Connection device, robotic arm assembly and robot
By using a clamp assembly at the connection between the robotic arm and the end effector for axial and radial limiting, the problems of numerous fasteners and cumbersome operation in existing connection methods are solved, thus simplifying assembly and improving connection stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ASTRIBOT CO LTD
- Filing Date
- 2026-05-12
- Publication Date
- 2026-06-09
AI Technical Summary
The existing connection method between robotic arms and end effectors is through flanges with stop and fasteners, which results in a large number of fasteners, time-consuming tightening operations, and cumbersome disassembly and assembly for new assembly and maintenance.
A clamp assembly with the first and second end faces abutting along the axial direction is used for axial and radial positioning. The clamp assembly tightens the connection point radially, reducing the number of fasteners. Only radial tightening force needs to be applied to achieve axial positioning accuracy and radial tightening strength.
It simplifies the assembly and disassembly process for new parts and maintenance, reduces operational complexity and time costs, improves the torsional stability and axial positioning accuracy of the connection, and reduces loosening and offset caused by vibration or load changes.
Smart Images
Figure CN122165472A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of mechanical manufacturing technology, and more specifically, to a connecting device, a robotic arm assembly, and a robot. Background Technology
[0002] Connection devices are an indispensable part of mechanical systems. Taking the connection between a robotic arm and an end effector as an example, the commonly used connection method is to connect flanges with stops and fasteners (such as screws or bolts). This connection method usually involves a large number of fasteners, and the tightening operation is time-consuming. During new assembly and maintenance disassembly, the workload is large and the operation is cumbersome. Summary of the Invention
[0003] This application addresses the shortcomings of existing methods by proposing a connecting device, a robotic arm assembly, and a robot to solve the technical problems of large workload and cumbersome operation during new assembly and maintenance.
[0004] In a first aspect, embodiments of this application provide a connection device, including: A first structural member includes a first base portion and a first end portion located at one axial end of the first base portion; the radial dimension of the first end portion is greater than the radial dimension of the nearby first base portion; the first end portion includes a first limiting structure on the side away from the first base portion. The second structural member includes a second base portion and a second end portion located at one axial end of the second base portion; the radial dimension of the second end portion is greater than the radial dimension of the nearby second base portion; the second end portion includes a second limiting structure on a side away from the second base portion; the second limiting structure is configured to cooperate with the first limiting structure to circumferentially limit the first structural member and the second structural member; The clamp assembly is disposed on the outer periphery of the first structural member and the second structural member, and is configured to axially and radially limit the first end face and the second end face when they are in axial contact.
[0005] Optionally, the clamp assembly includes a first convex ring and a second convex ring arranged at axial intervals; The clamp assembly is configured such that, with the first end face and the second end face abutting axially, the first convex ring is held on the side of the first end face away from the second structural member, and the second convex ring is held on the side of the second end face away from the first structural member, so as to axially limit the first end face and the second end face.
[0006] Optionally, the first base portion includes a first body segment and a first recessed segment sequentially adjacent to the first end face portion, wherein the radial dimension of the first recessed segment is smaller than the radial dimension of the first body segment; the first end face portion includes a first annular portion; The second base portion includes a second body segment and a second recessed segment that are sequentially adjacent to the second end portion, wherein the radial dimension of the second recessed segment is smaller than the radial dimension of the second body segment; the second end portion includes a second annular portion. The first annular portion and the second annular portion abut against each other along the axial direction to jointly construct an annular limiting structure; the first convex ring and the second convex ring are held on opposite sides of the annular limiting structure along the axial direction.
[0007] Optionally, the annular limiting structure includes opposing first and second side surfaces, and a circumferential surface connecting the first and second side surfaces; The first side extends obliquely from the edge of the circumferential surface in a direction away from the second side, and the first protruding ring is held in place by the first side. And / or, the second side extends obliquely from the edge of the circumferential surface in a direction away from the first side, and the second protruding ring is engaged with the second side.
[0008] Optionally, the circumferential surface is parallel to the axial direction of the first structural member; The clamp assembly further includes a clearance surface disposed between the first convex ring and the second convex ring; the clearance surface is parallel to the axial direction of the first structural member and is configured to be spaced apart from or in contact with the circumferential surface.
[0009] Optionally, the peripheral surface is concave; The clamp assembly further includes a clearance surface disposed between the first convex ring and the second convex ring; the clearance surface is a convex surface and is configured to be spaced apart from or in contact with the circumferential surface.
[0010] Optionally, the cross-section of the annular limiting structure along the axial direction of the first structural member includes any one of a trapezoidal cross-section, an involute toothed cross-section, a parabolic cross-section, and a semi-circular cross-section.
[0011] Optionally, the first end face includes a first limiting structure on the side away from the first base portion; The second end face includes a second limiting structure on the side away from the second base portion; the second limiting structure is configured to cooperate with the first limiting structure to radially limit the first structural member and the second structural member.
[0012] Optionally, the first limiting structure has at least two, and the at least two first limiting structures are arranged at equal intervals around the central axis of the first structural member; The second limiting structure has at least two, and the at least two second limiting structures are set in a one-to-one correspondence with the first limiting structure.
[0013] Optionally, a portion of the first limiting structure includes a first protrusion, and another portion of the first limiting structure includes a first groove; One part of the second limiting structure includes a second protrusion, and another part of the second limiting structure includes a second groove; the second groove is configured to engage with the first protrusion, and the second protrusion is configured to engage with the first groove.
[0014] Optionally, the first protrusion and the first groove are arranged alternately.
[0015] Optionally, each of the second limiting structures includes a protrusion; Each of the first limiting structures includes a groove configured to engage with the protrusion.
[0016] Optionally, the clamp assembly includes: The first clamp and the second clamp are both located on the outer periphery of the first structural member and the second structural member, and the two ends of the first clamp and the two ends of the second clamp are circumferentially connected. The fasteners are at least two in number and extend tangentially along the connection between the first clamp and the second clamp; at least one of the fasteners is connected to one end of the first clamp and the second clamp, and at least another fastener is connected to the other end of the first clamp and the second clamp.
[0017] Optionally, the fastener is located within the common envelope volume of the first clamp and the second clamp.
[0018] Secondly, embodiments of this application provide a robotic arm assembly, including: As described above, the connecting device; A robotic arm, including a first structural component of the connecting device; An end effector, including a second structural component of the connecting device.
[0019] Thirdly, embodiments of this application provide a robot, including: the connection device as described above.
[0020] The beneficial technical effects of the technical solutions provided in this application include: In this embodiment, the first end face and the second end face abut against each other along the axial direction, and the clamp assembly tightens the connection between the first end face and the second end face in the radial direction, thereby limiting the axial positioning accuracy and radial fastening strength of the connection between the first end face and the second end face, and effectively suppressing the loosening and displacement of the connection caused by vibration or load changes.
[0021] Furthermore, since only radial fastening force needs to be applied to the clamp assembly, there is no need to install a large number of fasteners on the first and second end faces, and no need to spend a lot of time tightening the fasteners. When assembling and repairing, the workload is small and the operation is simple, which can reduce the complexity and time cost of assembly or disassembly.
[0022] In addition, by forming a circumferential engagement between the first limiting structure of the first end face and the second limiting structure of the second end face, circumferential rotation of the first and second end faces after axial assembly can be avoided, achieving rigid locking of the circumferential position, which can improve the torsional stability of the connecting device, so that the first and second structural components always maintain a precise circumferential alignment relationship under complex working conditions.
[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description
[0024] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 An exploded view of a connecting device provided in an embodiment of this application; Figure 2 for Figure 1 An exploded view of the connecting device shown from another perspective; Figure 3 An exploded view of another connecting device provided in an embodiment of this application; Figure 4 for Figure 3 An exploded view of the connecting device shown from another perspective.
[0025] Figure label: 10 - First structural component; 11-First base section; 111 - First body segment; 112 - First indentation segment; 12-First end face; 121-First limiting structure; 1211-First protrusion; 1212-First groove; 20 - Second structural component; 21-Second base portion; 211 - Second body segment; 212 - Second indentation segment; 22-Second end face; 221-Second limiting structure; 2211-Second protrusion; 2212-Second groove; 41-First side surface; 42-Second side surface; 43-Circumferential surface; 30-Clamping assembly; 31-First convex ring; 32-Second convex ring; 33-Avoidance surface; 34-First clamp; 35-Second clamp; 36-Fastener. Detailed Implementation
[0026] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.
[0027] Those skilled in the art will understand that, unless specifically stated otherwise, the terms "described" and "the" as used herein may also include plural forms. It should be further understood that the term "comprising" as used in the specification of this application means the presence of the described features, elements, and / or components, but does not exclude other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the art. The term "and / or" as used herein refers to at least one of the items defined by the term; for example, "A and / or B" can be implemented as "A," or as "B," or as "A and B."
[0028] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.
[0029] Connection devices are an indispensable part of mechanical systems. Taking the connection between a robotic arm and an end effector as an example, the commonly used connection method is to connect flanges with stops and fasteners (such as screws or bolts). This connection method usually involves a large number of fasteners, and the tightening operation is time-consuming. During new assembly and maintenance disassembly, the workload is large and the operation is cumbersome.
[0030] The technical solution of this application and how it solves the above-mentioned technical problems are described in detail below with specific embodiments. It should be noted that the following embodiments can be referenced, borrowed, or combined with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be described again.
[0031] The application embodiment provides a connection device, such as Figures 1 to 4 As shown, the connecting device includes a first structural member 10, a second structural member 20, and a clamp assembly 30.
[0032] The first structural member 10 includes a first base portion 11 and a first end portion 12 located at one axial end of the first base portion 11; the radial dimension of the first end portion 12 is larger than the radial dimension of the nearby first base portion 11. The first end portion 12 includes a first limiting structure 121 on the side away from the first base portion 11.
[0033] The second structural member 20 includes a second base portion 21 and a second end portion 22 located at one axial end of the second base portion 21; the radial dimension of the second end portion 22 is larger than the radial dimension of the nearby second base portion 21. The second end portion 22 includes a second limiting structure 221 on the side away from the second base portion 21; the second limiting structure 221 is configured to cooperate with the first limiting structure 121 to circumferentially limit the first structural member 10 and the second structural member 20.
[0034] The clamp assembly 30 is disposed on the outer periphery of the first structural member 10 and the second structural member 20; the clamp assembly 30 is configured to axially limit the first end face 12 and the second end face 22 when the first end face 12 and the second end face 22 are in axial contact.
[0035] In this embodiment, the first end face 12 and the second end face 22 abut against each other along the axial direction, and the clamp assembly 30 clamps the connection between the first end face 12 and the second end face 22 in the radial direction, thereby limiting the first end face 12 and the second end face 22 in the axial direction and in the radial direction. This ensures the axial positioning accuracy and radial fastening strength of the connection between the first end face 12 and the second end face 22, and effectively suppresses the loosening and displacement of the connection caused by vibration or load changes.
[0036] Furthermore, since only radial fastening force needs to be applied to the clamp assembly 30, there is no need to install a large number of fasteners 36 on the first end face 12 and the second end face 22, and there is no need to spend a lot of time tightening the fasteners 36. When assembling and repairing, the workload is small and the operation is simple, which can reduce the complexity and time cost of assembly or disassembly.
[0037] In addition, by forming a circumferential engagement between the first limiting structure 121 of the first end face 12 and the second limiting structure 221 of the second end face 22, circumferential rotation of the first end face 12 and the second end face 22 after axial assembly can be avoided, thereby achieving rigid locking of the circumferential position. This can improve the torsional stability of the connecting device and ensure that the first structural component 10 and the second structural component 20 always maintain a precise circumferential alignment under complex working conditions.
[0038] See Figures 1 to 4Optionally, the clamp assembly 30 includes a first protruding ring 31 and a second protruding ring 32 disposed at an axial spacing.
[0039] The clamp assembly 30 is configured such that, in the state where the first end face 12 and the second end face 22 are axially abutting, the first protruding ring 31 is held on the side of the first end face 12 away from the second structural member 20, and the second protruding ring 32 is held on the side of the second end face 22 away from the first structural member 10, so as to axially limit the first end face 12 and the second end face 22.
[0040] By having the first protruding ring 31 and the second protruding ring 32 abut against the axial end faces of the first end face 12 and the second end face 22 on opposite sides, the relative displacement of the first end face 12 and the second end face 22 along the axial direction can be effectively restricted. Combined with the radial clamping effect of the clamping assembly 30 on the connection between the first end face 12 and the second end face 22, a double limiting constraint is formed, which can improve the connection rigidity and torsional resistance of the first end face 12 and the second end face 22.
[0041] See Figure 1 and Figure 2 Optionally, the first base portion 11 includes a first body segment 111 and a first recessed segment 112 that are sequentially adjacent to the first end portion 12, wherein the radial dimension of the first recessed segment 112 is smaller than the radial dimension of the first body segment 111; the first end portion 12 includes a first annular portion.
[0042] The second base portion 21 includes a second body segment 211 that is sequentially close to the second end portion 22 and a second recessed segment 212 located at one axial end of the second body segment 211. The radial dimension of the second recessed segment 212 is smaller than the radial dimension of the second body segment 211. The second end portion 22 includes a second annular portion.
[0043] The first annular portion and the second annular portion abut against each other along the axial direction to jointly construct an annular limiting structure; the first convex ring 31 and the second convex ring 32 are held on opposite sides of the annular limiting structure along the axial direction.
[0044] By setting the first end face 12 on the first recessed section 112 and the second end face 22 on the second recessed section 212, the radial dimension of the annular limiting structure is smaller than the radial dimensions of the first body section 111 and the second body section 211. This effectively reduces the overall radial envelope size while ensuring the limiting function, which is beneficial for arrangement in narrow spaces and is especially suitable for precision equipment that is sensitive to volume, such as robot joints.
[0045] See Figures 2 to 4 Optionally, the annular limiting structure includes opposing first side surface 41 and second side surface 42, and a circumferential surface 43 connecting the first side surface 41 and the second side surface 42.
[0046] The first side surface 41 extends obliquely from the edge of the peripheral surface 43 in a direction away from the second side surface 42, and the first protruding ring 31 is engaged with the first side surface 41.
[0047] And / or, the second side 42 extends obliquely from the edge of the circumferential surface 43 in a direction away from the first side 41, and the second protruding ring 32 is engaged with the second side 42.
[0048] In other words, the first side surface 41 is the side surface of the first annular flange of the first end face 12 (first annular portion) that protrudes radially from the first recessed section 112. The second side surface 42 is the side surface of the second end face 22 (second annular portion) that protrudes radially from the second recessed section 212 from the second annular flange.
[0049] Using the first side surface 41 as a guide surface facilitates the smooth sliding of the first protruding ring 31 into and holding it in place on the first side surface 41 of the annular limiting structure; similarly, using the second side surface 42 as a guide surface can assist the second protruding ring 32 in smoothly sliding into and holding it in place on the second side surface 42 of the annular limiting structure, thereby improving assembly efficiency and positioning accuracy.
[0050] Optionally, the inclination angle of the first side 41 matches the inner edge slope of the first convex ring 31, which allows the first convex ring 31 to slide more smoothly into the first side 41 of the annular limiting structure, thereby reducing assembly resistance and improving the self-guiding and contact stability of the clamping process. Similarly, the inclination angle of the second side 42 matches the inner edge slope of the second convex ring 32, which can improve the self-guiding and contact stability of the clamping process.
[0051] See Figure 1 and Figure 2 Optionally, in some embodiments, the circumferential surface 43 is parallel to the axial direction of the first structural member 10.
[0052] The clamp assembly 30 also includes a clearance surface 33 disposed between the first convex ring 31 and the second convex ring 32; the clearance surface 33 is parallel to the axial direction of the first structural member 10 and is configured to be spaced apart from or in contact with the circumferential surface 43.
[0053] By maintaining a small gap between the clearance surface 33 of the clamp assembly 30 and the circumferential surface 43 of the annular limiting structure, assembly interference can be avoided, and buffer space can be reserved for thermal expansion and contraction and micro-movement, so that the preload of the clamp assembly 30 is stable during long-term service.
[0054] See Figure 3 and Figure 4 Alternatively, in some other feasible embodiments, the peripheral surface 43 is concave.
[0055] The clamp assembly 30 also includes a clearance surface 33 disposed between the first convex ring 31 and the second convex ring 32; the clearance surface 33 is a convex surface and is configured to be spaced apart from or in contact with the peripheral surface 43.
[0056] Since the combination of concave and convex surfaces can form a self-centering effect, it can improve the automatic calibration capability of radial constraints, effectively suppress eccentric displacement under vibration or impact conditions, and ensure that the axial alignment accuracy of the first structural component 10 and the second structural component 20 is stable over a long period of time.
[0057] Optionally, the concave and convex surfaces have the same radius of curvature, which allows the cross-sectional profile to generate a better stress distribution when under stress, thereby improving the fatigue life of the clamp assembly 30 under high-frequency vibration and alternating loads.
[0058] Optionally, the cross-section of the annular limiting structure along the axial direction of the first structural member 10 includes any one of a trapezoidal cross-section, an involute toothed cross-section, a parabolic cross-section, or a semi-circular cross-section.
[0059] Optionally, the outer edges of the first convex ring 31 and the second convex ring 32 are provided with guide slopes that are adapted to the cross-sectional profile of the annular limiting structure, thereby improving the guidance and fault tolerance of the sliding process and reducing the centering deviation during assembly.
[0060] See Figures 1 to 4 Optionally, in some embodiments, the first limiting structure 121 has at least two, and the at least two first limiting structures 121 are arranged at equal intervals around the central axis of the first structural member 10.
[0061] The second limiting structure 221 has at least two, and the at least two second limiting structures 221 are set in a one-to-one correspondence with the first limiting structure 121.
[0062] By setting at least two sets of first limiting structures 121 and second limiting structures 221 to form a multi-point circumferential constraint array, the redundancy and load balance of circumferential limiting can be improved. Even if a single limiting structure (each limiting structure includes a first limiting structure 121 and a second limiting structure 221 that cooperate with each other) experiences a decrease in constraint force due to wear or local deformation, the remaining limiting structures can still maintain overall circumferential stiffness and positioning accuracy, thereby enhancing the reliability and durability of the connecting device in long-term service.
[0063] See Figure 1 and Figure 2 Optionally, in some embodiments, a portion of the first limiting structure 121 includes a first protrusion 1211, and another portion of the first limiting structure 121 includes a first groove 1212.
[0064] One part of the second limiting structure 221 includes a second protrusion 2211, and another part of the second limiting structure 221 includes a second groove 2212; the second groove 2212 is configured to engage with the first protrusion 1211, and the second protrusion 2211 is configured to engage with the first groove 1212.
[0065] Compared to the first end face 12 which only includes a protrusion or a groove, the embodiment of this application includes at least one first protrusion 1211 and at least one first groove 1212 in the first end face 12, and at least one second groove 2212 and at least one second protrusion 2211 in the second end face 22. This can achieve a bidirectional nested limiting with complementary protrusions and concaves, which can improve the circumferential shear resistance, enhance the structural symmetry and assembly tolerance adaptability, and enable the connection interface to maintain a uniform stress distribution under multi-directional forces. This can effectively suppress fretting wear and gap accumulation caused by vibration, thermal expansion and contraction or alternating loads, and extend the fatigue life of the connection device.
[0066] See also Figure 1 and Figure 2 Optionally, the first protrusion 1211 and the first groove 1212 are arranged alternately.
[0067] The alternating arrangement of convex and concave structures can reduce the risk of local stress concentration, prevent the initiation of microcracks in the material caused by sudden stress changes, and further improve the overall fatigue resistance of the connection device.
[0068] It should be noted that the number of the first limiting structure 121 and the second limiting structure 221 can be reasonably configured according to actual needs. For example, in high dynamic load scenarios, more than four sets of limiting structures can be set to enhance redundancy.
[0069] As an example, the first end face 12 includes two first protrusions 1211 and two first grooves 1212, which are arranged alternately at a 90° phase; the second end face 22 is correspondingly provided with two second grooves 2212 and two second protrusions 2211.
[0070] In other words, the two first protrusions 1211 and the two first grooves 1212 are symmetrically distributed in a cross shape, precisely meshing with the two second grooves 2212 and the two second protrusions 2211 to form a four-quadrant interlocking pattern, which can significantly improve the coupling stiffness of axial tensile strength and circumferential torsional strength. When any quadrant is subjected to instantaneous impact load, the other three quadrants can immediately share the load and redistribute the stress, thereby enabling the connection interface to still have excellent dynamic stability and failure tolerance under complex working conditions.
[0071] In other words, the two first protrusions 1211 and the two first grooves 1212 are symmetrically distributed in a cross shape, which not only enables automatic centering but also ensures a strong torque transmission capability and guarantees the circumferential connection accuracy of the first structural component 10 and the second structural component 20, thereby improving the robot's DH parameters.
[0072] See Figure 3 and Figure 4 In other feasible embodiments, each of the second limiting structures 221 includes a protrusion.
[0073] Each first limiting structure 121 includes a groove configured to engage with a protrusion.
[0074] By forming a circumferential engagement between the groove of the first end face 12 and the protrusion of the second end face 22, circumferential rotation of the first end face 12 and the second end face 22 after axial assembly can be avoided, thus achieving rigid locking of the circumferential position.
[0075] See Figures 1 to 4 Optionally, the clamp assembly 30 includes a first clamp 34, a second clamp 35, and a fastener 36.
[0076] The first clamping member 34 and the second clamping member 35 are both located on the outer periphery of the first structural member 10 and the second structural member 20, and the two ends of the first clamping member 34 and the two ends of the second clamping member 35 are circumferentially connected.
[0077] There are at least two fasteners 36, each of which extends along the tangential direction at the connection between the first clamp 34 and the second clamp 35; at least one fastener 36 is connected to one end of the first clamp 34 and the second clamp 35, and at least another fastener 36 is connected to the other end of the first clamp 34 and the second clamp 35.
[0078] By applying symmetrical force through the fasteners 36 at both ends, the clamp assembly 30 can uniformly compress the outer periphery of the first structural member 10 and the second structural member 20, thereby forming a uniform positive pressure distribution between the inner wall of the clamp assembly 30 and the outer periphery of the first structural member 10 and the second structural member 20. This can effectively prevent the clamp assembly 30 from tilting or loosening due to uneven force on one side, improve radial clamping stability and axial anti-slip capability, and enhance the tensile strength and bending stiffness of the connecting device.
[0079] Furthermore, the symmetrical layout of the fasteners 36 at both ends can reduce the sensitivity to torque deviation during the assembly process, allowing the operator to manually tighten the fasteners 36 without precisely controlling the left and right torque balance, thereby significantly reducing the assembly difficulty and the risk of human error, and is especially suitable for rapid installation in confined spaces or high-density wiring scenarios.
[0080] In addition, since each fastener 36 extends along the direction from the first clamp 34 to the second clamp 35, it can avoid inconvenient operation situations such as limited wrench space, limited turning range, or even inability to insert the fastener 36 when space is tight or structure is special. This allows for rapid locking even in narrow cavities such as the hip and knee joints of humanoid robots, thus shortening assembly time.
[0081] See Figures 1 to 4Optionally, the fastener 36 is located within the common envelope volume of the first clamp 34 and the second clamp 35.
[0082] With this configuration, the fastener 36 can be protected by the first clamp 34 and the second clamp 35, making it less susceptible to interference from external objects and improving the reliability of the connection device.
[0083] In some embodiments, fastener 36 may include screws or bolts.
[0084] As an example, for any screw, one end of the first clamping member 34 is provided with a first receiving groove extending circumferentially from its end, and one end of the second clamping member 35, which is connected to one end of the first clamping member 34, is provided with a second receiving groove; in the radial direction, the dimensions of the first receiving groove and the second receiving groove are both larger than the dimensions of the screw.
[0085] In the assembled state, the screw passes through the mating ends of the first clamp 34 and the second clamp 35 to fasten the first clamp 34 and the second clamp 35. At this time, part of the screw is located in the first receiving groove and the other part is located in the second receiving groove, so that the fastener 36 is protected by the first clamp 34 and the second clamp 35, thus it is not easily interfered with by external objects, which can improve the reliability of the connection device.
[0086] See Figure 1 and Figure 2 Optionally, in some embodiments, the fastener 36 has at least four fasteners.
[0087] At least two fasteners 36 are arranged side by side and are configured to connect one end of the first clamp 34 and the second clamp 35.
[0088] At least two other fasteners 36 are arranged side by side and are configured to connect the other end of the first clamp 34 and the second clamp 35.
[0089] For example, there may be four, six, eight, etc., with half of the fasteners 36 configured to connect one end of the first clamp 34 and the second clamp 35, and the other half of the fasteners 36 configured to connect the other end of the first clamp 34 and the second clamp 35, in a mirror-symmetrical distribution.
[0090] See Figure 1 and Figure 2 For example, there may be four fasteners 36, with two fasteners 36 arranged side by side and configured to connect one end of the first clamp 34 and the second clamp 35; and the other two fasteners 36 arranged side by side and configured to connect the other end of the first clamp 34 and the second clamp 35.
[0091] In some embodiments, two fasteners 36 on each side are spaced axially and are located at the two ends of the clamp assembly 30.
[0092] This configuration further balances the axial load distribution; when the clamp assembly 30 is subjected to a large radial force or alternating load, it can effectively suppress axial warping deformation and improve the overall structural rigidity and fatigue life.
[0093] Optionally, the two fasteners 36 on each side are at least partially located within the first convex ring 31 and the second convex ring 32, thereby reducing the radial thickness of the first clamp 34 and the second clamp 35, thus achieving a more integrated structural design within a limited space.
[0094] See Figure 3 and Figure 4 In other feasible embodiments, there are two fasteners 36, one fastener 36 is configured to connect one end of the first clamp 34 and the second clamp 35, and the other fastener 36 is configured to connect the other end of the first clamp 34 and the second clamp 35.
[0095] Optionally, each fastener 36 on each side is located at the axial midpoint of the corresponding side, thus balancing assembly convenience and structural stability; and, while ensuring sufficient connection strength, it can minimize the space occupied by the number of fasteners 36, which is especially suitable for parts of humanoid robots such as hip joints that are highly sensitive to volume and weight.
[0096] In some embodiments, when the fastener 36 is connected to the first clamp 34 and the second clamp 35, the distance between the first clamp 34 and the second clamp 35 is set.
[0097] This configuration ensures that the first clamping member 34 and the second clamping member 35 apply sufficient radial clamping force to the first end face 12 and the second end face 22. Furthermore, it allows for the provision of necessary deformation clearance, enabling the clamping assembly to have a buffer margin when subjected to thermal expansion and contraction or deformation under stress. This avoids local stress concentration caused by excessive rigid constraint, thereby reducing the risk of microcrack initiation and extending the service life of critical moving parts under continuous high dynamic conditions.
[0098] Optionally, the connection device provided in this application embodiment can be applied to a robot, and more specifically to the robot wrist, for connecting the robot's robotic arm and end effector to achieve the connection between the robotic arm and the end effector.
[0099] Of course, in other optional embodiments of this application, connecting devices can be installed between the body and head, between the body and legs, and between the legs and feet, as needed. Connecting devices can also be installed between the body and the robotic arm assembly, between adjacent segments of the robotic arm, and between adjacent segments of the legs, to achieve connection between two parts of the robot.
[0100] The beneficial technical effects of the technical solutions provided in this application include: In this embodiment, the first end face 12 and the second end face 22 abut against each other along the axial direction, and the clamp assembly 30 clamps the connection between the first end face 12 and the second end face 22 in the radial direction, thereby limiting the first end face 12 and the second end face 22 in the axial direction and in the radial direction. This ensures the axial positioning accuracy and radial fastening strength of the connection between the first end face 12 and the second end face 22, and effectively suppresses the loosening and displacement of the connection caused by vibration or load changes.
[0101] Furthermore, since only radial fastening force needs to be applied to the clamp assembly 30, there is no need to install a large number of fasteners 36 on the first end face 12 and the second end face 22, and there is no need to spend a lot of time tightening the fasteners 36. When assembling and repairing, the workload is small and the operation is simple, which can reduce the complexity and time cost of assembly or disassembly.
[0102] Based on the same inventive concept, embodiments of this application provide a robotic arm assembly, including the connection device as described above, as well as a robotic arm and an end effector.
[0103] The robotic arm includes the first structural component of the connecting device.
[0104] The end effector includes a second structural component that connects to the device.
[0105] Optionally, in embodiments of this application, the end effector includes, but is not limited to, a robotic arm. The robotic arm may include one or more joints for moving the robotic arm along one or more degrees of freedom. For example, a robotic arm can grip goods, and the gripped goods can be moved from one location to another. As another example, a robotic arm can be used to grip tools such as pliers, and the movement of the robotic arm can be used to modify the physical world using the gripped tools.
[0106] It should be noted that since the robotic arm assembly provided in this application embodiment includes the connecting device provided in this application embodiment, the robotic arm assembly provided in this application embodiment also has the above-mentioned beneficial effects of the connecting device provided in this application embodiment, which will not be repeated here.
[0107] Based on the same inventive concept, this application provides a robot including: the connection device as described above.
[0108] Optionally, in the embodiments of this application, the robot includes, but is not limited to, a body-bound robot, such as a humanoid robot.
[0109] Optionally, in this embodiment, the robot may include a robotic arm assembly, which includes a robotic arm, a connecting device, and an end effector connected in sequence. The robot can use the robotic arm assembly to perform tasks such as grasping or moving objects, or operating tools.
[0110] Of course, in other optional embodiments of this application, the robot may include one or more of the following components: body, head, legs, and feet, depending on actual needs. Depending on actual needs, connecting devices may be installed between the body and head, between the body and legs, and between the legs and feet. Connecting devices may also be installed between the body and the robotic arm assembly, between adjacent segments of the robotic arm, and between adjacent segments of the legs to achieve connection between two parts of the robot.
[0111] It should be noted that since the robot provided in this application embodiment includes the connection device provided in this application embodiment, the robot provided in this application embodiment also has the above-mentioned beneficial effects of the connection device provided in this application embodiment, which will not be repeated here.
[0112] In the description of this application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate directions or positional relationships based on the exemplary directions or positional relationships shown in the accompanying drawings. They are used to facilitate the description or simplification of the embodiments of this application and are not intended to indicate or imply that the device or component referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0113] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.
[0114] The above description is only a partial implementation of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.
Claims
1. A connecting device, characterized in that, include: A first structural member includes a first base portion and a first end portion located at one axial end of the first base portion; the radial dimension of the first end portion is greater than the radial dimension of the nearby first base portion; the first end portion includes a first limiting structure on the side away from the first base portion. The second structural member includes a second base portion and a second end portion located at one axial end of the second base portion; the radial dimension of the second end portion is greater than the radial dimension of the nearby second base portion; the second end portion includes a second limiting structure on a side away from the second base portion; the second limiting structure is configured to cooperate with the first limiting structure to circumferentially limit the first structural member and the second structural member; The clamp assembly is disposed on the outer periphery of the first structural member and the second structural member, and is configured to axially and radially limit the first end face and the second end face when they are in axial contact.
2. The connecting device according to claim 1, characterized in that, The clamp assembly includes a first convex ring and a second convex ring arranged at axial intervals. The clamp assembly is configured such that, with the first end face and the second end face abutting axially, the first convex ring is held on the side of the first end face away from the second structural member, and the second convex ring is held on the side of the second end face away from the first structural member, so as to axially limit the first end face and the second end face.
3. The connecting device according to claim 2, characterized in that, The first base portion includes a first body segment and a first recessed segment sequentially adjacent to the first end face portion, wherein the radial dimension of the first recessed segment is smaller than the radial dimension of the first body segment; the first end face portion includes a first annular portion. The second base portion includes a second body segment and a second recessed segment that are sequentially adjacent to the second end portion, wherein the radial dimension of the second recessed segment is smaller than the radial dimension of the second body segment; the second end portion includes a second annular portion. The first annular portion and the second annular portion abut against each other along the axial direction to jointly construct an annular limiting structure; the first convex ring and the second convex ring are held on opposite sides of the annular limiting structure along the axial direction.
4. The connecting device according to claim 3, characterized in that, The annular limiting structure includes a first side and a second side opposite to each other, and a circumferential surface connecting the first side and the second side; The first side extends obliquely from the edge of the circumferential surface in a direction away from the second side, and the first protruding ring is held in place by the first side. And / or, the second side extends obliquely from the edge of the circumferential surface in a direction away from the first side, and the second protruding ring is engaged with the second side.
5. The connecting device according to claim 4, characterized in that, The circumferential surface is parallel to the axial direction of the first structural member; The clamp assembly further includes a clearance surface disposed between the first convex ring and the second convex ring; the clearance surface is parallel to the axial direction of the first structural member and is configured to be spaced apart from or in contact with the circumferential surface.
6. The connecting device according to claim 4, characterized in that, The circumferential surface is concave. The clamp assembly further includes a clearance surface disposed between the first convex ring and the second convex ring; the clearance surface is a convex surface and is configured to be spaced apart from or in contact with the circumferential surface.
7. The connecting device according to claim 3, characterized in that, The cross-section of the annular limiting structure along the axial direction of the first structural member includes any one of the following: trapezoidal cross-section, involute toothed cross-section, parabolic cross-section, and semi-circular cross-section.
8. The connecting device according to claim 1, characterized in that, The first limiting structure has at least two, and the at least two first limiting structures are arranged at equal intervals around the central axis of the first structural member; The second limiting structure has at least two, and the at least two second limiting structures are set in a one-to-one correspondence with the first limiting structure.
9. The connecting device according to claim 8, characterized in that, One part of the first limiting structure includes a first protrusion, and another part of the first limiting structure includes a first groove; One part of the second limiting structure includes a second protrusion, and another part of the second limiting structure includes a second groove; the second groove is configured to engage with the first protrusion, and the second protrusion is configured to engage with the first groove.
10. The connecting device according to claim 9, characterized in that, The first protrusion and the first groove are arranged alternately.
11. The connecting device according to claim 8, characterized in that, Each of the second limiting structures includes a protrusion; Each of the first limiting structures includes a groove configured to engage with the protrusion.
12. The connecting device according to claim 1, characterized in that, The clamp assembly includes: The first clamp and the second clamp are both located on the outer periphery of the first structural member and the second structural member, and the two ends of the first clamp and the two ends of the second clamp are circumferentially connected. The fasteners are at least two in number and extend tangentially along the connection between the first clamp and the second clamp; at least one of the fasteners is connected to one end of the first clamp and the second clamp, and at least another fastener is connected to the other end of the first clamp and the second clamp.
13. The connecting device according to claim 12, characterized in that, The fastener is located within the common envelope volume of the first clamp and the second clamp.
14. A robotic arm assembly, characterized in that, include: The connecting device as described in any one of claims 1 to 13; A robotic arm, including a first structural component of the connecting device; An end effector, including a second structural component of the connecting device.
15. A robot, characterized in that, include: The connecting device as described in any one of claims 1-13.