A hollow connector assembly of a robot, a joint module of a robot and a robot

Abstract

This application discloses a hollow connector assembly, a joint module, and a robot, relating to the field of robot technology. The hollow connector assembly, applicable to robot joint modules, includes a first connecting device and a second connecting device that can be plugged into each other. The first connecting device integrates a first electrical connection and a first airway connector; the second connecting device integrates a second electrical connection and a second airway connector. When adjacent joint modules are assembled, the first and second connecting devices plug in and engage, simultaneously establishing electrical connection between modules by making the electrical connection conductive, and connecting the airway connectors to connect the internal airway pipes of the module. This solution integrates electrical and airway connections into a single unit, equipped with corresponding plugs and slots. The assembly process can simultaneously complete the circuit and airway connections, eliminating the need for external air pipes, lowering the robot assembly threshold, avoiding interference from exposed pipes with joint movement, and improving the robot's integration and movement flexibility.

Description

Technical Field

[0001] This application relates to the field of robot-related technologies, and more specifically, to a hollow connector assembly, a joint module, and a robot. Background Technology

[0002] Currently, modular robots, with their characteristics of being connectable, reconfigurable, and adaptable to a wide range of scenarios, have significant application advantages in fields such as intelligent operations and flexible practical operations. However, the assembly and deployment of modular robots at present requires a high level of professional skill from operators, resulting in a high barrier to entry and difficulty in mastering them. This makes them unsuitable for the needs of ordinary users, greatly limiting the widespread application scenarios and audience of modular robots.

[0003] In addition, current modular robots driven by gas media generally employ an external airway layout, which presents numerous technical drawbacks. Existing robots with externally placed airways not only occupy a large overall space and have low integration, but the messy external tubing can also interfere with the robot's movement stroke and rotation angle, significantly limiting its operational space and mobility. Furthermore, the fragmented and disorganized layout of external airways greatly reduces user convenience and experience, hindering the routine and widespread use of modular robots. Summary of the Invention

[0004] The main purpose of this application is to provide a hollow connector assembly, joint module and robot for robots, so as to solve the technical problems of high operation threshold, unreasonable airway layout structure, limited movement and inconvenience of use of existing robots.

[0005] To achieve the above objectives:

[0006] A first aspect of this application provides a hollow connector assembly for a robot, the hollow connector assembly being disposed on a joint module of the robot, comprising: The first connecting device includes a first connector body with a body plug; a first electrical connection part disposed on the first connector body and having an electrical plug; and a first airway connector disposed on the first connector body and having an airway slot. The second connecting device is configured to be plugged into the first connecting device. The second connecting device includes a second connector body with a body slot; a second electrical connection part disposed on the second connector body and provided with an electrical slot; and a second airway connector disposed on the second connector body and provided with an airway plug. The airway plug is provided with a sealing element, which is configured to seal the airway plug and the airway slot. When the first connecting device disposed on one of the joint modules of the robot is plugged into and engaged with the second connecting device disposed on another joint module of the robot: the body plug is plugged into and engaged with the body slot, so that the first connector body and the second connector body between the two corresponding joint modules are detachably connected; the electrical plug is plugged into and engaged with the electrical slot, so that the first electrical connection part and the second electrical connection part between the two corresponding joint modules are electrically connected; the airway slot is plugged into and engaged with the airway plug, so that the airway pipeline in one joint module is connected to the airway pipeline in the other joint module.

[0007] In some alternative embodiments, The first electrical connection includes: a power plug and a signal plug; The second electrical connection includes: a power slot configured to connect to the power plug to enable power electrical connection between the two corresponding joint modules; and a signal slot configured to connect to the signal plug to enable electrical signal connection between the two corresponding joint modules.

[0008] In some alternative embodiments, The first airway connector has a first connection portion that connects to the airway pipeline inside the joint module on which it is installed, and a second connection portion that connects to the second airway connector of another joint module, the second connection portion being configured as the airway slot; The second airway connector is provided with a third connection portion that connects to the airway pipeline in the joint module on which it is installed, and a fourth connection portion that connects to the first airway connector of another joint module, the fourth connection portion being configured as the airway plug. The first airway connector has a first air guide channel extending from the first connection portion to the second connection portion, and the second airway connector has a second air guide channel extending from the third connection portion to the fourth connection portion. The first air guide channel and the second air guide channel are connected and cooperate to connect the airway pipeline in one joint module with the airway pipeline in another joint module.

[0009] In some alternative embodiments, The first connecting part is configured as a pagoda-type plug structure to be plugged into the air passage of the corresponding joint module; The third connection part is configured as a pagoda-type plug structure to be plugged into the airway tubing within the corresponding joint module.

[0010] In some alternative embodiments, The first connecting device further includes: a first clamp, configured to fasten the first connecting parts that are inserted together to the overlapping area of ​​the airway tubing in the corresponding joint module; The second connecting device further includes a second clamp, configured to secure the third connecting portion, which is inserted together, to the overlapping area of ​​the airway tubing within the corresponding joint module.

[0011] In some alternative embodiments, the second connecting portion is configured as a plug-in sleeve, and the fourth connecting portion is configured as a plug-in connector; The second connecting part and the fourth connecting part can be plugged together to connect the first air guide channel and the second air guide channel.

[0012] In some alternative embodiments, a first sealing ring is sleeved on the outer periphery of the fourth connecting portion, the first sealing ring being configured to seal the overlapping area of ​​the second connecting portion and the fourth connecting portion that are inserted together.

[0013] In some alternative embodiments, The portion of the first air guide channel corresponding to the first connecting part is configured as a channel with a regular hexagonal cross-section on the inner wall. The portion of the second air guide channel corresponding to the third connecting part is configured as a channel with a regular hexagonal cross-section on the inner wall.

[0014] In some alternative embodiments, the body plug is configured as a first annular protrusion and the body slot is configured as a first annular groove; The first annular protrusion engages with the first annular groove to connect the first connecting device and the second connecting device together.

[0015] A second aspect of this application provides a joint module for a robot, the joint module including the first connecting device or the second connecting device as described in any of the above embodiments.

[0016] In some alternative embodiments, when the joint module is configured as a first joint module including the first connecting device: The first joint module further includes: a housing with a mounting port; a harmonic reducer disposed inside the housing; and an output end cover disposed on the harmonic reducer and correspondingly located at the mounting port; wherein the first connecting device is disposed on the output end cover. Alternatively, the first joint module may further include: a housing having a mounting port; a flange disposed at the mounting port; and a connecting nut rotatably fitted onto the flange, wherein a first end of the connecting nut is confined between the flange and the mounting port, and a second end of the connecting nut is configured to lock and fix the flange of one joint module to the output end cap of another joint module; wherein the first connecting device is disposed on the flange.

[0017] In some alternative embodiments, when the joint module is configured as a second joint module including the second connecting device: The second joint module further includes: a housing with a mounting port; a harmonic reducer disposed inside the housing; and an output end cover disposed on the harmonic reducer and correspondingly located at the mounting port; wherein the second connecting device is disposed on the output end cover. Alternatively, the second joint module may further include: a housing having a mounting port; a flange disposed at the mounting port; and a connecting nut rotatably fitted onto the flange, wherein a first end of the connecting nut is confined between the flange and the mounting port, and a second end of the connecting nut is configured to lock and fix the flange of one joint module to the output end cap of another joint module; wherein the second connecting device is disposed on the flange.

[0018] A third aspect of this application provides a joint module for a robot, the joint module comprising the hollow connector assembly as described in any of the above embodiments.

[0019] In some alternative embodiments, the joint module includes: The outer casing is provided with a first mounting port and a second mounting port; The harmonic reducer is housed within the housing. An output end cover is disposed on the harmonic reducer and is located corresponding to the first mounting port; A flange is provided at the second mounting port; A connecting nut is rotatably fitted onto the flange. The first end of the connecting nut is limited between the flange and the second mounting port, and the second end of the connecting nut is configured to lock and fix the flange of one joint module to the output end cap of another joint module. Wherein: the first connecting device is detachably disposed on the output end cover, and the second connecting device is detachably disposed on the flange; or, the first connecting device is detachably disposed on the flange, and the second connecting device is detachably disposed on the output end cover.

[0020] A fourth aspect of this application provides a robot comprising: a hollow connector assembly as described in any of the preceding embodiments, or a joint module as described in any of the preceding embodiments.

[0021] The technical solutions provided by the embodiments of this application may include the following beneficial effects: In this application, hollow connector assemblies are configured on the robot joint modules, enabling rapid assembly of adjacent joint modules through the insertion of a first connecting device and a second connecting device. After insertion, the first and second electrical connections and the first and second airway connectors are simultaneously connected, achieving electrical and internal airway connectivity between adjacent joint modules. This reduces the difficulty of assembling modular robots, allowing module assembly to be completed without specialized personnel. Furthermore, it integrates the airway into the joint module docking position, eliminating the need for external air pipes, thus avoiding the space-consuming and motion-interference drawbacks of external air pipes, expanding the robot's range of motion, and improving ease of use. Attached Figure Description

[0022] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application. In the drawings: Figure 1 Schematic diagram of a hollow connector assembly in an exemplary embodiment provided in this application Figure 1 ; Figure 2 Schematic diagram of a hollow connector assembly in an exemplary embodiment provided in this application Figure 2 ; Figure 3 Schematic diagram of a hollow connector assembly in an exemplary embodiment provided in this application Figure 3 ; Figure 4 for Figure 3 A cross-sectional view at position AA in the middle; Figure 5 Schematic diagram of the first connecting device in an exemplary embodiment provided in this application Figure 1 ; Figure 6 Schematic diagram of the first connecting device in an exemplary embodiment provided in this application Figure 2 ; Figure 7 Schematic diagram of the first connecting device in an exemplary embodiment provided in this application Figure 3 ; Figure 8 for Figure 7 A cross-sectional view at position BB in the middle; Figure 9Schematic diagram of the second connecting device in an exemplary embodiment provided in this application Figure 1 ; Figure 10 Schematic diagram of the second connecting device in an exemplary embodiment provided in this application Figure 2 ; Figure 11 Schematic diagram of the second connecting device in an exemplary embodiment provided in this application Figure 3 ; Figure 12 for Figure 11 A cross-sectional view at position CC; Figure 13 A schematic diagram of a first airway connector in an exemplary embodiment provided in this application; Figure 14 A schematic diagram of the second airway connector in an exemplary embodiment provided in this application; Figure 15 A schematic diagram of the connection state of two adjacent joint modules in an exemplary embodiment provided in this application. Figure 1 ; Figure 16 A schematic diagram of the connection state of two adjacent joint modules in an exemplary embodiment provided in this application. Figure 2 ; Figure 17 for Figure 16 A cross-sectional view of the DD position in the middle; Figure 18 for Figure 16 Enlarged view of the structure of section A in the middle; Figure 19 for Figure 16 Enlarged view of the structure of section B in the middle; Figure 20 A schematic diagram of a robot in an exemplary embodiment provided in this application.

[0023] In the picture: 10. Hollow connector assembly; 101. First connecting device; 1011. First connector body; 10111. First annular protrusion; 10112. Dustproof ring; 1012. Signal plug; 1013. Power plug; 1014. First air passage connector; 10141. Second connecting part; 10142. First connecting part; 102. Second connecting device; 1021. Second connector body; 10211. First annular groove; 1022. Signal slot; 1023. Power slot; 1024. Second air passage connector; 10241. Fourth connecting part; 10242. Third connecting part; 10243. First sealing ring; 20. Joint module; 201. Housing; 202. Output end cover; 2021. Second annular protrusion; 203. Second mounting port; 204. Connecting nut; 205. Rigid wheel; 206. Flange; 2061. Second annular groove; 30. Robot. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0027] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0028] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linked," and "socketing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0029] like Figures 1-12 As shown, this application provides a hollow connector assembly 10 for a robot 30. The hollow connector assembly 10 is disposed on the joint module 20 of the robot 30 and includes: a first connecting device 101 and a second connecting device 102.

[0030] The first connecting device 101 includes a first connector body 1011, a first electrical connection portion, and a first airway connector 1014 disposed on the first connector body 1011. The first connector body 1011 is provided with a body plug, the first electrical connection portion is provided with an electrical plug, and the first airway connector 1014 is provided with an airway slot.

[0031] The second connecting device 102 is configured to be inserted into and cooperate with the first connecting device 101. The second connecting device 102 includes a second connector body 1021 and a second electrical connection portion and a second airway connector 1024 disposed on the second connector body 1021. The second connector body 1021 is provided with a body slot, the second electrical connection portion is provided with an electrical slot, and the second airway connector 1024 is provided with an airway plug. The airway plug is provided with a sealing element, which is configured to seal the airway plug and the airway slot.

[0032] When the first connecting device 101 on one joint module 20 of the robot 30 is plugged into and engaged with the second connecting device 102 on another joint module 20 of the robot 30: the body plug is plugged into and engaged with the body slot, so that the first connector body 1011 and the second connector body 1021 between the two corresponding joint modules are detachably connected; the electrical plug is plugged into and engaged with the electrical slot, so that the first electrical connection part and the second electrical connection part between the two corresponding joint modules 20 are electrically connected; the airway slot is plugged into and engaged with the airway plug, so that the airway pipe in one joint module 20 is connected to the airway pipe in the other joint module 20.

[0033] In this embodiment, hollow connector assemblies 10 are provided on each joint module 20 of the robot 30. Through the interlocking first connecting device 101 and second connecting device 102, the integrated docking and assembly of adjacent joint modules 20 is achieved. The first connecting device 101 integrates a first electrical connection part and a first air passage connector 1014, and the second connecting device 102 correspondingly integrates a second electrical connection part and a second air passage connector 1024, thus integrating the electrical and air passage docking structures into the connector body. When two adjacent joint modules 20 are assembled, the electrical structure and the pneumatic structure can be aligned and connected simultaneously through the plugging and connecting action of the first connecting device 101 and the second connecting device 102: the electrical connection parts on both sides make contact and conduction with each other, realizing the power and signal transmission between adjacent joint modules 20; the pneumatic connection parts on both sides are precisely connected, so that the internal pneumatic pipelines of each joint module 20 are interconnected, forming a hidden built-in integrated pneumatic pipeline, without the need for additional external air pipes. The mechanical assembly, electrical connection and pneumatic medium passage connection of the robot 30 module are realized simultaneously by relying on the connector plugging structure.

[0034] Based on the hollow connector component 10, the assembly threshold of the robot 30 can be significantly reduced. This device, through a plug-in integrated docking structure, can complete the mechanical fixing, electrical connection, and airway connection of the joint module 20 in one go. The assembly process is simple and the alignment is precise. No professional assembly skills are required from the operators; ordinary users can quickly assemble the robot 30, effectively solving the problems of high professional dependence and poor accessibility of traditional modular robots 30. The airway is hidden inside the module and connector, completely eliminating the space-consuming and messy problems of external air pipes, greatly improving the overall integration and structural regularity of the robot 30.

[0035] Furthermore, the built-in airway piping eliminates the constraints of exposed tubing, avoiding interference and limitations on the robot's joint rotation and limb movement. This effectively frees up the robot's movement space, enhancing its overall mobility and operational adaptability. It also improves ease of use and maintenance; the modular plug-in structure facilitates easy assembly and disassembly, with the airway piping automatically connecting upon connector insertion, eliminating the need for cumbersome wiring. This not only enhances the user experience but also simplifies subsequent module inspection, replacement, and maintenance procedures.

[0036] In some alternative methods, such as Figures 1-12 As shown, the first electrical connection part includes a power plug 1013 and a signal plug 1012; the second electrical connection part includes a power slot 1023, configured to connect to the power plug 1013 to enable power electrical connection between the corresponding two joint modules 20; and a signal slot 1022, configured to connect to the signal plug 1012 to enable electrical signal connection between the corresponding two joint modules 20.

[0037] During module insertion, this hollow connector assembly 10 simultaneously achieves airflow connection, power connection, and signal connection. By designing the electrical connection parts as independent power connection sections (electric plug and slot) and signal connection sections (signal plug and slot), adjacent joint modules 20 can achieve separate transmission of power supply and control signals, ensuring stable power supply, reliable signal transmission, and no interference. Furthermore, the overall plug-in integrated connection structure simplifies assembly, significantly lowering the professional threshold for assembly, allowing ordinary users to quickly complete the setup. Compared to traditional external air pipe structures, this solution integrates the airflow inside the connector, eliminating exposed air pipes, saving installation space, avoiding pipe interference with robot 30 movement, effectively improving robot 30's movement flexibility and overall integration, and making disassembly and maintenance more convenient.

[0038] Optionally, the power connection and signal connection can achieve electrical connection using a pin-and-socket pairing method. For example, the power plug 1013 is equipped with a male power pin, and the power slot 1023 is equipped with a matching female power socket; the signal plug 1012 is equipped with a male signal pin, and the signal slot 1022 is equipped with a corresponding female signal socket. When the first connecting device 101 and the second connecting device 102 are plugged in, the male power pin is inserted into the female power socket to establish a power supply circuit, realizing the power transmission between the joint modules 20; the male signal pin is inserted into the female signal socket to form an independent signal channel, transmitting position commands, sensor feedback, and other weak current control signals. It should be noted that the plug and slot can also be interchanged on the first and second electrical connection parts, that is, a slot is set on the first electrical connection part, and a plug is set on the second electrical connection part. The specific docking method will not be described here.

[0039] Alternatively, the power connection and signal connection can adopt a flexible spring contact structure, with a conductive spring on one side and a conductive contact platform on the other side. After insertion, the spring presses against the contact surface to achieve power and signal conduction.

[0040] In some alternative methods, such as Figures 1-14As shown, the first airway connector 1014 has a first connecting portion 10142 that connects to the airway tubing inside the joint module 20 on which it is installed, and a second connecting portion 10141 that connects to the second airway connector 1024 of another joint module 20. The second connecting portion 10141 is configured as an airway slot. The second airway connector 1024 has a third connecting portion 10242 that connects to the airway tubing inside the joint module 20 on which it is installed, and a fourth connecting portion 10241 that connects to the first airway connector 1014 of another joint module 20. The fourth connecting portion 10241 is configured as an airway plug. A first air passage extending from the first connecting portion 10142 to the second connecting portion 10141 is provided inside the first air passage connector 10144. A second air passage extending from the third connecting portion 10242 to the fourth connecting portion 10241 is provided inside the second air passage connector 1024. The first air passage and the second air passage are connected and cooperated to connect the air passage pipe in one joint module 20 with the air passage pipe in another joint module 20.

[0041] In this embodiment, the first airway connector 1014 has a built-in first air guide channel, with its two ends connected to the internal airway pipes of the joint module 20 and the second airway connector 1024, respectively. The second airway connector 1024 has a built-in second air guide channel, with its two ends connected to the internal airway pipes of its own joint module 20 and the first airway connector 1014, respectively. When the first connector 101 and the second connector 102 are plugged in, the first air guide channel and the second air guide channel are connected and conductive. The two built-in channels enable the connection of the internal airway pipes of adjacent joint modules 20, forming a through-type built-in pneumatic passage inside the connector.

[0042] Based on the air duct connector with corresponding air duct channels, the air duct channels are integrated inside the connector body, eliminating the need for external air pipes. This eliminates the drawbacks of exposed pipes occupying space and interfering with the movement of the robot's 30 joints, improving the robot's integration and range of motion. The air ducts automatically connect following the connector insertion action, and the air duct connection is completed synchronously during module assembly, simplifying the assembly process and lowering the threshold for assembly operations. The air duct channels are arranged in sections in the corresponding air duct connectors, with a modular structure that facilitates individual disassembly, assembly, and maintenance. The embedded air ducts and neat pipe layout reduce the risk of gas pipe bending and entanglement, ensuring stable delivery of pneumatic media.

[0043] In some alternative methods, such as Figures 13-14 As shown, the first connecting part 10142 is configured as a pagoda-type plug structure to be inserted and mated with the airway tubing inside the corresponding joint module 20; similarly, the third connecting part 10242 is configured as a pagoda-type plug structure to be inserted and mated with the airway tubing inside the corresponding joint module 20.

[0044] In this embodiment, the first connecting part 10142 and the third connecting part 10242 adopt a pagoda-type plug structure, which can be directly and quickly plugged into the internal air passage of the joint module 20 to achieve a reliable sealed connection between the air passage connector and the module pipeline; the assembly operation is simple, no additional sealing fasteners are required, the air passage assembly efficiency is improved, and the airtightness of the pipeline connection is ensured, effectively preventing the leakage of pneumatic media.

[0045] Optionally, the first connecting device 101 further includes a first clamp, configured to secure the overlapping area of ​​the first connecting part 10142 inserted together with the air passage in the corresponding joint module 20; the second connecting device 102 further includes a second clamp, configured to secure the overlapping area of ​​the third connecting part 10242 inserted together with the air passage in the corresponding joint module 20. Based on the first and second clamps, the overlapping sections of the pagoda-type plug and the internal air passage in the module are locked and reinforced, further improving the connection strength at the insertion point, enhancing the interface sealing performance, effectively preventing pipe loosening and gas leakage under air pressure, and ensuring long-term stable operation of the pneumatic circuit.

[0046] In some alternative methods, such as Figures 13-14 As shown, the second connecting part 10141 is configured as a plug-in sleeve, and the fourth connecting part 10241 is configured as a plug-in connector; wherein, the second connecting part 10141 and the fourth connecting part 10241 can be plugged in together to connect the first air guide channel and the second air guide channel. In this embodiment, the plug-in sleeve and the plug-in connector are plugged in to achieve rapid alignment and connection of the first air guide channel and the second air guide channel; the docking structure is integrated on the connector body, and the air path docking is completed simultaneously during module assembly, which is convenient for assembly; at the same time, the plug-in docking method facilitates positioning, can ensure the airtightness of the docking position, and achieve reliable conduction of the pneumatic passage of adjacent joint modules 20.

[0047] Furthermore, the second connecting part 10141 (plug tube) and the fourth connecting part 10241 (plug connector) are structurally incompatible and cannot be interchanged. Only the plug connector is allowed to be installed into the plug tube, meaning that the plug connector on one joint module 20 can only be connected to the plug tube on another joint module 20. This forms a plug-in error prevention mechanism, avoiding the problem of operators installing the wrong connector.

[0048] In some alternative configurations, the seal is constructed as a sealing ring. Specifically, such as... Figure 14As shown, a first sealing ring 10243 is sleeved on the outer periphery of the fourth connecting part 10241. The first sealing ring 10243 is configured to seal the overlapping area of ​​the second connecting part 10141 and the fourth connecting part 10241, which are inserted and mated together. In this embodiment, based on the first sealing ring 10243 provided on the outer periphery of the fourth connecting part 10241, when the second connecting part 10141 and the fourth connecting part 10241 are inserted and mated, the sealing ring tightly fills the gap of the overlapping area of ​​the two, realizing radial sealing at the docking position of the air guide channel, effectively preventing gas leakage from the docking gap, and ensuring the airtightness of the pneumatic passage.

[0049] Optionally, an annular limiting groove is machined on the outer periphery of the fourth connecting part 10241, and the first sealing ring 10243 is embedded in the annular groove; the groove axially limits the first sealing ring 10243, preventing the sealing ring from being squeezed or scraped off during the insertion process, and preventing the sealing ring from shifting and failing. Further, optionally, a guide chamfer is provided at the insertion front end of the fourth connecting part 10241 to guide the second connecting part 10141 to smoothly slide in during insertion, reducing scratch damage to the sealing ring and extending its service life.

[0050] In some alternative methods, such as Figures 1-14 As shown, the first air guide channel, corresponding to the first connecting portion 10142, is configured as a channel with a regular hexagonal cross-section on its inner wall (internal hexagonal venting channel); the second air guide channel, corresponding to the third connecting portion 10242, is also configured as a channel with a regular hexagonal cross-section on its inner wall (internal hexagonal venting channel). In this embodiment, the inner wall of the internal hexagonal venting channel forms a wrench mating surface, which can be used with an internal hexagonal wrench to tighten the connector assembly, and at the same time serves as a gas flow path to achieve gas path conduction.

[0051] It should be noted that, in addition to constructing the corresponding port portions of the first and second air guide channels as internal hexagonal ventilation channels as described above, the first and second air guide channels can also be constructed as internal hexagonal ventilation channels as a whole, that is, the internal hexagonal ventilation channels are axially connected along the corresponding air passage connectors.

[0052] In some alternative methods, such as Figure 8 , Figure 10 and Figure 12As shown, the body plug on the first connector body 1011 is configured as a first annular protrusion 10111, and the body slot on the second connector body 1021 is configured as a first annular groove 10211. The first annular protrusion 10111 and the first annular groove 10211 engage to connect the first connecting device 101 and the second connecting device 102 together. In this embodiment, the engagement of the first annular protrusion 10111 and the first annular groove 10211 achieves preliminary circumferential positioning and radial limiting of the first connecting device 101 and the second connecting device 102, guiding the connectors to precise alignment and assembly, and improving the coaxiality of the connection. Simultaneously, the annular engagement structure provides protection for the internal air passages and electrical connection areas, reducing the risk of foreign object intrusion.

[0053] Optionally, a dustproof ring 10112 is added between the first annular protrusion 10111 and the first annular groove 10211 to further improve the dustproof and slight seepage prevention effect; or, mutually cooperating limiting ribs are provided on the side walls of the first annular protrusion 10111 and the first annular groove 10211 to achieve circumferential foolproof positioning.

[0054] like Figures 1-19 As shown, this application provides a joint module 20 for a robot 30. The joint module 20 includes: a housing 201, a harmonic reducer, an output end cap 202, a flange 206, a connecting nut 204, and a hollow connector assembly 10 in any of the above embodiments.

[0055] The housing 201 has a first mounting port and a second mounting port 203; the harmonic reducer is disposed inside the housing 201; the output end cover 202 is disposed on the harmonic reducer and is located corresponding to the first mounting port; the flange 206 is disposed in the second mounting port 203; the connecting nut 204 is rotatably sleeved on the flange 206, the first end of the connecting nut 204 is limited between the flange 206 and the second mounting port 203, and the second end of the connecting nut 204 is configured to lock and fix the flange 206 of one joint module 20 to the output end cover 202 of another joint module 20.

[0056] The hollow connector assembly 10 includes a first connecting device 101 and a second connecting device 102. The first connecting device 101 is configured to connect to power lines, signal lines, and air ducts arranged within the corresponding joint module 20 of the robot 30; the second connecting device 102 is configured to connect to power lines, signal lines, and air ducts arranged within the corresponding joint module 20 of the robot 30. Optionally, the first connecting device 101 is detachably mounted on the output end cover 202, and the second connecting device 102 is detachably mounted on the flange 206; or, the first connecting device 101 is detachably mounted on the flange 206, and the second connecting device 102 is detachably mounted on the output end cover 202.

[0057] In this embodiment, the joint module 20 integrates a harmonic reducer to achieve power output. Adjacent joint modules 20 are quickly locked and assembled using the connecting nut 204 in conjunction with the flange 206 and output end cap 202. This simplifies assembly and lowers the barrier to entry for building the modular robot 30. The hollow connector assembly 10 is mounted on the output end cap 202 and flange 206. When the modules are spliced ​​and locked together, the power lines, signal lines, and air ducts are simultaneously connected, achieving mechanical locking, electrical connection, and air duct connection in one step. The first connecting device 101 and the second connecting device 102 can be interchangeably arranged on the output end cap 202 or flange 206, providing flexible assembly layouts suitable for various robot 30 configurations. Furthermore, the connectors are detachable and easy to inspect and replace individually, facilitating maintenance. The air ducts and wiring are integrated at the joint module 20's docking position, eliminating the need for external air pipe wiring, preventing interference with joint movement, and improving the robot 30's movement flexibility and overall integration.

[0058] Optionally, the output end cover 202 is provided with an external thread that mates with the connecting nut 204. The first connecting device 101 is fixed to the flange 206 or the output end cover 202 by a threaded connection, and the second connecting device 102 is fixed to the output end cover 202 or the flange 206 by a threaded connection.

[0059] Optionally, the harmonic reducer includes a wave generator, a flexure, and a rigid wheel 205, with the output end cap 202 mounted on the rigid wheel 205. It should be noted that the motor is connected to the wave generator, which drives the flexure to rotate the robotic arm on the corresponding joint module 20. The output end cap 202, the connecting flange 206, and the module connected to the connecting flange 206 do not rotate. The hollow connector assembly 10 and the circuits connected in the joint module 20 also do not rotate. This not only achieves built-in improvements to the air ducts and wiring, effectively avoiding pipeline interference with joint movement, but also greatly improves the robot 30's motion flexibility and overall integration.

[0060] In some alternative methods, such as Figure 17 As shown, the output end cap 202 is provided with a second annular protrusion 2021, and the flange 206 is provided with a second annular groove 2061. The second annular protrusion 2021 and the second annular groove 2061 can be inserted and engaged together to align the output end cap 202 of one joint module 20 with the flange 206 of another joint module 20. In this embodiment, the insertion and engagement of the second annular protrusion 2021 and the second annular groove 2061 enables rapid coaxial positioning of the output end caps 202 and flanges 206 of adjacent joint modules 20, ensuring centered alignment during module docking. Simultaneously, it provides a precise alignment basis for the electrical and pneumatic structures within the hollow connector assembly 10, preventing assembly misalignment and ensuring the sealing and reliability of electrical connections and pneumatic connections.

[0061] Optionally, a second sealing ring is provided on the outer peripheral wall of the second annular protrusion 2021. The second sealing ring is configured to seal the overlapping area of ​​the second annular protrusion 2021 and the second annular groove 2061 that are inserted together. By placing the second sealing ring on the outside of the second annular protrusion 2021, when the second annular protrusion 2021 and the second annular groove 2061 are inserted and engaged, the sealing ring fills the gap between them, achieving a seal between the output end cover 202 and the flange 206. This prevents dust and moisture from entering the module, protecting the electrical contacts and air circuit connection structure of the hollow connector, and improving the operational reliability of the joint module 20.

[0062] Optionally, a sealing ring limiting groove is formed on the outer peripheral wall of the second annular protrusion 2021, configured to install the second sealing ring. In this embodiment, the sealing ring limiting groove accommodates the second sealing ring, forming axial and radial constraints on the sealing ring, preventing the sealing ring from shifting or coming out during module insertion; at the same time, the limiting groove can limit excessive compression of the sealing ring, preventing abnormal deformation and damage to the sealing element, and continuously ensuring the sealing effect at the mating position of the output end cover 202 and the flange 206.

[0063] In some alternative methods, such as Figures 17-18 As shown, a limiting ring coaxially formed along the inner circumferential wall of the first end of the connecting nut 204; on the side of the flange 206 facing away from the output end cover 202, an annular notch is formed along the outer edge of the flange 206 disc, and the annular notch cooperates with the second mounting port 203 to form an annular clearance groove; wherein, when the connecting nut 204 and the flange 206 are installed in the second mounting port 203, the limiting ring is limited in the annular clearance groove, thereby limiting the connecting nut 204 in the axial direction. In this embodiment, a limiting ring is provided on the inner side of the first end of the connecting nut 204, and an annular notch is formed on the outer edge of the flange 206, the annular notch and the second mounting port 203 of the outer shell 201 enclose to form an annular clearance groove; during assembly, the limiting ring is received in the annular clearance groove, and the clearance groove constrains the limiting ring in the axial direction, thereby realizing the axial limitation of the connecting nut 204, the connecting nut 204 can only rotate relative to the flange 206 around its own axis, and cannot be dislodged in the axial direction.

[0064] Based on the above design, the axial positioning of the connecting nut 204 is achieved without adding an additional locking ring, simplifying the number of parts and reducing assembly complexity; the connecting nut 204 can rotate freely for locking operation without falling off the flange 206, facilitating the rapid assembly of the joint module 20; the annular clearance groove is formed by the flange 206 and the outer shell 201, with a compact structure, effectively utilizing the internal space of the joint module 20, which is conducive to the miniaturization and integration of the whole machine.

[0065] It should be noted that, for the convenience of users, the first connecting device 101 and the second connecting device 102 can be pre-installed on the corresponding joint module 20. That is, the wiring, terminal plugging, air duct routing and other processes inside the joint module 20 are all completed by the manufacturer in advance. When the customer replaces the module, there is no need to connect the wiring himself or take any additional steps.

[0066] This application provides a joint module 20 for a robot 30, the joint module 20 including any of the first connecting devices 101 or any of the second connecting devices 102 described above.

[0067] Optionally, when the joint module 20 is configured as a first joint module including the first connecting device 101: the first joint module further includes: a housing 201 with a mounting port; a harmonic reducer disposed inside the housing 201; and an output end cover 202 disposed on the harmonic reducer and correspondingly located at the mounting port; wherein the first connecting device 101 is disposed on the output end cover 202. Alternatively, the first joint module may further include: a housing 201 with a mounting port; a flange 206 disposed at the mounting port; and a connecting nut 204 rotatably fitted onto the flange 206, the first end of the connecting nut 204 being limited between the flange 206 and the mounting port, and the second end of the connecting nut 204 being configured to lock and fix the flange 206 of one joint module to the output end cap 202 of another joint module; wherein a first connecting device 101 is provided on the flange 206.

[0068] Optionally, when the joint module 20 is configured as a second joint module including the second connecting device 102: the second joint module further includes: a housing 201 with a mounting port; a harmonic reducer disposed inside the housing 201; and an output end cover 202 disposed on the harmonic reducer and correspondingly located at the mounting port; wherein the second connecting device 102 is disposed on the output end cover 202. Alternatively, the second joint module may further include: a housing 201 with a mounting port; a flange 206 disposed at the mounting port; and a connecting nut 204 rotatably fitted onto the flange 206, the first end of the connecting nut 204 being limited between the flange 206 and the mounting port, and the second end of the connecting nut 204 being configured to lock and fix the flange 206 of one joint module to the output end cap 202 of the other joint module; wherein a second connecting device 102 is provided on the flange 206.

[0069] In the above implementation, the first joint module and the second joint module can be understood as a base or manipulator with a single first connecting device 101 or a second connecting device 102. The internal airway connection method and wiring connection method are similar to those of the joint module 20 configured with two connecting devices, and will not be described again here.

[0070] In this embodiment, the joint module 20 can be equipped with either the first connecting device 101 or the second connecting device 102 as needed. The connecting devices can be flexibly installed at the output end cover 202 or the flange 206, allowing for a high degree of freedom in assembly configuration. This enables the modules to be freely combined and matched, facilitating the construction of modular robots 30 with different degrees of freedom and different arrangements. When the modules are spliced ​​and locked, mechanical fixing, electrical connection, and air circuit conduction can be completed simultaneously, eliminating the need for external air pipe wiring and reducing assembly difficulty. At the same time, the component split arrangement scheme has strong versatility, and a single model of joint module 20 can adapt to various docking scenarios, reducing the types of parts and lowering production and maintenance costs.

[0071] like Figures 1-20 As shown, this application also provides a robot 30, which includes: any of the hollow connector assemblies 10 as described above, or any of the joint modules 20 as described above.

[0072] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0073] Obviously, those skilled in the art should understand that the various units or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device, or fabricating them separately as individual integrated circuit modules, or fabricating multiple modules or steps into a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0074] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A hollow connector assembly for a robot, characterized in that, The hollow connector assembly is disposed on the joint module of the robot, including: The first connecting device includes a first connector body with a body plug; a first electrical connection part disposed on the first connector body and having an electrical plug; and a first airway connector disposed on the first connector body and having an airway slot. The second connecting device is configured to be plugged into the first connecting device. The second connecting device includes a second connector body with a body slot; a second electrical connection part disposed on the second connector body and provided with an electrical slot; and a second airway connector disposed on the second connector body and provided with an airway plug. The airway plug is provided with a sealing element, which is configured to seal the airway plug and the airway slot. When the first connecting device disposed on one of the joint modules of the robot is plugged into and engaged with the second connecting device disposed on another joint module of the robot: the body plug is plugged into and engaged with the body slot, so that the first connector body and the second connector body between the two corresponding joint modules are detachably connected; the electrical plug is plugged into and engaged with the electrical slot, so that the first electrical connection part and the second electrical connection part between the two corresponding joint modules are electrically connected; the airway slot is plugged into and engaged with the airway plug, so that the airway pipeline in one joint module is connected to the airway pipeline in the other joint module.

2. The hollow connector assembly according to claim 1, characterized in that, The first electrical connection includes: a power plug and a signal plug; The second electrical connection includes: a power slot configured to connect to the power plug to enable power electrical connection between the two corresponding joint modules; and a signal slot configured to connect to the signal plug to enable electrical signal connection between the two corresponding joint modules.

3. The hollow connector assembly according to claim 1, characterized in that, The first airway connector has a first connection portion that connects to the airway pipeline inside the joint module on which it is installed, and a second connection portion that connects to the second airway connector of another joint module, the second connection portion being configured as the airway slot; The second airway connector is provided with a third connection portion that connects to the airway pipeline in the joint module on which it is installed, and a fourth connection portion that connects to the first airway connector of another joint module, the fourth connection portion being configured as the airway plug. The first airway connector has a first air guide channel extending from the first connection portion to the second connection portion, and the second airway connector has a second air guide channel extending from the third connection portion to the fourth connection portion. The first air guide channel and the second air guide channel are connected and cooperate to connect the airway pipeline in one joint module with the airway pipeline in another joint module.

4. The hollow connector assembly according to claim 3, characterized in that, The first connecting part is configured as a pagoda-type plug structure to be plugged into the air passage of the corresponding joint module; The third connection part is configured as a pagoda-type plug structure to be plugged into the airway tubing within the corresponding joint module.

5. The hollow connector assembly according to claim 4, characterized in that, The first connecting device further includes: a first clamp, configured to fasten the first connecting parts that are inserted together to the overlapping area of ​​the airway tubing in the corresponding joint module; The second connecting device further includes a second clamp, configured to secure the third connecting portion, which is inserted together, to the overlapping area of ​​the airway tubing within the corresponding joint module.

6. The hollow connector assembly according to claim 3, characterized in that, The second connecting part is configured as a plug-in sleeve, and the fourth connecting part is configured as a plug-in connector; The second connecting part and the fourth connecting part can be plugged together to connect the first air guide channel and the second air guide channel.

7. The hollow connector assembly according to claim 6, characterized in that, A first sealing ring is sleeved on the outer periphery of the fourth connecting part. The first sealing ring is configured to seal the overlapping area of ​​the second connecting part and the fourth connecting part that are inserted together.

8. The hollow connector assembly according to claim 3, characterized in that, The portion of the first air guide channel corresponding to the first connecting part is configured as a channel with a regular hexagonal cross-section on the inner wall. The portion of the second air guide channel corresponding to the third connecting part is configured as a channel with a regular hexagonal cross-section on the inner wall.

9. The hollow connector assembly according to claim 1, characterized in that, The main body plug is configured as a first annular protrusion, and the main body slot is configured as a first annular groove; The first annular protrusion engages with the first annular groove to connect the first connecting device and the second connecting device together.

10. A joint module for a robot, characterized in that, The joint module includes any of the first connecting device or any of the second connecting devices as described in claims 1-9.

11. The joint module according to claim 10, characterized in that, When the joint module is configured as a first joint module including the first connecting device: The first joint module further includes: a housing with a mounting port; a harmonic reducer disposed inside the housing; and an output end cover disposed on the harmonic reducer and correspondingly located at the mounting port; wherein the first connecting device is disposed on the output end cover. Alternatively, the first joint module may further include: a housing having a mounting port; a flange disposed at the mounting port; and a connecting nut rotatably fitted onto the flange, wherein a first end of the connecting nut is confined between the flange and the mounting port, and a second end of the connecting nut is configured to lock and fix the flange of one joint module to the output end cap of another joint module; wherein the first connecting device is disposed on the flange.

12. The joint module according to claim 10, characterized in that, When the joint module is configured as a second joint module including the second connecting device: The second joint module further includes: a housing with a mounting port; a harmonic reducer disposed inside the housing; and an output end cover disposed on the harmonic reducer and correspondingly located at the mounting port; wherein the second connecting device is disposed on the output end cover. Alternatively, the second joint module may further include: a housing having a mounting port; a flange disposed at the mounting port; and a connecting nut rotatably fitted onto the flange, wherein a first end of the connecting nut is confined between the flange and the mounting port, and a second end of the connecting nut is configured to lock and fix the flange of one joint module to the output end cap of another joint module; wherein the second connecting device is disposed on the flange.

13. A joint module for a robot, characterized in that, The joint module includes the hollow connector assembly as described in any one of claims 1-9.

14. The joint module according to claim 13, characterized in that, The joint module includes: The outer casing is provided with a first mounting port and a second mounting port; The harmonic reducer is disposed within the housing; An output end cover is disposed on the harmonic reducer and is located corresponding to the first mounting port; A flange is provided at the second mounting port; A connecting nut is rotatably fitted onto the flange. The first end of the connecting nut is limited between the flange and the second mounting port, and the second end of the connecting nut is configured to lock and fix the flange of one joint module to the output end cap of another joint module. Wherein: the first connecting device is detachably disposed on the output end cover, and the second connecting device is detachably disposed on the flange; or, the first connecting device is detachably disposed on the flange, and the second connecting device is detachably disposed on the output end cover.

15. A robot, characterized in that, The robot comprises: a hollow connector assembly as described in any one of claims 1-9, or a joint module as described in any one of claims 10-14.

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