; 61: Second curved surface

[0069] 62: Second positioning surface; 63: First positioning surface

[0070] 100: Connection structure; 110: Base

[0071] 120: Vertical adjustment joint; 130: First rotation adjustment joint

[0072] 140: Horizontal adjustment joint; 150: Second rotation adjustment joint.

[0073] 160: Yaw arm; 170: Pitch arm

[0074] 171: First connecting arm; 172: Second connecting arm

[0075] 180: Arm holding device 181: Sleeve

[0076] 220: Robotic arm system 221: Robotic arm

[0077] 420: Drive shaft DA: Axial direction

[0078] DC: Circumferential direction; DR: Radial direction

[0079] P1: First plane P2: Second plane

[0080] PA1: First axis of rotation; PA2: Second axis of rotation

[0081] PA3: Third axis of rotation; PA4: Fourth axis of rotation

[0082] PP: Pitch axis Detailed Implementation

[0083] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0084] To fully understand this application, a detailed description will be provided in the following description. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other embodiments.

[0085] The ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term “first component” does not imply the existence of a “second component,” and the term “second component” does not imply the existence of a “first component.” The use of words such as “first,” “second,” and “third” does not indicate any order and can be interpreted as names.

[0086] It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0087] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0088] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0089] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0090] This application provides a medical assistance system. The medical assistance system according to an embodiment of this application is a robot capable of performing surgical procedures. The surgical robot may include a control system (also referred to as a doctor's console or main operating device), such as... Figure 1 The robotic arm system 220 (also referred to as the patient-side robotic arm system 220 or the operating device 220) and the imaging system (also referred to as the endoscope system) shown are illustrated.

[0091] The control system includes a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's console has other control switches that are easily accessible by hand or foot for various functions and human-computer interaction.

[0092] The imaging system includes a display screen, endoscope controller, system electronics, and image processor. The imaging system can communicate with the robotic arm system 220 and the control system. The imaging system can be set up independently or integrated into the robotic arm system 220 and / or the control system.

[0093] The robotic arm system 220 typically incorporates various joints to provide the end effector with a certain degree of freedom of movement, enabling it to perform actions such as translation and rotation. For example... Figure 1 As shown, the robotic arm system 220 may include at least one robotic arm 221, which has several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the surgical instrument). The robotic arm system 220 communicates with the control system to achieve master-slave remote control. The end effector of the robotic arm 221 is a holding arm 180. The holding arm 180 is used to mount one or more surgical instruments. Surgical instruments may be instruments for performing surgical operations, such as electrocautery devices, clamps, and vascular occluders, or cameras for acquiring images of the surgical area, such as endoscopes, or other surgical instruments.

[0094] exist Figure 1 In the illustrated example, the operating device 220 may include a base 110, an adjustment mechanism, and an operating mechanism connected in sequence. The operating mechanism is used to mount surgical instruments and to manipulate the instruments for surgical procedures. The adjustment mechanism is used to adjust the position and / or orientation of the operating mechanism before surgery.

[0095] The base 110 can be placed on the ground, for example, the bottom of the base 110 can be provided with wheels for easy movement. In some examples not shown, the base 110 can also be suspended from a wall or ceiling, for example, the base 110 can be mounted on a wall or ceiling via guide rails for easy movement. In other examples not shown, the base 110 can also be mounted on an operating table, or integrated into an operating table.

[0096] exist Figure 1In the illustrated example, the adjustment mechanism includes a vertical adjustment joint 120, a first rotary adjustment joint 130, a horizontal adjustment joint 140, and a second rotary adjustment joint 150 connected in sequence. The vertical adjustment joint 120 and the horizontal adjustment joint 140 can be configured as linear joints, and their directions of movement can be perpendicular to each other. The rotation axes of the first rotary adjustment joint 130 and the second rotary adjustment joint 150 can be parallel to the direction of movement of the vertical adjustment joint 120. The movement of these adjustment joints can achieve adjustment of the position and / or orientation of the operating mechanism. In some examples not shown, the horizontal adjustment joint 140 can be replaced by at least one rotary adjustment joint. In other examples not shown, the adjustment mechanism may include more linear joints and / or rotary joints, or omit some joints.

[0097] The operating mechanism is constructed as a robotic arm 221, comprising a deflection arm 160, a pitch arm 170, and a holding arm 180 connected in sequence. The deflection arm 160 drives the holding arm 180 to rotate around a first rotation axis PA1 (deflection axis PA1). The pitch arm 170 drives the holding arm 180 to rotate around a pitch axis PP. The holding arm 180 is provided with a cannula 181, which is used to insert into a small hole opened in the human body, through which surgical instruments enter the abdominal or thoracic cavity for surgical operations.

[0098] The robotic arm 221 can be configured to move mechanically around a remote center of motion (RCM). For example, in interventional surgery, the RCM point is defined as the port into the patient's body during the operation (or the incision in the patient's body for inserting the cannula 181). During the operation, manipulating the robotic arm 221 causes the holding arm 180 to drive the surgical instrument to perform pitching, deflection, insertion, and rotation movements. During the movement, the longitudinal axis of the surgical instrument (i.e., the longitudinal axis of the cannula 181) always passes through the RCM point to avoid non-surgical damage to the patient's incision caused by the surgical instrument.

[0099] The deflection axis PA1 (also called the first rotation axis PA1) can be set as the rotation axis of the second rotation adjustment joint 150, and in this case, the deflection axis PA1 passes through the predetermined position of the sleeve 181. The deflection arm 160 is connected to the second rotation adjustment joint 150, so the deflection arm 160 can rotate around the rotation axis PA1 of the second rotation adjustment joint 150, thereby driving the holding arm 180 to deflect around the rotation axis PA1 of the second rotation adjustment joint 150. The deflection axis PA1 can be the axis of the deflection arm 160 itself.

[0100] The pitch arm 170 can be configured as a parallelogram motion mechanism. See details... Figure 2The pitch arm may include a first connecting arm 171 and a second connecting arm 172. The first connecting arm 171 is rotatably connected to the deflection arm 160 about a second rotation axis PA2, the second connecting arm 172 is rotatably connected to the first connecting arm 171 about a third rotation axis PA3, and the holding arm 180 is rotatably connected to the second connecting arm 172 about a fourth rotation axis PA4. The first connecting arm 171, the second connecting arm 172, and the holding arm 180 are linked by a transmission mechanism, such that when the first connecting arm 171 rotates relative to the deflection arm 160, the relative angle between the second connecting arm 172 and the deflection arm 160 remains unchanged (e.g., the angle between their length directions remains unchanged), and at the same time, the relative angle between the holding arm 180 and the first connecting arm 171 remains unchanged (e.g., the angle between their length directions remains unchanged), thereby achieving parallelogram motion. The second rotation axis PA2, the third rotation axis PA3, the fourth rotation axis PA4, and the RCM point are located at the four vertices of the parallelogram, and the first connecting arm 171 and the second connecting arm 172 form two sides of the parallelogram.

[0101] To achieve linkage between the second connecting arm 172 and the first connecting arm 171, both the first and second connecting arms 171 are equipped with a transmission mechanism. This transmission mechanism can employ belt drive and / or linkage drive, etc. Figure 2 and Figure 3 As shown, the transmission mechanism of the first connecting arm 171 is connected to the housing of the second connecting arm 172 via a transmission shaft 420. One end of the transmission shaft 420 along the axial direction DA is located, for example, inside the cavity of the housing of the first connecting arm 171, while the other end extends out of the housing and connects to the housing of the second connecting arm 172. Under the action of the transmission mechanism of the first connecting arm 171, the transmission shaft 420 can rotate relative to the housing of the first connecting arm 171 around its axis, thereby causing the second connecting arm 172 to rotate relative to the first connecting arm 171 along with the transmission shaft 420 around its axis. It can be understood that the axis of the transmission shaft 420 is the third rotation axis PA3.

[0102] Typically, the drive shaft 420 is first connected to the transmission mechanism of the first connecting arm 171. In subsequent steps, the housing of the second connecting arm 172 is then connected to the drive shaft 420. Since the drive shaft 420 needs to transmit torque to the housing of the second connecting arm 172, the connection between the two must meet both coaxiality and limiting requirements. Furthermore, because the center of gravity of the second connecting arm 172 is relatively far from the axis of the drive shaft 420, it generates a large gravitational torque and moment of inertia on the drive shaft 420. Therefore, this places high demands on the connection strength between the drive shaft 420 and the housing of the second connecting arm 172.

[0103] Based on this, this application provides a connection structure that can meet or partially meet at least one of the above requirements, while also simplifying docking operations and facilitating the quick assembly and disassembly of the robotic arm.

[0104] like Figure 4 and Figure 5 As shown, in the first embodiment, the connecting structure 100 includes a first connector 10, a second connector 20, and at least one snap fastener 50. One of the two connectors, such as the second connector 20, is located at the end of the drive shaft 420 extending axially out of the housing of the first connecting arm 171. The other of the two connectors, such as the first connector 10, is located in the housing of the second connecting arm 172. The snap fastener 50 is used to connect the first connector 10 and the second connector 20, thereby connecting the drive shaft 420 to the housing of the second connecting arm 172. When the connecting structure 100 is in the assembled state, as... Figure 4 As shown, the first connector 10 and the second connector 20 are joined together along the axial direction DA, and the snap fastener 50 is sleeved on the outer periphery of the first connector 10 and the second connector 20. The first connector 10 and the second connector 20 are joined together along the axial direction DA, which can be either direct contact between the axial end surfaces of the first connector 10 and the second connector 20, or a washer can be provided between them.

[0105] The embodiments of this application illustrate the connection structure 100 for connecting rotary joints, such as the rotary joints of a robotic arm. However, it should be understood that the connection structure 100 can also be used for connecting other two components that need to be connected. That is, the two components to be connected can each be provided with a connector, and the two connectors can be fixed together using a snap-fit, thereby fixing the two components together.

[0106] To facilitate docking, the cross-sections of the first connector 10 and the second connector 20 along the axial direction DA can be designed to have approximately the same shape. In the application scenarios of this application, such as... Figure 4 and Figure 5 As shown, the second connector 20, being used to connect the end of the drive shaft 420, can be designed with a circular outer peripheral surface 23, the center of which lies on the third rotation axis PA3. In other words, the outer peripheral surface 23 is constructed as a cylindrical outer peripheral surface with its central axis collinear with the third rotation axis PA3. Correspondingly, the first connector 10 is also designed with a circular outer peripheral surface 13.

[0107] Since the snap fastener 50 is fitted around the outer periphery of the first connector 10 and the second connector 20, the snap fastener 50 may include a snap fastener first surface 58 that fits against the outer peripheral surface 13 of the first connector and the outer peripheral surface 23 of the second connector, thereby helping to limit the first connector 10 and the second connector 20 in the radial direction. In the application scenario of this application, such as Figure 4 and Figure 5 As shown, the first surface 58 of the latch is constructed as a concave arc-shaped surface, with the arc-shaped surface centered on the third rotation axis PA3. It is understood that the central angle of the first surface 58 of the latch is less than or equal to 180 degrees. The central angle of the first surface 58 of the latch can be greater than or equal to 90 degrees. Furthermore, the latch 50 can be designed as a single arc shape.

[0108] Furthermore, the first connector 10 may also have a first connector inner peripheral surface 10A, which defines a first through hole 10B that communicates with the inner cavity of the housing of the second connecting arm 172. The second connector 20 may also have a second connector inner peripheral surface 24, which defines a second through hole 25 that communicates with the axial channel of the drive shaft 420. Therefore, when the first connector 10 and the second connector 20 are mated, the inner cavity of the housing of the second connecting arm 172 communicates with the axial channel of the drive shaft 420, thereby communicating with the first through hole 10B and the second through hole 25, so that other components can pass through them, such as electrical components like wires and flexible circuit boards, or other components used for transmission. The first through hole 10B and the second through hole 25 can also be understood as passing through the connector along the rotation axis PA3 of the connecting structure 100.

[0109] Specifically, such as Figure 5 As shown, the first connector 10 is provided with at least one first connector limiting part 11 and at least one first connector positioning part 12, for example, disposed on the outer peripheral surface 13 of the first connector. Similarly, the second connector 20 is provided with at least one second connector limiting part 21 and at least one second connector positioning part 22, for example, disposed on the outer peripheral surface 23 of the second connector.

[0110] The buckle 50 includes at least one buckle limiting part 51, a buckle positioning part 52 and at least one buckle locking part 54, for example, provided on the first surface 58 of the buckle.

[0111] The snap-fit ​​limiting part 51 is used to connect with the first connector limiting part 11 and the second connector limiting part 12 so that the first connector 10 and the second connector 20 are both limited relative to the snap-fit ​​50, for example, both are limited relative to the snap-fit ​​50 in the circumferential direction DC and the axial direction DA of the connecting structure 100.

[0112] The snap-fit ​​positioning part 52 is used to connect simultaneously with the first connector positioning part 12 and the second connector positioning part 22, so that the first connector 10 and the second connector 20 are aligned along the circumferential direction DC of the connecting structure 100 (that is, the circumferential direction of the drive shaft 420). The snap-fit ​​positioning part 52 plays a guiding and positioning role during assembly.

[0113] The snap-locking part 54 is used to fasten the snap-lock 50, the first connector 10, and the second connector 20, thereby securely assembling the connection structure 100. The snap-locking part 54 can be fixed to the first connector 10, the second connector 20, or another snap-lock 50, for example, by means of fasteners.

[0114] In this document, the circumferential direction of the connecting structure 100 is also the circumferential direction of the first connector 10, the second connector 20, and the snap fastener 50. The axial direction of the connecting structure 100 is also the axial direction of the first connector 10, the second connector 20, and the snap fastener 50. The radial direction of the connecting structure 100 is also the radial direction of the first connector 10, the second connector 20, and the snap fastener 50. For example, in... Figure 2 and Figure 3 In the example shown, the circumferential direction of the connecting structure 100 refers to the direction surrounding the third rotation axis PA3, the axial direction of the connecting structure 100 refers to the direction parallel to the third rotation axis PA3, and the radial direction of the connecting structure 100 refers to the direction perpendicular to the third rotation axis PA3.

[0115] like Figure 6 As shown, the latching and limiting part 51 includes a first engaging part 51A and a second engaging part 51B. The first engaging part 51A is used to connect with the first connector limiting part 11 so that the first connector 10 is limited relative to the latch 50 in both the circumferential direction DC and the axial direction DA. The second engaging part 51B is used to connect with the second connector limiting part 21 so that the second connector 20 is limited relative to the latch 50 in both the circumferential direction DC and the axial direction DA. Thus, both the first connector 10 and the second connector 20 are limited relative to the latch 50 in the axial direction DA, and their relative positions in the axial direction DA remain unchanged, achieving a fixed connection in the axial direction DA. At the same time, both the first connector 10 and the second connector 20 are limited relative to the latch 50 in the circumferential direction DC, so that torque can be transmitted between the first connector 10 and the second connector 20 through the latch 50. Thus, the drive shaft 420 can drive the housing of the second connecting arm 172 to rotate, and at the same time, the drive shaft 420 can also bear the gravitational torque and moment of inertia of the second connecting arm 172.

[0116] like Figure 6 and Figure 7As shown, the first connector limiting part 11 and the second connector limiting part 21 each include a first working surface 31. In the assembled state of the connecting structure 100, the first working surface 31A of the first connector limiting part 11 faces away from the second connector 20, and the first working surface 31B of the second connector limiting part 21 faces away from the first connector 10. The snap-fit ​​limiting part 51 includes two third working surfaces 56, which are respectively used to contact the two first working surfaces 31, so that both the first connector 10 and the second connector 20 are limited relative to the snap-fit ​​50 along the axial direction DA of the connecting structure 100.

[0117] For example, the first engaging portion 51A includes a third working surface 56A for contacting the first working surface 31A of the first connector 10. The second engaging portion 51B includes a third working surface 56B for contacting the first working surface 31B of the second connector 20. The two third working surfaces 56A and 56B are spaced apart along the axial direction DA to allow the two first working surfaces 31A and 31B to be accommodated therebetween.

[0118] In other words, the first engaging portion 51A and the second engaging portion 51B are spaced apart along the axial direction DA, forming a pair of jaws, which facilitates clamping the two connectors in the axial direction DA. A latch 50 may include at least one pair of jaws. In the assembled state of the connecting structure 100, the third acting surface 56A of the first engaging portion 51A and the third acting surface 56B of the second engaging portion 51B act on the first acting surface 31A of the first connector 10 and the first acting surface 31B of the second connector 20, respectively, thereby clamping the first connector 10 and the second connector 20 in the axial direction DA. Figure 8 As shown, the latch 50 includes two pairs of latches. The first engaging portion 51A and the second engaging portion 51B in each pair of latches can be aligned along the circumferential direction DC, for example, symmetrically arranged about a plane P1 perpendicular to the axial direction DA. In other examples not shown, the first engaging portion 51A and the second engaging portion 51B in a pair of latches can also be offset along the circumferential direction DC, for example, partially offset or completely offset, that is, the projections of the first engaging portion 51A and the second engaging portion 51B onto the plane P1 may overlap or not overlap at all.

[0119] The first working surface 31 includes at least one of a plane, a curved surface, a wavy surface, and a bent surface. The shape of the third working surface 56 may partially or completely match the shape of the first working surface 31 to increase the contact area between the two.

[0120] The first working surface 31 extends at an angle to the axial direction DA. For example, both first working surfaces 31 may extend perpendicular to the axial direction DA, or one of the two first working surfaces 31 may extend perpendicular to the axial direction DA, or neither of the two first working surfaces 31 may extend perpendicular to the axial direction DA. Furthermore, the third working surface 56 extends in the same direction as the respective opposing first working surfaces 31.

[0121] To facilitate the insertion of the two first working surfaces 31 between the two third working surfaces 56, at least one first working surface 31 is inclined at an angle relative to the axial direction DA, that is, at least one first working surface 31 does not extend perpendicular to the axial direction DA. Figure 6 In the example, both first working surfaces 31 have an angle α with the axial direction DA, and the two first working surfaces 31 are inclined in opposite directions relative to the axial direction DA. The first working surfaces 31 are inclined away from the end surface of the joint from the outer peripheral surface of the joint.

[0122] Optionally, when the first working surface 31 is inclined, in order to ensure frictional self-locking between the first working surface 31 and the third working surface 56, the first working surface 31 has a complementary angle of 2-5 degrees relative to the axial direction DA. That is, the angle α between the first working surface 31 and the axial direction DA is 85-88 degrees. It should be understood that frictional self-locking between the first working surface 31 and the third working surface 56 refers to the existence of friction between the first working surface 31 and the third working surface 56 when the first joint limiting part 11 and the second joint limiting part 21 are connected to the snap-fit ​​limiting part 51. This frictional force can prevent the two first working surfaces 31 from radially disengaging from the two third working surfaces 56.

[0123] In other words, in a cross-section of the connecting structure 100 parallel to the axial direction DA, the angle between the first acting surface 31 and the axial direction DA is 85-88 degrees. For example, in a cross-section of the connecting structure 100 passing through the third rotation axis PA3, the angle between the first acting surface 31 and the axial direction DA is 85-88 degrees. It should be understood that the phrase "in a certain cross-section, the angle between the first acting surface 31 and the axial direction DA" specifically refers to "the angle between the line of intersection of the first acting surface 31 and the cross-section and the axial direction DA".

[0124] For example, the first working surface 31 includes a plane, the plane forming an angle of 85-88 degrees with the axial direction DA. Alternatively, the first working surface 31 includes a wavy surface having alternating crests and troughs, wherein the crests and troughs are parallel, and the angle between the crests and troughs and the axial direction DA is 85-88 degrees. Alternatively, the first working surface includes a bent surface constructed in a W-shape, wherein all creases at the bends are parallel to each other, and the angle between the creases and the axial direction DA is 85-88 degrees.

[0125] For example, the first working surface 31 has a mirror-symmetric structure about a plane of symmetry, which passes through a third rotation axis PA3 (i.e., the third rotation axis PA3 is in the plane of symmetry). In a cross-section of the connecting structure 100 at the position of this plane of symmetry, the first working surface 31 makes an angle of 85-88 degrees with the axial direction DA. Alternatively, the first working surface 31 may include a curved surface that is symmetric about a plane of symmetry, which passes through a third rotation axis PA3. In a cross-section of the connecting structure 100 at the position of this plane of symmetry, the first working surface 31 makes an angle of 85-88 degrees with the axial direction DA.

[0126] For example, the curved surface of the first working surface 31 is part of the side surface of a cylinder, the axis of which is located in a plane of symmetry, and the angle between the axis of the cylinder and the axial direction DA is 85-88 degrees. Therefore, the angle between the generatrix of the cylinder and the axial direction DA is 85-88 degrees. Alternatively, the curved surface of the first working surface 31 is part of the side surface of a cone, the axis of which is located in a plane of symmetry, and the angle between the generatrix of the cone and the axial direction DA is 85-88 degrees.

[0127] The shape and extension direction of the third working surface 56 can be referenced to the first working surface 31 described above, and will not be repeated here. In one example, in the assembled state of the connecting structure 100, the shape and extension direction of the third working surface 56 are perfectly matched with those of the first working surface 31 so that the two fit together and maximize the contact area.

[0128] When the first working surface 31 and the third working surface 56 include at least one of a curved surface, a wavy surface, and a bent surface, the first working surface 31 and the third working surface 56 simultaneously serve as installation guides. Alternatively, a positioning protrusion can be provided in one of the first working surface 31 and the third working surface 56, and a corresponding positioning groove can be provided in the other to accommodate the positioning protrusion, which also serves as a positioning guide. For example, when the first working surface 31 is constructed as a plane, a positioning protrusion can be used for installation guidance.

[0129] like Figure 6As shown, the first connector limiting part 11 and the second connector limiting part 12 each include a second working surface 32, which is at an angle to the first working surface 31. The latching limiting part 51 includes two fourth working surfaces 57, which are at an angle to the third working surface 56. The fourth working surfaces 57 are used to contact the second working surfaces 32 so that both the first connector 10 and the second connector 20 are limited relative to the latch 50 in the circumferential direction DC. For example, the first engaging part 51A includes a fourth working surface 57A for contacting the second working surface 32A of the first connector 10. The second engaging part 51B includes a fourth working surface 57B for contacting the second working surface 32B of the second connector 20.

[0130] The second working surface 32 can be constructed as a plane that is not perpendicular to the axial direction DA. For example, the second working surface 32 can be constructed as a plane parallel to the axial direction DA. Alternatively, the second working surface 32 can be constructed as a curved surface recessed towards the third rotation axis PA3. Of course, it is understood that the second working surface can also be constructed as a wavy surface or a bent surface. The shape of the fourth working surface 57 can partially or completely match the shape of the second working surface 32 to increase the contact area between the two.

[0131] See Figures 5 to 7 When the outer peripheral surface 13 of the first connector and the outer peripheral surface 23 of the second connector are constructed as cylindrical side surfaces, the first connector limiting portion 11 and the second connector limiting portion 21 can be constructed as recessed structures that are recessed from their respective outer peripheral surfaces toward the rotation axis PA3. The first working surface 31 and the second working surface 32 can be two different wall surfaces of the recessed structure. For example, as Figure 7 As shown, taking the second connector 20 as an example, the recessed structure may include two intersecting walls, which serve as the first working surface 31B and the second working surface 32B, respectively. The first working surface 31B extends to the outer peripheral surface 23, and / or the second working surface 32B extends to the outer peripheral surface 23 of the second connector. In other examples not shown, the first working surface 31B may not extend to the outer peripheral surface 23, and the second working surface 32B may not extend to the outer peripheral surface 23 of the second connector. In this case, the recessed structure may further include two additional walls opposite each other in the circumferential direction DC, with the two additional walls abutting the two ends of the second working surface 32B, respectively. The two additional walls may also be used for limiting in the circumferential direction DC, or in other words, the two additional walls may also be part of the second working surface 32B. Optionally, the length direction of the recessed structure is perpendicular to the axial direction DA. Optionally, the first connector limiting portion 11 and the second connector limiting portion 12 may be constructed as the same recessed structure.

[0132] Accordingly, see Figure 5 , Figure 6 and Figure 8The latching and limiting part 51 is constructed as a protruding structure, adapted to the recessed structure of the aforementioned connector. Specifically, in the illustrated embodiment, the first engaging part 51A and the second engaging part 51B are constructed as protruding structures protruding from the first surface 58 of the latch, and the third working surface 56 and the fourth working surface 57 can be two different surfaces of the protruding structure. The first engaging part 51A is used to be disposed in the recessed structure of the first connector limiting part 11, and the second engaging part 51B is used to be disposed in the recessed structure of the second connector limiting part 21. Optionally, the protruding structure of the latch can be located at the outermost part of the latch 50 along the axial direction DA, that is, the end surface of the latch 50 located at the end along the axial direction DA is the outer surface of the protruding structure, which can reduce the axial dimension of the latch 50. Optionally, the first engaging part 51A and the second engaging part 51B can be constructed as the same protruding structure.

[0133] Since both the first connector positioning part 12 and the second connector positioning part 22 are connected to the snap-fit ​​positioning part 52, the first connector positioning part 12 and the second connector positioning part 22 can be designed to have the same structure, thereby simplifying the design. For example, in the illustrated embodiment, the snap-fit ​​positioning part 52 is constructed as a positioning protrusion, and the first connector positioning part 12 and the second connector positioning part 22 are constructed as positioning grooves to accommodate the positioning protrusion. The positioning groove preferably extends along the axial direction DA. Alternatively, the first connector positioning part 12 and the second connector positioning part 22 are constructed as positioning protrusions, and the snap-fit ​​positioning part 52 is constructed as a positioning groove, the positioning groove being used to accommodate the positioning protrusion.

[0134] During the assembly of the connecting structure 100, the first connector 10 and the second connector 20 are adjusted to be approximately aligned by simultaneously inserting the snap-fit ​​positioning part 52 into the first connector positioning part 12 and the second connector positioning part 22. In order to leave room for adjustment after the first connector positioning part 12 and the second connector positioning part 22 are connected to the snap-fit ​​positioning part 52, and to prevent the snap-fit ​​50 from jamming with the first connector 10 and the second connector 20, at least a portion of the outer surface of the positioning protrusion is constructed as an outwardly convex curved surface, and the generatrix of the curved surface extends parallel to the axial direction DA.

[0135] like Figure 9 and Figure 10 As shown, the positioning protrusion of the snap-fit ​​positioning part 52 includes two mutually opposing first positioning surfaces 63, and the positioning grooves of the first connector positioning part 12 and the second connector positioning part 22 include two opposing second positioning surfaces 62, with the two first positioning surfaces 63 respectively contacting the two second positioning surfaces 62. The first positioning surface 63 includes an outwardly convex second curved surface 61. The second positioning surface 62 includes a plane or a concave curved surface. For example, in the projection of the connecting structure 100 along the axial direction DA, or in the projection of the snap-fit ​​50 along the axial direction DA, the positioning groove (12 or 22) is wedge-shaped (see...). Figure 9The bottom surface and sidewalls of the groove (second positioning surface 62) are both constructed as planes. Alternatively, the sidewalls of the positioning groove (second positioning surface 62) are recessed curved surfaces (see...). Figure 10 The curvature of the second curved surface 61 of the positioning protrusion 52 is greater than the curvature of the second positioning surface 62 of the positioning groove. The positioning groove has a certain opening angle so that the groove opening is wider than the groove bottom, which facilitates the insertion of the positioning protrusion.

[0136] Or, such as Figure 11 As shown, the positioning protrusion of the snap-fit ​​positioning part 52 includes two mutually opposing and inclined first positioning surfaces 63. The positioning grooves of the first connector positioning part 12 and the second connector positioning part 22 include two mutually opposing and inclined second positioning surfaces 62, and the included angle between the two first positioning surfaces is smaller than the included angle between the two second positioning surfaces. The bottom of the positioning groove is a concave curved surface, such as an arc concave surface, which connects the two second positioning surfaces 62. The end of the positioning protrusion is an outwardly convex second curved surface 61, which connects the two first positioning surfaces 63. The second curved surface 61 is, for example, constructed as an arc convex surface. The curvature of the second curved surface 61 of the positioning protrusion is greater than or equal to the curvature of the bottom curved surface of the positioning groove.

[0137] The latching positioning part 52 and the latching limiting part 51 are spaced apart along the circumferential direction DC to reduce the processing difficulty of the latch and improve processing accuracy. The first engaging part 51A and the latching positioning part 52 are spaced apart along the circumferential direction DC. Similarly, the second engaging part 51B and the latching positioning part 52 are spaced apart along the circumferential direction DC. The first engaging part 51A and the second engaging part 51B, which are arranged opposite each other along the circumferential direction DC, are located on the same side of the latching positioning part 52 along the circumferential direction DC. Figure 8 As shown, the latching positioning part 52 has a pair of opposing first engaging parts 51A and second engaging parts 51B on both sides along the circumferential direction DC. The two latching limiting parts 51 are symmetrically arranged about the latching positioning part 52.

[0138] Alternatively, the first engaging portion 51A and the second engaging portion 51B are located on both sides of the latching positioning portion 52 along the circumferential direction DC. For example, in the projection of the latch 50 along the axial direction DA, the first engaging portion 51A and the second engaging portion 51B are symmetrically arranged about the latching positioning portion 52.

[0139] Understandably, in the assembled state of the connection structure 100, the relative position between the first connector limiting part 11 and the second connector limiting part 21 is adapted to the relative position between the first engaging part 51A and the second engaging part 51B.

[0140] Optionally, a locking portion 54 is provided at the end of the snap fastener 50 in the circumferential direction DC, thereby facilitating the connection of fasteners. The locking portion 54 may have, for example, a threaded hole 55 for fastening by bolts. At one end where the locking portion 54 is provided, the circumferential end surface 59 of the snap fastener 50 in the circumferential direction DC is flat, and the threaded hole 55 is formed on the circumferential end surface 59. The other end of the threaded hole 55 is also formed on the outer surface of the snap fastener 50 (see...). Figure 8 This allows the connecting structure 100 to be easily fastened.

[0141] Optionally, the force between the locking part 54 and the fastener is approximately tangent to the outer contour of the snap fastener 50. For example, the central axis of the snap fastener threaded hole 55 is approximately tangent to the outer contour of the snap fastener 50, so that the force between the bolt and the snap fastener threaded hole 55 is approximately tangent to the outer contour of the snap fastener 50.

[0142] like Figure 8 As shown, the buckle 50 has two locking portions 54 at both ends along the circumferential direction DC, thus the buckle 50 includes two locking portions 54. A buckle positioning portion 52 is disposed between the two locking portions 54 along the circumferential direction DC. The buckle 50 includes two buckle limiting portions 51, which are respectively disposed on both sides of the buckle positioning portion 52. The buckle limiting portions 51 are disposed between the buckle positioning portion 52 and the locking portions 54 along the circumferential direction DC. The buckle positioning portion 52 is located on one side of the opposing first engaging portion 51A and second engaging portion 51B along the circumferential direction DC, and the buckle locking portion 54 is located on the other side of the opposing first engaging portion 51A and second engaging portion 51B along the circumferential direction DC. The buckle positioning portion 52 is located at the center of the buckle 50 along the circumferential direction DC. The buckle 50 has, for example, a symmetrical structure. The snap fastener 50 can be configured to be mirror-symmetric about a first plane P1 perpendicular to the axial direction DA, or it can be configured to be mirror-symmetric about a second plane P2 that passes through the axis of rotation of the connecting structure and is perpendicular to the first plane P1.

[0143] like Figure 8 The buckle 50 shown is also called a flat buckle because both of its circumferential end surfaces 59 are flat.

[0144] Understandably, in the connection structure 100, the circumferential distance between the first connector limiting part 11 and the first connector positioning part 12 matches the circumferential distance between the first engaging part 51A and the snap-fit ​​positioning part 52. Similarly, the circumferential distance between the second connector limiting part 21 and the second connector positioning part 22 matches the circumferential distance between the first engaging part 51A and the snap-fit ​​positioning part 52. The first engaging part 51A and the second engaging part 51B can be aligned along the arc-shaped circumferential direction of the snap-fit ​​first surface 58. Of course, the first engaging part 51A and the second engaging part 51B can also be offset along the arc-shaped circumferential direction of the snap-fit ​​first surface 58.

[0145] In the connection structure 100 according to the first embodiment of this application, the first connector 10 and the second connector 20 are configured to have the same or similar structures, for example, they can be configured as follows: Figure 5 The second connector 20 is shown. This connector, for example, is with... Figure 8 The snap-fit ​​mechanism is shown. It is understood that in the first embodiment, the connecting structure 100 requires at least two flat snap-fits 50.

[0146] For example, such as Figure 12 As shown, the two positioning grooves (12 and 22) are spaced 180 degrees apart along the circumferential direction (DC), and two recessed structures (11 or 21) are symmetrically arranged for each positioning groove. The four recessed structures can also be arranged at equal intervals along the circumferential direction (DC). Correspondingly, as... Figure 8 As shown, the buckle 50 is a semi-circular flat buckle, so that two buckles 50 can be joined together to form a complete circle (reference). Figure 5 Two latches 50 are bolted together at both ends along the circumferential direction DC, and the circumferential end surfaces 59 of the two latches are brought close together or fitted, thereby assembling the connecting structure 100. Figure 4 The state shown.

[0147] Or, such as Figure 13 As shown, in Figure 12 Based on the example, both the first connector 10 and the second connector 20 have an additional pair of redundant positioning grooves. That is, each of the first connector 10 and the second connector 20 is provided with four positioning grooves and four recessed structures. The four positioning grooves are evenly spaced along the circumferential direction DC, and the four recessed structures are also evenly spaced along the circumferential direction DC. Furthermore, the recessed structures and positioning grooves are arranged alternately along the circumferential direction DC, and the positioning grooves on both sides of each recessed structure are symmetrically distributed about that recessed structure. Similarly, the recessed structures on both sides of each positioning groove are also symmetrically distributed about that positioning groove. Therefore, when assembling the connection structure 100, it still uses... Figure 8 The flat clip 50 shown allows users to choose a more convenient installation angle for the clip 50.

[0148] Or, such as Figure 14 As shown, in Figure 12 Based on the example, both the first connector 10 and the second connector 20 are augmented with a positioning groove and two recessed structures. The three positioning grooves are spaced 120 degrees apart along the circumferential direction DC, and two recessed structures are symmetrically arranged corresponding to each positioning groove. Therefore, the connecting structure 100 requires the use of three flat snap fasteners 50. Correspondingly, in Figure 8 Based on the buckle 50 shown, the arc (central angle of the arc) of buckle 50 is reduced to 120 degrees, so that the three buckles 50 can be spliced ​​into a complete circle. It can be understood that the longer the arc of buckle 50, the deeper the recessed structure can be, thus improving the limiting effect of the connecting structure 100.

[0149] Or, such as Figure 15 As shown, in Figure 12 Based on the example, both the first connector 10 and the second connector 20 eliminate two recessed structures, leaving two recessed structures spaced 180 degrees apart in the circumferential direction DC, and symmetrical about each positioning groove. Correspondingly, in Figure 8 Based on the buckle 50 shown, the two pairs of opposing first engaging portions 51A and second engaging portions 51B are moved along the circumferential direction DC toward the circumferential end surface 59 of the buckle until they reach their maximum ends. Simultaneously, the four fourth working surfaces 57 are made parallel. When assembling the connection structure 100, two such buckles 50 are used. The opposing first engaging portions 51A of the two buckles 50 share the recessed structure 11 of the first connector 10, and the opposing second engaging portions 51B of the two buckles 50 share the recessed structure 21 of the second connector 20.

[0150] Or, such as Figure 16 As shown, in Figure 12 Based on the example, both the first connector 10 and the second connector 20 eliminate the two recessed structures. In such an example, the snap-fit ​​50 can... Figure 8 Based on the example shown, one latching limit part 51 is removed, that is, a pair of opposing first engaging parts 51A and second engaging parts 51B are removed.

[0151] Or, such as Figure 17 As shown, in Figure 12 Based on the example, both the first connector 10 and the second connector 20 eliminate the two recessed structures. Relative to Figure 16 In the example, the second connector 20 is flipped. In such an example, the snap 50 can... Figure 8Based on the example shown, the first engaging portion 51A in one latching limiting portion 51 and the second engaging portion 51B in the other latching limiting portion 51 are removed. In other words, the latch 50 includes a first engaging portion 51A and a second engaging portion 51B, which are respectively disposed on both sides of the latch positioning portion 52. Alternatively, the latch 50 includes a latch limiting portion 51, which includes a first engaging portion 51A and a second engaging portion 51B, which are respectively disposed on both sides of the latch positioning portion 52. The first engaging portion 51A and the second engaging portion 51B are offset along the circumferential direction DC.

[0152] In the first embodiment, all the snap fasteners 50 are connected sequentially to form a closed loop. Each snap fastener locking part 54 is connected to the snap fastener locking part 54 of the adjacent snap fastener 50. In the first embodiment, the first connector 10 and the second connector 20 each include at least two connector limiting parts arranged at DC intervals in the circumferential direction. Optionally, the number of connector limiting parts for each connector is 2 or a multiple of 2.

[0153] When installing the snap fastener 50, the snap fastener positioning part 52 serves as a guide and is the first part of the snap fastener 50 to contact the two connectors. Both the positioning groove and the recessed structure are formed on the outer peripheral surface of the connector. Preferably, the innermost radial position of the positioning protrusion is closer to the center of the circle containing the first surface 58 of the snap fastener (corresponding to the third rotation axis PA3) than the innermost radial position of the snap fastener protrusion, which helps the engagement of the positioning protrusion and the positioning groove to precede the engagement of the snap fastener protrusion and the recessed structure. For example, both the positioning protrusion and the snap fastener protrusion protrude with the first surface 58 of the snap fastener as the reference surface. The radial dimension of the positioning protrusion is larger than the radial dimension of the snap fastener protrusion; correspondingly, the depth of the positioning groove (e.g., the deepest depth of the groove) is greater than the depth of the recessed structure.

[0154] The following describes connection structures according to other embodiments of this application. Many of the embodiments share or are similar in features, and identical components or structures are referred to by the same reference numerals. The following focuses only on describing the differences between the various embodiments.

[0155] In the second embodiment, the connection structure can use, for example... Figure 18 and Figure 19The buckle 550 is shown. In the buckle 550, a buckle locking part 54 is provided only at one end along the circumferential direction DC, while a buckle positioning part 52 is provided at the other end. A buckle limiting part 51 is provided between the buckle locking part 54 and the buckle positioning part 52. The buckle positioning part 52 is still constructed as a positioning protrusion, so that the end of the buckle 550 forms a hook shape, hence the buckle 550 is also called a hook-type buckle 550. The hook-type buckle 550, for example, has only a pair of opposing first engaging parts 51A and second engaging parts 51B. The buckle 550 is constructed, for example, to be mirror-symmetrical about a first plane P1 perpendicular to the axial direction DA.

[0156] In the second embodiment, the first connector 510 and the second connector 520 are still constructed as the same or similar connectors. The connection structure uses at least one pair of snap-fits 550.

[0157] like Figure 20 As shown, each of the first connector 510 and the second connector 520 of the connecting structure is provided with four positioning grooves (12 or 22) and four recessed structures (11 or 21), so that the first connector 510 and the second connector 520 are fastened by four snap fasteners 550. The four recessed structures are arranged at equal intervals, for example, along the circumferential direction DC. The four positioning grooves are arranged close to each other in pairs. That is, two positioning grooves are arranged between two recessed structures. The two adjacent positioning grooves can be connected to a certain extent to maximize the curvature of the snap fasteners 550. During assembly, the four snap fasteners 550 can be arranged in pairs, with the snap locking parts 54 of each pair of snap fasteners 550 engaging. When installing the snap fasteners 550, first roughly align the positioning grooves 12 and 22, insert the snap fastener positioning parts 52 into the positioning grooves 12 and 22, and then rotate the snap fasteners 550 around the snap fastener positioning parts 52 as the axis until the recessed structure and the snap fastener protrusion engage in place. In this example, the curvature of the snap fasteners 550 is approximately 90 degrees.

[0158] Or, such as Figures 21 to 23 As shown, the arc of the snap fastener 550 can be extended to be greater than 90 degrees, and further greater than 120 degrees, so that the connection structure can use only two snap fasteners 550. Adaptively, each of the first connector 510 and the second connector 520 is provided with two positioning grooves (12 or 22) and two recessed structures (11 or 21). The first connector 510 and the second connector 520 have, for example, a planar symmetrical structure (the plane of symmetry passes through the axis of rotation of the connection structure 100), so that the two snap fasteners 550 can be identical.

[0159] In the second embodiment, a locking part 54 is disposed at one end of the latch 550, and the other end of the latch 550 is connected to two connectors, thus requiring the latches 550 to be used in pairs, with the locking parts 54 of a pair of latches 550 interconnected. In the second embodiment, the first connector 510 and the second connector 520 each include at least two connector limiting parts arranged at DC intervals in the circumferential direction. Optionally, the number of connector limiting parts for each connector is 2 or a multiple of 2.

[0160] For any parts not described in the second embodiment, please refer to the description in the first embodiment.

[0161] like Figure 24 As shown, in the third embodiment, the first connector 610 of the connecting structure differs from the first connectors 10 and 510 of the above embodiments. The first connector 610 of this embodiment has a connector locking portion 17 for locking with the snap-locking portion 54. For example, the connector locking portion 17 is provided with a connector threaded hole 18, allowing the snap-locking threaded hole 55 and the connector threaded hole 18 to be connected by the same bolt, thereby securing the connecting structure.

[0162] Specifically, the first connector 610 includes, for example, a connector body 19 and an attachment 14. The connector body 19 is, for example, annular, and both the first connector limiting portion 11 and the first connector positioning portion 12 are provided on the connector body 19. The connector body 19 is similar to part of the structure of the first connectors 10 and 510. The attachment 14 is fixedly connected to the outer periphery of the connector body 19, and the attachment 14 is offset from both the first connector limiting portion 11 and the first connector positioning portion 12 along the circumferential direction DC. A connector locking portion 17 is provided at the end of the attachment 14 along the circumferential direction DC. The end surface 14A of the end of the attachment 14 along the circumferential direction DC where the connector locking portion 17 is provided is flat. The opening of the connector threaded hole 18 is formed on the circumferential end surface 14A of the attachment. The other end of the connector threaded hole 18 is also formed on the outer surface of the attachment 14, thereby facilitating the fastening of the connection structure.

[0163] Optionally, the force between the locking part 17 and the fastener is approximately tangent to the outer contour of the attachment 14. For example, the central axis of the threaded hole 18 of the connector is approximately tangent to the outer contour of the attachment 14, so that the force between the bolt and the threaded hole 18 is approximately tangent to the outer contour of the attachment 14.

[0164] In the assembled state of the connection structure, the circumferential end surface 14A of the attachment 14 approaches or abuts against the circumferential end surface 59 of the snap fastener. Since the attachment 14 occupies a portion of the outer peripheral surface of the connector body 19, in the third embodiment, the curvature of the snap fastener can be reduced, or the number of snap fasteners can be reduced.

[0165] Optionally, the attachment 14 includes an attachment portion 15 that protrudes from the connector body 19 along the axial direction DA toward the second connector 620. The attachment portion 15 is provided with at least one first additional limiting portion 16. For example... Figures 25 to 29 As shown, the second connector 620 is provided with a second additional limiting part 26 for connecting with the first additional limiting part 16, so that the second connector 620 is limited relative to the first connector 610 in both the axial direction DA and the circumferential direction DC. That is, without installing a snap fastener, the first additional limiting part 16 and the second additional limiting part 26 can keep the relative positions of the first connector 610 and the second connector 620 substantially unchanged in the axial direction DA and the circumferential direction DC.

[0166] The relationship between the first additional limiting portion 16 and the second additional limiting portion 26 can be similar to the relationship between the second engaging portion 51B and the second connector limiting portion 21. The first additional limiting portion 16 includes a first limiting surface 16A facing the connector body 19, and the second additional limiting portion 26 includes a second limiting surface for engaging with the first limiting surface 16A to limit the second connector 620 relative to the first connector 610 in the axial direction DA. The first additional limiting portion 16 also includes a third limiting surface 16B, which is at an angle to the first limiting surface 16A. The second additional limiting portion 26 also includes a fourth limiting surface, which is at an angle to the second limiting surface. The fourth limiting surface engages with the third limiting surface 16B to limit the second connector 620 relative to the first connector 610 in the circumferential direction DC of the connecting structure.

[0167] For example, one of the first additional limiting portion 16 and the second additional limiting portion 26 is configured as an additional protrusion, and the other of the first additional limiting portion 16 and the second additional limiting portion 26 is configured as an additional groove that matches the shape of the additional protrusion for accommodating the additional protrusion. In the illustrated embodiment, the first additional limiting portion 16 is configured as an additional protrusion, and the second additional limiting portion 26 is configured as an additional groove. The bottom surface 27 of the additional groove can be used to fit against the corresponding surface of the additional protrusion to transmit rotational torque; that is, the bottom surface 27 of the additional groove serves as a fourth limiting surface, and the corresponding surface of the additional protrusion serves as a third limiting surface 16B. It can be understood that the rotation axis of this rotational torque is the third rotation axis PA3. The surface of the sidewall of the additional groove serves as a second limiting surface.

[0168] Preferably, the bottom surface 27 of the additional groove extends to the outer peripheral surface of the second connector 620. The bottom surface 27 of the additional groove is, for example, constructed as a plane. Alternatively, the bottom surface 27 of the additional groove is constructed as a curved surface recessed toward the third axis of rotation PA3 (see...). Figure 29Accordingly, the additional protrusion is constructed as a curved surface protruding from the concave surface toward the third rotation axis PA3. Of course, the concave structures (11 and 21) can also be constructed as curved surfaces concave toward the third rotation axis PA3.

[0169] In addition to the structural features described above, other optional structural features of the first additional limiting part 16 and the second additional limiting part 26 can be referred to the above description of the second engaging part 51B and the second connector limiting part 21, and will not be repeated here.

[0170] In the third embodiment, the connection structure uses a hook-type snap fastener 550. Since the first connector 510 has a connector locking part 17, only one snap fastener 550 is required. In the third embodiment, the number of snap fasteners 550 can be designed according to the curvature of the attachment 14 and the curvature of the snap fasteners 550. Figure 25 and Figure 26 In the example, the curvature of the attachment 14 is less than 180 degrees, and there are two latches 550, each with a curvature of approximately 90 degrees, optionally greater than or equal to 90 degrees. For connection with the two latches 550, a connector locking portion 17 is provided at both ends of the attachment 14 in the circumferential direction DC. Figures 27 to 29 In the example, the radius of the attachment 14 is approximately 180 degrees, and there is one snap fastener 550. The radius of the snap fastener 550 is greater than 90 degrees, optionally greater than 120 degrees. The attachment 14 only needs to have one connector locking part 17 at one end. The radius of both the attachment 14 and the snap fastener 550 is no greater than 180 degrees.

[0171] Understandably, in the third embodiment, the first connector limiting part 11, the first connector positioning part 12, the second connector limiting part 21, and the second connector positioning part 22 all need to be configured in conjunction with the hook-type buckle 550. It can also be understood that the first connector 610, based on the first connector 510 of the second embodiment, adds an additional body 14 and makes adaptive adjustments, and the second connector 620, based on the second connector 520, adds a second additional limiting part 26 and makes adaptive adjustments.

[0172] In the third embodiment, such as Figure 25 As shown, in the projection of the first connector 610 along the axial direction DA, the first straight line L1 is the line connecting the third rotation axis PA3 and the center point of the first connector positioning part 12, and the second straight line L2 is the axis of the connector threaded hole 18. The angle between the first straight line L1 and the second straight line L2 is the first angle γ, which is less than or equal to 90 degrees. The angle between the center point of the first connector positioning part 12 and the opening of the connector threaded hole 18 along the circumferential direction DC is the second angle β, which is greater than γ.

[0173] In the third embodiment, the attachment 14 of the first connector 610 may be provided with one or two connector locking parts 17, each connector locking part 17 being used to connect to the snap-locking part 54 of a hook-type buckle 550 via a fastener. Therefore, the snap-locking part 54 of each hook-type buckle 550 is connected to the corresponding connector locking part 17.

[0174] For any parts not described in the third embodiment, please refer to the descriptions in the first and second embodiments.

[0175] like Figures 30 to 34 As shown, in the fourth embodiment, the connecting structure adopts a flat snap-fit ​​50, and the first connector 710 also has an attachment 14. The first connector 710 is based on the first connector 610 of the third embodiment, with the first connector limiting part 11 and the first connector positioning part 12 adjusted to fit the flat snap-fit ​​50. The second connector 720 is based on the second connector 620 of the third embodiment, with the second connector limiting part 21 and the second connector positioning part 22 adjusted to fit the flat snap-fit ​​50. It can also be understood that the first connector 710 adds an attachment 14 and makes adaptive adjustments to the first connector 10 of the first embodiment, and the second connector 720 adds a second additional limiting part 26 and makes adaptive adjustments to the second connector 20 of the first embodiment. The number of first additional limiting parts 16 can be one or two. Correspondingly, the number of second additional limiting parts 26 can be one or two. Since it needs to connect with the flat snap-fit ​​50, the attachment 14 needs to be provided with two connector locking parts 17.

[0176] like Figure 30 As shown, when the curvature of the attachment 14 is greater than or equal to 180 degrees, the connection structure can use only one flat snap-fit ​​50. There are two first additional limiting parts 16 and two second additional limiting parts 26.

[0177] like Figure 31 As shown, when the radius of curvature of the attachment 14 is less than 180 degrees, for example, less than or equal to 120 degrees, the connection structure can use two flat snap fasteners 50.

[0178] exist Figure 32 In the example shown, Figure 30 The example shown is based on the example with one less first additional limiting part 16 and one less second additional limiting part 26, that is, the number of the first additional limiting part 16 and the number of the second additional limiting part 26 are both one.

[0179] Or, such as Figure 33 As shown, in Figure 30Based on the example, the first connector 710 and the second connector 720 each have a recessed structure removed. The first connector 710 also has a first additional limiting portion 16 removed, and the second connector 720 also has a second additional limiting portion 26 removed. In such an example, similar to... Figure 16 As shown in the example, the buckle 50 can be... Figure 8 Based on the example shown, one latching limit part 51 is removed, that is, a pair of opposing first engaging parts 51A and second engaging parts 51B are removed.

[0180] Or, such as Figure 34 As shown, in Figure 30 Based on the example, the first connector 710 and the second connector 720 each have a recessed structure removed. In such an example, similar to... Figure 17 As shown in the example, the buckle 50 can be... Figure 8 Based on the example shown, the first engaging portion 51A in one latching limiting portion 51 and the second engaging portion 51B in the other latching limiting portion 51 are removed. In other words, the latch 50 includes a first engaging portion 51A and a second engaging portion 51B, which are respectively disposed on both sides of the latch positioning portion 52. Alternatively, the latch 50 includes a latch limiting portion 51, which includes a first engaging portion 51A and a second engaging portion 51B, which are respectively disposed on both sides of the latch positioning portion 52. The first engaging portion 51A and the second engaging portion 51B are offset along the circumferential direction DC.

[0181] In the fourth embodiment, the attachment 14 of the first connector 610 may be provided with two connector locking portions 17, each connector locking portion 17 being used to connect to a snap-locking portion 54 via a fastener. Therefore, at least one of all snap-locking portions 54 of each flat snap 50 is connected to a corresponding connector locking portion 17. Specifically, the snap-locking portion 54 may be connected to a connector locking portion 17 or to an adjacent snap-locking portion 54 (see [link]). Figure 31 All the snap-fits 50 and the attachment 14 form a closed loop.

[0182] For any parts not described in the fourth embodiment, please refer to the descriptions in the first, second, and third embodiments.

[0183] When using the connection structure according to this application, the first connecting arm 171 and the second connecting arm 172 can be pre-assembled, and then the assembled two connecting arms can be connected by the connection structure. The first connector can be integrally formed with the housing of the second connecting arm 172, or the first connector can be installed on the housing of the second connecting arm 172 during assembly. The second connector can be integrally formed with the drive shaft 420 of the first connecting arm 171, or the second connector can be installed on the drive shaft 420 of the first connecting arm 171 during assembly. The operation of snapping the two connectors together is simple and easy. In addition, the use of a surrounding snap-fit ​​helps to improve the coaxiality of the two connectors after connection, thereby improving the operating accuracy of the robotic arm. The connection structure according to this application is not only convenient to use, but also ensures assembly accuracy, connection strength, and connection rigidity.

[0184] It is understandable that the snap-fit ​​50 may not have the snap-fit ​​positioning part 52. In some examples not shown, mating joint positioning parts are provided on the axial end surfaces of the first joint 10 and the second joint 20 to achieve circumferential positioning of the two joints. In other examples not shown, circumferential positioning of the two joints can also be achieved by a washer between the axial end surfaces of the first joint 10 and the second joint 20. For example, a first joint positioning part is provided on the axial end surface of the first joint 10, a second joint positioning part is provided on the axial end surface of the second joint 20, and a first washer positioning part and a second washer positioning part that match the first joint positioning part and the second joint positioning part are respectively provided on the two opposite end faces of the washer.

[0185] In understanding the scope of this application, the term "comprising" and its derivatives, as used herein, are intended to be open-ended terms that specify the presence of a described feature, element, component, group, whole, and / or step, but do not exclude the presence of other undescribed features, elements, components, groups, wholes, and / or steps. This concept also applies to words with similar meanings, such as the terms "comprising," "having," and their derivatives.

[0186] The term "attached" or "joined" as used herein includes: a construction in which one element is directly fixed to another element by fixing it directly to another element; a construction in which one element is indirectly fixed to another element by fixing it to an intermediate member, which in turn is fixed to another element; and a construction in which one element is integral with another element, that is, one element is substantially part of another element. This definition also applies to words with similar meanings, such as "connect," "joint," "couple," "install," "adhere," "fix," and their derivatives. Finally, degree terms such as "substantially," "approximately," and "approximately" as used herein indicate the amount of deviation from which modifications to the terminology do not significantly alter the final result.

[0187] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0188] This application has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application.

Claims

1. A connection structure for a robotic arm, characterized in that, include: The first connector includes a connector body and an attachment. The connector body is provided with at least one first connector limiting part. The attachment is fixed to the outer periphery of the connector body, and at least one connector locking part is provided at the end of the attachment in the circumferential direction. The attachment includes an attachment part that protrudes from the connector body in the axial direction of the connection structure, and the attachment part is provided with a first additional limiting part. The second connector is provided with at least one second connector limiting part and a second additional limiting part. The second additional limiting part is used to connect with the first additional limiting part so that the second connector is limited relative to the first connector in both the axial and circumferential directions. and At least one snap fastener for connecting the first connector and the second connector, the snap fastener comprising: At least one snap-fit ​​limiting portion is provided for connection with the first connector limiting portion and the second connector limiting portion, such that both the first connector and the second connector are positioned relative to the snap-fit ​​limiting portion. At least one snap-locking part, at least one of the snap-locking parts being disposed at the circumferential end of the snap and for connection with the connector locking part, so that the at least one snap is fastened to the first connector and the second connector.

2. The connection structure according to claim 1, characterized in that, The connector locking part and the buckle locking part are connected by fasteners.

3. The connection structure according to claim 1, characterized in that, The first additional limiting portion includes a first limiting surface facing the connector body, and the second additional limiting portion includes a second limiting surface, which is used to fit against the first limiting surface so that the second connector is limited relative to the first connector in the axial direction.

4. The connection structure according to claim 3, characterized in that, The first additional limiting part further includes a third limiting surface, which is angled to the first limiting surface. The second additional limiting part further includes a fourth limiting surface, which is angled to the second limiting surface. The fourth limiting surface is used to fit against the third limiting surface so that the second connector is limited relative to the first connector in the circumferential direction of the connection structure.

5. The connection structure according to claim 1, characterized in that, One of the first additional limiting portion and the second additional limiting portion is configured as an additional protrusion, and the other of the first additional limiting portion and the second additional limiting portion is configured as an additional groove that matches the shape of the additional protrusion for accommodating the additional protrusion.

6. The connection structure according to claim 1, characterized in that, The first connector limiting part and the additional body are offset from each other along the circumferential direction of the connector body.

7. The connection structure according to claim 6, characterized in that, The first connector includes two connector locking parts, which are respectively disposed at two ends of the attachment in the circumferential direction. The buckle includes two locking parts, which are respectively located at both ends of the buckle. The at least one buckle forms a closed loop with the attachment.

8. The connection structure according to claim 7, characterized in that, The first connector further includes at least one first connector positioning part, which is disposed on the connector body. The second connector also includes at least one second connector positioning part. The buckle also includes a buckle positioning part, which is used to connect with both the first connector positioning part and the second connector positioning part, so as to align the first connector and the second connector.

9. The connection structure according to claim 8, characterized in that, The first connector positioning part and the attachment are offset from each other along the circumferential direction of the connector body, and the first connector positioning part and the first connector limiting part are offset from each other along the circumferential direction of the connector body.

10. The connection structure according to claim 8, characterized in that, The buckle limiting part is disposed between the buckle locking part and the buckle positioning part.

11. The connection structure according to claim 8, characterized in that, The buckle includes two buckle limiting parts, which are respectively disposed on both sides of the buckle positioning part.

12. The connection structure according to claim 8, characterized in that, The latching and limiting part includes a first engaging part and a second engaging part. The first engaging part is used to engage with the first connector limiting part, and the second engaging part is used to engage with the second connector limiting part. The first engaging part and the second engaging part are respectively disposed on both sides of the latching and positioning part.

13. The connection structure according to claim 8, characterized in that, The snap-fit ​​positioning part is constructed as a positioning protrusion, and the first connector positioning part and the second connector positioning part are constructed as positioning grooves, the positioning grooves being used to accommodate the positioning protrusion; or The first connector positioning part and the second connector positioning part are configured as positioning protrusions, and the snap-on positioning part is configured as a positioning groove, which is used to accommodate the positioning protrusion.

14. The connection structure according to claim 13, characterized in that, The positioning protrusion includes two first positioning surfaces facing away from each other, and the positioning groove includes two second positioning surfaces arranged opposite to each other, with the two first positioning surfaces respectively contacting the two second positioning surfaces.

15. The connection structure according to claim 14, characterized in that, The first positioning surface includes an outwardly convex curved surface, and the second positioning surface includes a plane or an inwardly concave curved surface.

16. The connection structure according to claim 6, characterized in that, At least one of the two ends of the attachment in the circumferential direction is provided with the joint locking part. The buckle includes a buckle locking part, which is disposed at one end of the buckle, and the other end of the buckle is connected to both the first connector and the second connector. Each of the said latching locking parts is connected to the adjacent said connector locking part.

17. The connection structure according to claim 16, characterized in that, The first connector further includes at least one first connector positioning part, and the second connector further includes at least one second connector positioning part. The buckle also includes a buckle positioning part, and the buckle limiting part is disposed between the buckle locking part and the buckle positioning part. The buckle positioning part is used to connect with both the first connector positioning part and the second connector positioning part so that the first connector and the second connector are aligned.

18. The connection structure according to claim 17, characterized in that, The buckle positioning part is located at the other end of the buckle.

19. The connection structure according to claim 17, characterized in that, The snap-fit ​​positioning part is constructed as a positioning protrusion, and the first connector positioning part and the second connector positioning part are constructed as positioning grooves, the positioning grooves being used to accommodate the positioning protrusion; or The first connector positioning part and the second connector positioning part are configured as positioning protrusions, and the snap-on positioning part is configured as a positioning groove, which is used to accommodate the positioning protrusion.

20. The connection structure according to claim 19, characterized in that, The positioning protrusion includes two first positioning surfaces that are opposite to each other and inclined to each other, and the positioning groove includes two second positioning surfaces that are opposite to each other and inclined to each other. The included angle between the two first positioning surfaces is smaller than the included angle between the two second positioning surfaces.

21. The connection structure according to claim 20, characterized in that, The positioning protrusion further includes an arcuate convex surface connecting the two first positioning surfaces, and the positioning groove further includes an arcuate concave surface connecting the two second positioning surfaces. The curvature of the arcuate convex surface is greater than or equal to the curvature of the arcuate concave surface.

22. The connection structure according to claim 17, characterized in that, The locking part of the connector is provided with a connector threaded hole. In the axial projection of the first connector, the first straight line is the line connecting the rotation axis of the connecting structure and the center point of the first connector positioning part, the second straight line is the axis of the connector threaded hole, the angle between the first straight line and the second straight line is the first angle, and the circumferential distance between the center point of the first connector positioning part and the opening of the connector threaded hole is the second angle. Wherein, the first angle is less than or equal to 90 degrees, and the second angle is greater than the first angle.

23. The connection structure according to any one of claims 1 to 22, characterized in that, The first connector has a first through hole, which passes through the first connector along the rotation axis of the connecting structure; the second connector has a second through hole, which passes through the second connector along the rotation axis of the connecting structure.

24. A robotic arm, characterized in that, include: The first connecting arm has a drive shaft; The second connecting arm is rotatably connected to the first connecting arm about the axis of the drive shaft; and According to any one of claims 1 to 23, the second joint is disposed at the axial end of the drive shaft, and the first joint is disposed in the housing of the second connecting arm.

25. An auxiliary medical system, characterized in that, Including the robotic arm according to claim 24.

Images