Joint connecting device and robot

Abstract

The utility model provides a joint connecting device and a robot, the joint connecting device comprises a first connecting piece, and the first connecting piece is provided with a first locking structure; the second connecting piece is provided with a second locking structure matched with the first locking structure in a locking mode, and the first connecting piece and the second connecting piece are provided with a first position for mutual locking and a second position for unlocking. The limiting structure is detachably installed on the first connecting piece and / or the second connecting piece, a containing cavity is formed when the first connecting piece and the second connecting piece are located at the first position, and at least one part of the limiting structure is contained in the containing cavity and abuts against the first locking structure and the second locking structure for limiting. According to the joint connecting device and the robot, the problems that in the prior art, the connecting mode between robots is complex, and mounting and dismounting are inconvenient can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field related to robots, and in particular to a joint connection device and a robot. Background Art

[0002] In order to facilitate installation, maintenance and replacement, more and more robots are beginning to adopt modular design, and the design of the connection structure between robot joints or joints and arm tubes needs to consider many factors such as size, connection strength, ease of assembly and disassembly, and appearance. In the prior art, the connection and matching structure between joints is relatively complex, and there are many fastening parts such as screws, which makes installation and disassembly inconvenient. Utility Model Content

[0003] The main purpose of the utility model is to provide a joint connection device and a robot, so as to solve the problems in the prior art that the connection mode between robots is relatively complicated and the installation and disassembly is relatively inconvenient.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, a joint connection device is provided, which includes a first connection member, the first connection member has a first locking structure; a second connection member, the second connection member has a second locking structure that is locked with the first locking structure, the first connection member and the second connection member have a first position that is locked with each other and a second position that is unlocked; a limiting structure, the limiting structure can be detachably installed on the first connection member and / or the second connection member, and an accommodating cavity is formed when the first connection member and the second connection member are in the first position, and at least a part of the limiting structure is accommodated inside the accommodating cavity and abuts against the first locking structure and the second locking structure for limiting.

[0005] Furthermore, the first connecting member and the second connecting member rotate relative to each other to achieve switching between the first position and the second position.

[0006] Furthermore, the second connecting member has a circumferentially extending mounting groove, and the second locking structure is arranged inside the mounting groove and forms a mounting space with the bottom surface of the mounting groove; when the first connecting member and the second connecting member are in the first position, at least a portion of the first locking structure extends into the interior of the mounting space and is locked with the second locking structure, the first locking structure abuts against one of the side surfaces of the mounting groove, and the limiting structure abuts between the first locking structure and the other side surface of the groove.

[0007] Furthermore, the second locking structure is coplanar with a side of the first locking structure facing the limiting structure.

[0008] Furthermore, the first connecting member includes: a top plate section; a first locking structure is arranged on a side of the top plate section facing the second connecting member, the first locking structure includes an extending section and a bending section arranged on a side of the extending section away from the top plate section, the bending section and the top plate section are spaced apart to form a locking groove, and at least a portion of the second locking structure extends into the interior of the locking groove.

[0009] Furthermore, the outer peripheral surface of the extending section is coplanar with the peripheral side surface of the top plate section; and / or the outer peripheral surface of the extending section is coplanar with the outer peripheral surface of the second connecting member; and / or the outer peripheral surface of the extending section is coplanar with the surface of the limiting structure exposed at the opening position of the accommodating cavity.

[0010] Further, the first locking structures are arranged in one-to-one correspondence with the mounting grooves; and / or a plurality of first locking structures are arranged, and the plurality of first locking structures are arranged at intervals along the circumference of the top plate segment.

[0011] Furthermore, the surfaces of the first locking structure and the second locking structure facing the limiting structure, the surface of the top plate section facing the second connecting member, and the inner surface of the mounting groove cooperate to form an accommodating cavity.

[0012] Furthermore, the limiting structure is a limiting block, and the limiting structure is connected to the first connecting member and / or the second connecting plate by fasteners; or the limiting structure is magnetically connected to the first connecting member and / or the second connecting plate; and / or the first locking structure and the second locking structure are magnetically matched.

[0013] According to another aspect of the utility model, a robot is provided, comprising the above-mentioned joint connection device.

[0014] By applying the technical solution of the utility model, the following technical effects are achieved:

[0015] 1. The first connecting member and the second connecting member of the present application are connected through the cooperation between the first locking structure and the second locking structure, which is convenient for operation and helps to improve installation efficiency; at the same time, by adding a limiting structure, the stability of the connection between the first connecting member and the second connecting member can be increased.

[0016] 2. The first connecting member and the second connecting member of the present application adopt a rotationally matched structure, and switching between the first position and the second position is achieved by rotation, which facilitates rapid installation and disassembly between the two robots.

[0017] 3. The limiting structure of the present application can be connected and fixed by fasteners or magnetic attraction, which is convenient for installation and disassembly of the limiting structure, thereby facilitating the limiting of the first locking structure and the second locking structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0019] Figure 1 A three-dimensional structural schematic diagram of the joint connection device of the utility model is shown;

[0020] Figure 2 An exploded view of the joint connection device of the present invention is shown;

[0021] Figure 3 A structural schematic diagram of the first connecting member and the second connecting member of the utility model in the first position is shown.

[0022] The above drawings include the following reference numerals:

[0023] 1. First connecting member; 11. First locking structure; 111. Extending section; 112. Bending section; 12. Top plate section; 13. Locking groove; 2. Second connecting member; 21. Second locking structure; 22. Installation groove; 23. Installation space; 3. Limiting structure; 4. Accommodating cavity. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0026] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0027] In order to facilitate installation and replacement of robots, the utility model provides a joint connection structure, which is convenient for connecting two robots and disassembling them after connection.

[0028] Embodiment 1

[0029] A joint connection device, such as Figures 1 to 3As shown, the joint connection device includes a first connection member 1, a second connection member 2 and a limiting structure 3. The first connection member 1 has a first locking structure 11, and the second connection member 2 has a second locking structure 21 that is locked with the first locking structure 11. The first connection member 1 and the second connection member 2 have a first position that is locked with each other and a second position that is unlocked. The limiting structure 3 is detachably mounted on the first connection member 1 and / or the second connection member 2. When the first connection member 1 and the second connection member 2 are in the first position, a receiving cavity 4 is formed. At least a portion of the limiting structure 3 abuts against the first locking structure 11 and the second locking structure 21 inside the receiving cavity 4 to limit the position.

[0030] Specifically, the first connecting member 1 and the second connecting member 2 of the present application are connected through the cooperation between the first locking structure 11 and the second locking structure 21, which is convenient for operation and helps to improve installation efficiency; at the same time, by adding a limiting structure 3, the stability of the connection between the first connecting member 1 and the second connecting member 2 can be increased.

[0031] Among them, the first connecting member 1 and the second connecting member 2 are respectively connected to two joints to be connected. When the two joints need to be connected, the connection between the two joints is realized through the connection between the first connecting member 1 and the second connecting member 2. When connecting, the first locking structure 11 on the first connecting member 1 and the second locking structure 21 on the second connecting member 2 are matched so that the two are in the first locked position. At this time, the first connecting member 1 and the second connecting member 2 are locked with each other to complete the connection between the first connecting member 1 and the second connecting member 2. Afterwards, the limiting structure 3 is placed in the accommodating cavity 4 to limit the first locking structure 11 and the second locking structure 21 after the locking is completed, so as to prevent the two from moving to the second position of contact locking under the drive of external force, thereby increasing the stability of the mutual connection between the first connecting member 1 and the second connecting machine.

[0032] In this embodiment, the first connecting member 1 and the second connecting member 2 are generally disc-shaped structures.

[0033] Furthermore, the first connecting member 1 and the second connecting member 2 rotate relative to each other to achieve switching between the first position and the second position.

[0034] The first connecting member 1 and the second connecting member 2 can switch between the first position and the second position by rotating, which can facilitate the rapid conversion between the first position and the second position and facilitate the rapid installation and disassembly between the first connecting member 1 and the second connecting member 2.

[0035] It should be noted that, in this embodiment, only the first connecting member 1 may be rotated, only the second connecting member 2 may be rotated, or both the first connecting member 1 and the second connecting member 2 may be rotated simultaneously.

[0036] like Figure 2As shown, the second connecting member 2 has a circumferentially extending mounting groove 22 , and the second locking structure 21 is installed inside the mounting groove 22 and forms a mounting space 23 with the groove bottom surface of the mounting groove 22 .

[0037] The second locking structure 21 is installed inside the installation groove 22 on a side close to the first connecting member 1 . It should be noted that the bottom surface of the installation groove 22 is a surface arranged parallel to the first connecting member 1 .

[0038] Further, when the first connector 1 and the second connector 2 are in the first position, at least a portion of the first locking structure 11 extends into the interior of the installation space 23 and is locked with the second locking structure 21, the first locking structure 11 abuts against one of the groove side surfaces of the installation groove 22, and the limiting structure 3 abuts against the first locking structure 11 and the other groove side surface. The two groove side surfaces are two surfaces spaced apart along the circumference of the second connector 2.

[0039] In this embodiment, when the first connecting member 1 and the second connecting member 2 are in the locked first position, at least a portion of the first locking structure 11 is located in the installation space 23 and is limited and locked by the second locking structure, thereby realizing the locking cooperation between the first locking structure 11 and the second locking structure 21. The first locking structure 11 in the first position abuts against one groove side surface of the installation groove 22, and the limiting structure 3 is placed in the remaining space in the installation groove 22, that is, between the first locking structure 11 and the other groove side surface of the installation groove 22, so that the limiting structure 3 can block the movement of the first locking structure 11 in the remaining space in the installation groove 22, thereby realizing the stability of the connection between the first locking structure 11 and the second locking structure 21.

[0040] Furthermore, the second locking structure 21 is coplanar with a side of the first locking structure 11 facing the limiting structure 3 .

[0041] By adopting the above-mentioned scheme, when in the first locked position, the first locking structure 11 and the second locking structure 21 remain flush with the surface of the limiting structure 3, which facilitates the placement of the limiting structure 3 into the accommodating cavity 4, and enables the side of the limiting structure 3 close to the first locking structure 11 and the second locking structure 21 to abut against the first locking structure 11 and the second locking structure 21 at the same time, thereby increasing the stability of the structure and improving the limiting effect of the limiting structure 3.

[0042] Further, the first connecting member 1 includes a top plate section 12, and the first locking structure 11 is arranged on a side of the top plate section 12 facing the second connecting member 2. The first locking structure 11 includes an extension section 111 and a bent section 112 arranged on a side of the extension section 111 away from the top plate section 12, the bent section 112 and the top plate section 12 are spaced apart to form a locking groove 13, and at least a portion of the second locking structure 21 extends into the interior of the locking groove 13.

[0043] After the second locking structure 21 rotates and enters the locking groove 13, the extension section 111 and the bent section 112 abut against the second locking structure 21 to limit the second locking structure 21. Under the cooperation and limitation of the extension section 111, the bent section 112 and the limiting structure 3, the second locking structure 21 cannot be disengaged from the locking groove 13, thereby achieving the locking between the first locking structure 11 and the second locking structure 21.

[0044] Furthermore, the outer peripheral surface of the extension section 111 is coplanar with the peripheral side surface of the top plate section 12, so that the first connecting member 1 can be easily integrally formed during processing, while increasing the overall aesthetics and structural strength of the first connecting member 1.

[0045] Furthermore, the outer peripheral surface of the extended section 111 is coplanar with the outer peripheral surface of the second connecting member 2, so that the first connecting member 1 and the second connecting member 2 can be seamlessly matched, which is beneficial to improving the overall aesthetics of the connection between the first connecting member 1 and the second connecting member 2, and at the same time, it is convenient to lock the first connecting member 1 and the second connecting member 2 together.

[0046] Furthermore, the outer peripheral surface of the extension section 111 is coplanar with the surface of the limiting structure 3 exposed at the opening of the accommodating cavity 4. In this way, the limiting structure 3 does not protrude from the accommodating cavity 4 or is sunken inside the accommodating cavity 4, and the overall surface of the joint connection device is kept smooth without protrusions, so that the first connecting member 1, the second connecting member 2 and the limiting structure 3 are seamlessly matched, thereby improving the overall aesthetics.

[0047] In this embodiment, the first locking structures 11 and the mounting grooves 22 are disposed in a one-to-one correspondence.

[0048] Further, when there is one first locking structure 11 , one first locking structure 11 is installed in the installation groove 22 and corresponds to the installation groove 22 , so as to realize the connection between the first connecting member 1 and the second connecting member 2 .

[0049] Furthermore, a plurality of first locking structures 11 are provided, and the plurality of first locking structures 11 are arranged at intervals along the circumference of the top section. When there are a plurality of first locking structures 11, the plurality of first locking structures 11 arranged at intervals along the circumference of the top plate section 12 can all be installed in the installation groove 22 to achieve the connection between the first connector 1 and the second connector 2.

[0050] Further, the surfaces of the first locking structure 11 and the second locking structure 21 facing the limiting structure 3, the surface of the top plate section 12 facing the second connecting member 2, and the inner surface of the mounting groove 22 cooperate to form the accommodating cavity 4. The limiting structure 3 inside the accommodating cavity 4 is simultaneously in contact with the surfaces of the first locking structure 11 and the second locking structure 21 facing the limiting structure 3, the surface of the top plate section 12 facing the second connecting member 2, and the inner surface of the mounting groove 22.

[0051] In this embodiment, the limiting structure 3 is a limiting block, and the limiting structure 3 is connected to the first connecting member 1 and / or the second connecting plate via fasteners; or the limiting structure 3 is magnetically connected to the first connecting member 1 and / or the second connecting plate.

[0052] Among them, when the limiting structure 3 is connected to the first connecting member 1 or the second connecting member 2 through fasteners, the stability of the placement of the limiting block can be increased, the stability of the limiting can be increased, and thus the stability of the connection between the first connecting member 1 and the second connecting member 2 can be increased.

[0053] When the first connecting member 1 and the second connecting member 2 are connected by magnetic attraction, the installation and removal of the limit block can be facilitated.

[0054] In this embodiment, the first locking structure 11 and the second locking structure 21 are magnetically matched. On the basis of the locking fit of the first locking structure 11 and the second locking structure 21, the two are magnetically matched, which can increase the stability of the connection between the two. At the same time, the magnetically matched first locking structure 11 and the second locking structure 21 are conducive to improving the installation efficiency.

[0055] Embodiment 2

[0056] This embodiment provides a robot, which adopts the joint connection device in the first embodiment.

[0057] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0058] 1. The first connecting member 1 and the second connecting member 2 of the present application are connected through the cooperation between the first locking structure 11 and the second locking structure 21, which is convenient for operation and helps to improve installation efficiency; at the same time, by adding a limiting structure 3, the stability of the connection between the first connecting member 1 and the second connecting member 2 can be increased.

[0059] 2. The first connecting member 1 and the second connecting member 2 of the present application can be switched between the first position and the second position by rotation, which facilitates rapid installation and disassembly between the two robots.

[0060] 3. The limiting structure 3 of the present application can be connected and fixed by fasteners or magnetic attraction, which is convenient for installation and disassembly of the limiting structure 3, thereby facilitating the limiting of the first locking structure 11 and the second locking structure 21.

[0061] Obviously, the embodiments described above are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0062] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0063] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0064] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A joint connection device, characterized in that: include: A first connecting member (1), wherein the first connecting member (1) has a first locking structure (11); A second connecting member (2), the second connecting member (2) having a second locking structure (21) that is locked with the first locking structure (11), the first connecting member (1) and the second connecting member (2) having a first position in which they are locked to each other and a second position in which they are unlocked; A limiting structure (3), wherein the limiting structure (3) is detachably mounted on the first connecting member (1) and / or the second connecting member (2), and when the first connecting member (1) and the second connecting member (2) are in the first position, an accommodating cavity (4) is formed, and at least a portion of the limiting structure (3) is accommodated inside the accommodating cavity (4) and abuts against the first locking structure (11) and the second locking structure (21) for limiting position.

2. The joint connection device according to claim 1, characterized in that: The first connecting member (1) and the second connecting member (2) rotate relative to each other to achieve switching between the first position and the second position.

3. The joint connection device according to claim 1, characterized in that: The second connecting member (2) has a circumferentially extending mounting groove (22), and the second locking structure (21) is arranged inside the mounting groove (22) and forms a mounting space (23) with the bottom surface of the mounting groove (22); When the first connecting member (1) and the second connecting member (2) are in the first position, at least a portion of the first locking structure (11) extends into the interior of the installation space (23) and is locked with the second locking structure (21), the first locking structure (11) abuts against one of the side surfaces of the installation groove (22), and the limiting structure (3) is abutted between the first locking structure (11) and the other side surface of the groove.

4. The joint connection device according to claim 3, characterized in that: The second locking structure (21) and the first locking structure (11) are coplanar with one side facing the limiting structure (3).

5. The joint connection device according to claim 3, characterized in that: The first connecting member (1) comprises a top plate section (12), the first locking structure (11) is arranged on a side of the top plate section (12) facing the second connecting member (2), the first locking structure (11) comprises an extension section (111) and a bending section (112) arranged on a side of the extension section (111) away from the top plate section (12), the bending section (112) and the top plate section (12) are spaced apart to form a locking groove (13), and at least a portion of the second locking structure (21) extends into the interior of the locking groove (13).

6. The joint connection device according to claim 5, characterized in that: The outer peripheral surface of the extension section (111) is coplanar with the peripheral side surface of the top plate section (12); and / or The outer peripheral surface of the extending section (111) is coplanar with the outer peripheral surface of the second connecting member (2); and / or The outer peripheral surface of the extending section (111) is coplanar with the surface of the limiting structure (3) exposed at the opening position of the accommodating cavity (4).

7. The joint connection device according to claim 5, characterized in that: The first locking structure (11) and the mounting groove (22) are arranged in a one-to-one correspondence; and / or A plurality of the first locking structures (11) are provided, and the plurality of the first locking structures (11) are arranged at intervals along the circumference of the top plate section (12).

8. The joint connection device according to claim 5, characterized in that: The surfaces of the first locking structure (11) and the second locking structure (21) facing the limiting structure (3), the surface of the top plate section (12) facing the second connecting member (2), and the inner surface of the mounting groove (22) cooperate to form the accommodating cavity (4).

9. The joint connection device according to any one of claims 1 to 8, characterized in that: The limiting structure (3) is a limiting block, and the limiting structure (3) is connected to the first connecting member (1) and / or the second connecting plate via a fastener; or the limiting structure (3) is magnetically connected to the first connecting member (1) and / or the second connecting plate; and / or The first locking structure (11) and the second locking structure (21) are magnetically coupled.

10. A robot, characterized in that: The invention comprises the joint connection device according to any one of claims 1 to 9.

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