Connecting device and robot

Abstract

The utility model provides a connecting device and a robot, the connecting device comprises a base, the base is provided with a mounting groove, and the groove wall surface of the mounting groove is provided with a first limiting structure; the connecting piece is movably arranged in the mounting groove, and the connecting piece is provided with a second limiting structure matched with the first limiting structure; the elastic piece is arranged between the base and the connecting piece, and the elastic piece provides driving force for the connecting piece to move out of the mounting groove; and the limiting piece is movably arranged on the base, and the limiting piece is provided with a locking position and an unlocking position, at least one part of the limiting piece stretches into the mounting groove to abut against the connecting piece, and the unlocking position is used for relieving abutting against the connecting piece. The robot joint solves the problems that in the prior art, robot joints are complex in connection and inconvenient to install.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a connecting device and a robot. Background Art

[0002] Most of the existing modular robot systems are homogeneous robot systems, that is, the robot modules that make up the system are the same, and the modules are connected together through joint connection devices to enable flexible arm movements.

[0003] During actual use, robots are frequently replaced according to different working conditions to meet different usage needs. However, the current connection method between robots is relatively complicated, and installation and disassembly are inconvenient. Utility Model Content

[0004] The main purpose of the utility model is to provide a connecting device and a robot to solve the problems of complex joint connection and inconvenient installation of the robot in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, a connecting device is provided, including: a base, the base is provided with an installation groove, and the groove wall surface of the installation groove has a first limiting structure; a connecting member, the connecting member is movably arranged in the installation groove, and the connecting member has a second limiting structure that cooperates with the first limiting structure; an elastic member, the elastic member is arranged between the base and the connecting member, and the elastic member provides a driving force for the connecting member to move out of the installation groove; a limiting member, the limiting member is movably arranged on the base, and the limiting member has a locking position in which at least a part of the limiting member extends into the interior of the installation groove and abuts against the connecting member, and an unlocking position in which the abutment with the connecting member is released.

[0006] Furthermore, a mounting hole communicating with the mounting groove is provided on the side wall of the base, and the connecting device further comprises a rotating shaft, which is arranged inside the mounting hole, and at least a part of the limiting member is rotatably connected to the base via the rotating shaft.

[0007] Furthermore, the connecting device also includes a reset member, which is arranged between the rotating shaft or the base and the limiting member, and provides a driving force for the limiting member to be in a locked position or an unlocked position.

[0008] Furthermore, the limiting member includes a handle portion and an abutment portion, the handle portion and the abutment portion are fixedly connected, and the abutment portion is rotatably connected to the base through a rotating shaft. When the limiting member is in a locked position, at least a portion of the abutment portion is located inside the mounting groove and abuts against the connecting member, and at least a portion of the handle portion is located outside the base.

[0009] Furthermore, a plurality of the first limiting structures and the second limiting structures are provided, the first limiting structures and the second limiting structures are provided in one-to-one correspondence, and the plurality of first limiting structures are provided at intervals along the circumferential direction of the connecting member.

[0010] Furthermore, one of the first limiting structure and the second limiting structure is a limiting groove, and the other is a protruding structure.

[0011] Furthermore, the limiting groove includes a first groove section, a second groove section and a third groove section which are connected in sequence; the first groove section is arranged along the axial direction of the mounting groove, and the end of the first groove section which is away from the groove bottom surface of the mounting groove has an opening structure; the second groove section is arranged along the circumferential direction of the mounting groove; the third groove section is arranged along the axial direction of the mounting groove, and the end of the third groove section which is away from the groove bottom surface of the mounting groove has a contact surface, and the first groove section and the third groove section are located on the same side of the second groove section.

[0012] Furthermore, the inner wall surface of the first groove section abuts against and slides relatively to the outer surface of the protruding structure, so as to limit the protruding structure.

[0013] Further, the limiting groove is arranged on the groove wall surface of the installation groove, and the limiting groove is communicated with the installation groove; and / or the elastic member is arranged between the connecting member and the groove bottom surface of the installation groove.

[0014] According to another aspect of the utility model, a robot is provided, comprising the above-mentioned connecting device.

[0015] By applying the technical solution of the utility model, the following technical effects are achieved:

[0016] The connection between the base and the connecting member is achieved through the cooperation between the first limiting structure of the base, the second limiting structure of the connecting member and the connecting member, and the base and the connecting member are respectively connected to two robots to be connected, thereby realizing the connection between the two robots. After the base and the connecting member are connected, they are limited by the limiting member, which is beneficial to increase the stability of the connection.

[0017] When the limiter is in the locked position, the limiter can increase the stability of the connection between the base and the connecting seat; when the limiter is in the unlocked position, the base and the connecting member can be convenient to each other, thereby facilitating the disassembly between the base and the connecting member.

[0018] Driven by the reset member, the limit member needs to always remain in the locked position, so that in the absence of external force, the limit member is always located inside the mounting hole to prevent the limit member from protruding from the mounting hole, avoid changes in the position of the limit member due to accidental touch, and further increase the stability of the connection between the base and the connector. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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:

[0020] Figure 1 It is a schematic diagram of the overall structure of the connecting device of the utility model;

[0021] Figure 2 It is an exploded view of the connection device of the utility model;

[0022] Figure 3 It is a three-dimensional structural schematic diagram of the limiting member of the utility model.

[0023] The above drawings include the following reference numerals:

[0024] 1. Base; 11. Mounting groove; 111. Mounting hole; 12. First limiting structure; 121. First groove section; 1211. Opening structure; 122. Second groove section; 123. Third groove section; 1231. Abutment surface; 2. Connecting member; 21. Second limiting structure; 3. Elastic member; 4. Limiting member; 41. Handle portion; 42. Abutment portion; 5. Rotating shaft. DETAILED DESCRIPTION

[0025] 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.

[0026] 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.

[0027] 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.

[0028] In order to facilitate the connection between different robots, the utility model provides a connection device, which is convenient for connecting two robots to be connected and disassembling them after connection.

[0029] Embodiment 1

[0030] A connecting device, see Figures 1 to 3The connecting device includes a base 1, a connecting member 2, an elastic member 3 and a limiting member 4. The base 1 is provided with a mounting groove 11, and a first limiting structure 12 is provided on the groove wall of the mounting groove. The connecting member 2 is movably arranged in the mounting groove 11, and a second limiting structure 21 cooperating with the first limiting structure 12 is provided on the connecting member 2. The elastic member 3 is arranged between the base 1 and the connecting member 2, and the elastic member 3 provides a driving force for the connecting member 2 to move out of the mounting groove 11. The limiting member 4 is movably arranged on the base 1, and the limiting member 4 has a locking position in which at least a portion of the limiting member 4 extends into the interior of the mounting groove 11 and abuts against the connecting member 2, and an unlocking position in which the abutment with the connecting member 2 is released.

[0031] Among them, the base 1 and the connecting member 2 are respectively connected to two parts to be connected, and the connection between the two parts to be connected is realized by the connection between the base 1 and the connecting member 2. The parts to be connected are usually two robots or robot joints. The connection between the base 1 and the connecting member 2 is realized by matching the first limiting structure 12 of the base 1 with the second limiting structure 21 of the connecting member 2. When the first limiting structure 12 and the second limiting structure 21 are matched, and the limiting member 4 is in the locking position, under the limiting action of the limiting member 4, the first limiting structure 12 and the second limiting structure 21, the connecting member 2 and the base 1 are in a stable connection state. When the limiting member 4 is in the unlocking position, the first limiting structure 12 and the second limiting structure 21 can move relative to each other, so that the connecting member 2 can be separated from the base 1, so that the two are separated.

[0032] By switching the limiting member 4 between the locking position and the unlocking position, the base 1 and the connecting member 2 can be kept in a stable connection state, or the base 1 and the connecting member 2 can be separated.

[0033] Furthermore, the installation groove 11 is a cylindrical groove structure, the connecting member 2 is a cylindrical structure, and the diameter of the connecting member 2 is smaller than the diameter of the opening of the installation groove.

[0034] In this embodiment, the first limiting structure 12 and the second limiting structure 21 are interference-fitted to achieve that at least a portion of the connector 2 can be limited inside the installation groove 11 .

[0035] See also Figure 1 to Figure 2 A mounting hole 111 communicating with the mounting groove 11 is formed on the side wall of the base 1 , and at least a portion of the limiting member 4 is movably mounted in the mounting hole 111 .

[0036] In this embodiment, when the limiting member 4 is in the unlocking position, at least another portion of the limiting member 4 is exposed on the outside of the base 1 .

[0037] When the limiting member 4 is in the locking position, a portion of the limiting member 4 extends into the interior of the mounting groove 11 and another portion of the limiting member 4 is hidden in the interior of the mounting through hole 111 .

[0038] The installation hole 111 provides an installation position for the limiter 4. When the limiter 4 is in the unlocked position, the limiter 4 can be conveniently switched from the unlocked position to the locked position by operating the limiter 4 exposed on the outer side of the base 1. When the limiter 4 is in the locked position, the other part of the limiter 4 is hidden inside the installation hole 111. By hiding the limiter 4 inside the installation hole 111, the outer wall of the entire base 1 can be free of protrusions, and the change of the position of the limiter 4 caused by accidental touch can be avoided, thereby maintaining the stability of the locked position of the limiter 4, thereby improving the stability of the connection of the connecting device; at the same time, the aesthetics of the connecting device can also be improved.

[0039] It should be noted that when the limiting member 4 is in the locking position, a hand-gripping space is formed between a portion of the limiting member 4 and the mounting through hole 111 to facilitate the operation of the limiting member 4 .

[0040] Furthermore, the connecting device further comprises a rotating shaft 5 , which is disposed inside the mounting through hole 111 , and at least a portion of the limiting member 4 is rotatably connected to the base 1 via the rotating shaft 5 .

[0041] The rotating shaft 5 and the base 1 are connected in a rotating manner, which is conducive to reducing friction resistance and is also convenient for operation. When the limiter 4 needs to be switched between the locked position and the unlocked position, it is only necessary to rotate the limiter 4. The rotation connection between the limiter 4 and the rotating shaft 5 facilitates the switching of the position of the limiter 4.

[0042] Furthermore, the connection device further comprises a reset member, which is arranged between the rotating shaft 5 and the limiting member 4, and provides a driving force for the limiting member 4 to be in a locked position or an unlocked position. The rotating shaft 5 is fixedly connected to the base 1, and the limiting member 4 is rotatably connected to the rotating shaft 5.

[0043] It should be noted that the reset member is not limited to being disposed between the rotating shaft 5 and the position limiting member 4, but may also be disposed between the base 1 and the rotating shaft 5. The rotating shaft 5 is fixedly connected to the position limiting member 4, and the rotating shaft 5 is rotatably connected to the base 1.

[0044] Wherein, under the driving of the reset member, the limiting member 4 can always be in the locking position or the releasing position.

[0045] In a specific implementation of this embodiment, the reset member provides a driving force for the limiter 4 to be in the locked position, so that in the absence of external force, the limiter 4 will not be exposed outside the base 1, preventing the limiter 4 from protruding from the mounting hole 111 to the outside of the base 1, and avoiding the change of the position of the limiter 4 due to accidental touch. The stability of the locked position of the limiter 4 is further increased, and the stability of the connection of the connecting device is improved.

[0046] In this embodiment, the reset element may be a torsion spring.

[0047] See also Figures 1 to 3 The limiting member 4 includes a handle portion 41 and abutment portion 42, the handle portion 41 and the abutment portion 42 are fixedly connected, the abutment portion 42 is rotatably connected to the base 1 through the rotating shaft 5, and when the limiting member 4 is in the locked position, at least a portion of the abutment portion 42 is located inside the mounting groove 11 and abuts against the connecting member 2.

[0048] Specifically, when the limiting member 4 is in the locking position, the connecting member 2 can be prevented from sliding in the base 1 by the abutment between the abutting portion 42 and the connecting member 2 , thereby limiting the connecting member 2 .

[0049] Furthermore, along the extending direction of the handle portion 41 , the abutting portion 42 is fixedly connected to one end of the handle portion 41 .

[0050] Furthermore, by operating the handle portion 41 , the contact portion 42 can be easily driven to rotate.

[0051] Furthermore, the abutting portion 42 is generally a cam, and whether it extends into the interior of the installation groove 11 can be determined by driving it to rotate.

[0052] In this embodiment, when the limit member 4 is in the unlocked position, at least a portion of the handle portion 41 is exposed on the outside of the base 1, and the abutment portion 42 is located inside the mounting hole 111; when the limit member 4 is in the locked position, the handle portion 41 is hidden inside the mounting hole 111, and at least a portion of the abutment portion 42 is located inside the mounting groove 11.

[0053] It should be noted that when the limiting member 4 is in the locking position, a hand-engaging space is formed between the end of the handle portion 41 away from the abutting portion 42 and the mounting through hole 111 .

[0054] In this embodiment, multiple first limiting structures 12 and multiple second limiting structures 21 are provided, and the first limiting structures 12 and the second limiting structures 21 are provided in a one-to-one correspondence. Multiple first limiting structures 12 are provided at intervals along the circumference of the connecting member 2, and multiple second limiting structures 21 are provided at intervals along the circumference of the connecting member 2.

[0055] By providing a plurality of one-to-one corresponding first limiting structures 12 and second limiting structures 21 , the stability of the connection between the base 1 and the connecting member 2 can be increased, and the connection effect between the base 1 and the connecting member 2 can be increased.

[0056] In this embodiment, one of the first limiting structure 12 and the second limiting structure 21 is a limiting groove, and the other is a protruding structure.

[0057] The raised structure moves with the base 1 or the connecting member 2 inside the limiting groove, and the connection between the base 1 and the connecting member 2 is achieved by sliding the raised structure in the limiting groove. The base 1 and the connecting member 2 can move relative to each other while limiting the two, thereby facilitating the connection and separation between the base 1 and the connecting seat.

[0058] Furthermore, the limiting groove includes a first groove section 121, a second groove section 122 and a third groove section 123 which are connected in sequence; the first groove section 121 is arranged along the axial direction of the mounting groove 11, and the end of the first groove section 121 which is away from the groove bottom surface of the mounting groove 11 has an opening structure 1211; the second groove section 122 is arranged along the circumferential direction of the mounting groove 11; the third groove section 123 is arranged along the axial direction of the mounting groove 11, and the end of the third groove section 123 which is away from the groove bottom surface of the mounting groove 11 has a contact surface 1231, and the first groove section 121 and the third groove section 123 are located on the same side of the second groove section 122.

[0059] The first slot section 121 is used to provide a channel for the sliding of the protruding structure, so that the protruding structure moves to the inside of the second slot section 122 through the first slot section 121 .

[0060] Furthermore, the inner wall surface of the first groove section 121 abuts against and slides relatively to the outer surface of the protruding structure, so as to limit the protruding structure.

[0061] Furthermore, the limiting groove is arranged on the groove wall surface of the installation groove 11 , and the limiting groove is communicated with the installation groove 11 .

[0062] During installation and connection, since the first slot section 121 has an opening structure 1211, the protruding structure slides from the opening structure 1211 into the first slot section 121, and then slides into the third slot section 123 along the first slot section 121 and the second slot section 122 in sequence, and abuts against the abutting surface 1231 in the third slot section 123, completing the connection between the first limiting structure 12 and the second limiting structure 21. After the protruding structure abuts against the abutting surface 1231, the limiting member 4 is switched to the locking position, and the abutting portion 42 of the limiting member 4 is rotated into the installation slot 11. At this time, the protruding structure cannot slide in the third slot section 123 under the obstruction of the abutting portion 42. With the cooperation of the protruding structure and the limiting slot, the base 1 and the connecting member 2 maintain a stable connection state. When the limit member 4 switches to the unlocked position, the abutment portion 42 moves from the mounting groove 11 to the inside of the mounting hole 111, and the protrusion structure can slide out of the limit groove in the opposite direction of the protrusion structure sliding in, thereby realizing the separation of the base 1 and the connector 2.

[0063] In this embodiment, the elastic member 3 is disposed between the connecting member 2 and the bottom surface of the mounting groove 11 .

[0064] Among them, the elastic member 3 provides elastic force for the connecting member 2 to move in the direction away from the bottom surface of the installation groove 11. Driven by the elastic force, the protruding structure can abut against the abutment surface 1231 of the third groove section 123, so that the connecting member 2 can be in a stable state after installation.

[0065] In this embodiment, the elastic member 3 is a spring structure.

[0066] Embodiment 2

[0067] Different from the first embodiment, in this embodiment, at least another part of the limiting member 4 is exposed on the outside of the base through the mounting hole 111 .

[0068] When the limiting member 4 is in the locking position, at least another portion of the limiting member 4 is exposed outside the base 1 .

[0069] When the limiting member 4 is in the unlocked position, at least another part of the limiting member 4 is exposed outside the base 1. That is, whether the limiting member 4 is in the locked position or the unlocked position, at least a part of the limiting member 4 is exposed outside the base 1. The limiting member 4 can be operated by the part of the limiting member 4 exposed outside the base 1.

[0070] Furthermore, the limiting member 4 includes a handle portion 41 and an abutting portion 42 , and the handle portion 41 is always partially exposed outside the base 1 , so that the abutting portion 42 can be driven by the handle portion 41 to extend into or out of the installation slot 11 .

[0071] In this embodiment, the mounting hole 111 plays a certain role in accommodation, and placing the limiter 4 in the mounting hole can reduce the portion of the limiter 4 exposed outside the base 1. Whether in the locked position or the unlocked position, the limiter 4 exposed outside the base 1 can facilitate the operation of the limiter 4 or the connection of the limiter 4 with other components, thereby facilitating the movement of the limiter 4 and realizing the switching of the limiter 4 between the locked position and the unlocked position.

[0072] Embodiment 3

[0073] This embodiment provides a robot, including the connecting device in the first embodiment or the second embodiment.

[0074] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0075] 1. The connection between the base 1 and the connecting member 2 is achieved through the cooperation between the first limiting structure 12 of the base 1 and the second limiting structure 21 of the connecting member 2 and the connecting member 2, and the base 1 and the connecting member 2 are respectively connected to two robots to be connected, thereby realizing the connection of the two robots. After the base 1 and the connecting member 2 are connected, they are limited by the limiting member 4 to increase the stability of the connection.

[0076] 2. When the limit member 4 is in the locked position, the limit can increase the stability of the connection between the base 1 and the connecting seat; when the limit member 4 is in the unlocked position, the base 1 and the connecting member 2 can be convenient to each other, thereby facilitating the disassembly between the base 1 and the connecting member 2.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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 connection device, characterized in that: include: A base (1), the base (1) being provided with a mounting groove (11), and a groove wall surface of the mounting groove (11) being provided with a first limiting structure (12); A connecting member (2), the connecting member (2) being movably arranged in the installation groove (11), and the connecting member (2) having a second limiting structure (21) cooperating with the first limiting structure (12); an elastic member (3), the elastic member (3) being arranged between the base (1) and the connecting member (2), the elastic member (3) providing a driving force for the connecting member (2) to move out of the installation groove (11); A limiting member (4), the limiting member (4) being movably arranged on the base (1), the limiting member (4) having a locking position in which at least a portion of the limiting member (4) extends into the interior of the installation groove (11) and abuts against the connecting member (2), and an unlocking position in which the abutment with the connecting member (2) is released.

2. The connection device according to claim 1, characterized in that: A mounting hole (111) communicating with the mounting groove (11) is provided on the side wall of the base (1); the connecting device further comprises a rotating shaft (5); the rotating shaft (5) is arranged inside the mounting hole (111); at least a portion of the limiting member (4) is rotatably connected to the base (1) via the rotating shaft (5).

3. The connection device according to claim 2, characterized in that: The connection device further comprises a reset member, which is arranged between the rotating shaft (5) or the base (1) and the limiting member (4), and provides a driving force for the limiting member (4) to be in the locked position or the unlocked position.

4. The connection device according to claim 2, characterized in that: The limiting member (4) comprises: A handle (41); The abutment portion (42) is fixedly connected to the handle portion (41), and the abutment portion (42) is rotatably connected to the base (1) via the rotating shaft (5). When the limiting member (4) is in the locking position, at least a portion of the abutment portion (42) is located inside the mounting groove (11) and abuts against the connecting member (2).

5. The connection device according to claim 1, characterized in that: A plurality of the first limiting structures (12) and the second limiting structures (21) are provided, the first limiting structures (12) and the second limiting structures (21) are provided in one-to-one correspondence, and the plurality of the first limiting structures (12) are provided at intervals along the circumference of the connecting member (2).

6. The connection device according to claim 1, characterized in that: One of the first limiting structure (12) and the second limiting structure (21) is a limiting groove, and the other is a protruding structure.

7. The connection device according to claim 6, characterized in that: The limiting groove comprises a first groove section (121), a second groove section (122) and a third groove section (123) which are connected in sequence; The first slot section (121) is arranged along the axial direction of the installation slot (11), and an end of the first slot section (121) facing away from the slot bottom surface of the installation slot (11) has an opening structure (1211); The second groove section (122) is arranged along the circumferential direction of the mounting groove (11); The third slot section (123) is arranged along the axial direction of the mounting slot (11); an end of the third slot section (123) facing away from the slot bottom surface of the mounting slot (11) has an abutment surface (1231); and the first slot section (121) and the third slot section (123) are located on the same side of the second slot section (122).

8. The connection device according to claim 7, characterized in that The inner wall surface of the first groove section (121) abuts against and slides relatively to the outer surface of the protruding structure, so as to limit the protruding structure.

9. The connection device according to claim 6, characterized in that: The limiting groove is arranged on the groove wall surface of the installation groove (11), and the limiting groove is communicated with the installation groove (11); and / or The elastic member (3) is arranged between the connecting member (2) and the bottom surface of the installation groove (11).

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

Images