Joint connection structure and joint module

Abstract

The utility model discloses a joint connecting structure and a joint module, the joint module comprises a first connecting part arranged on the inner wall of the first end of the joint module, a second connecting part arranged on the inner wall of the second end of the joint module, and a connecting assembly. The connecting assembly is connected to the first connecting part of one joint module and the second connecting part of the other joint module. According to the joint connecting structure and the joint module, the problem that bolts are exposed in the prior art can be solved, and the integrity and consistency of the joint module can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to a joint connection structure and a joint module. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. Industrial robots include multiple joint modules, and two adjacent joint modules are connected by a joint connection structure.

[0003] In the past, the joint module was fixed by a hexagonal screw combined with a keyhole. Figure 1 and Figure 2 , the Chinese utility model patent number is ZL202020219985.8, and its name is a collaborative robot joint connection method. It discloses the following technical scheme: the joint module has a shell connection end A101 and a harmonic reducer end cover connection end A102, and a plurality of threaded holes A103 distributed on the circumference are provided on the end face of the shell connection end A101, and a hexagonal screw A104 is screwed in the threaded hole A103, and a mounting hole A105 is provided on the end face of the harmonic reducer end cover connection end A102, which is evenly opposite to each threaded hole A103, and the diameter of the mounting hole A105 is larger than the nut end of the hexagonal screw A104, and each mounting hole A105 is provided with an arc-shaped limiting groove A106 for limiting the hexagonal screw A104, and each mounting hole A105 and its arc-shaped limiting groove A106 together constitute a keyhole in the shape of a key. When two joint modules are connected, the mounting hole A105 of one joint module is passed through the hexagonal screw A104 fixed on the threaded hole A103 of the other joint module, and then one of the joint modules is rotated relative to the other joint module so that the arc-shaped limit groove A106 clamps the hexagonal screw A104. Although this connection method can ensure that the mating surfaces of the two joint modules fit together, the keyhole on the connecting flange is often easily crushed by the hexagonal screw A104, and the tightening of the hexagonal screw A104 is cumbersome, and the nut of the hexagonal screw A104 is exposed between the two joint modules, and an outer retaining ring (not shown in the figure) needs to be separately provided to cover the hexagonal screw A104. Utility Model Content

[0004] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is: to provide a joint connection structure and a joint module, so as to solve the problem of exposed bolts in the prior art and to improve the integrity and consistency of the joint module.

[0005] In order to solve the above technical problems, a technical solution adopted by the utility model is: a joint connection structure is provided, including a first connection part arranged on the inner wall of the first end of the joint module, a second connection part arranged on the inner wall of the second end of the joint module, and a connection component. When the two joint modules are connected, the connection component is connected to the first connection part of one joint module and the second connection part of the other joint module.

[0006] Furthermore, the first connecting part includes a first connecting platform distributed circumferentially around the inner wall of the first end and a first connecting hole arranged on the first connecting platform; the second connecting part includes a second connecting platform distributed circumferentially around the inner wall of the second end and a second connecting hole arranged on the second connecting platform; when two joint modules are connected, the connecting assembly can be detachably connected to the first connecting hole of one joint module and the second connecting hole of the other joint module.

[0007] Furthermore, a harmonic reducer is provided at the first end of the joint module, and the harmonic reducer is connected to the first connecting platform through a reducer flange, and a third connecting hole is provided on the reducer flange at a position directly opposite to the first connecting hole;

[0008] A torque sensor flange is connected to one end of the cross roller bearing of the harmonic reducer away from the reducer flange, and a fourth connection hole is arranged on the torque sensor flange at a position corresponding to the second connection hole; when two joint modules are connected, the fourth connection hole on the torque sensor flange on one joint module is arranged opposite to the second connection hole on the second connection platform of the other joint module;

[0009] The connecting assembly includes a first bolt and a second bolt, the first bolt is used to connect the first connecting hole on the first connecting platform of a joint module and the third connecting hole on the reducer flange, and the second bolt is used to connect the fourth connecting hole on the torque sensor flange and the second connecting hole on the second connecting platform of another joint module.

[0010] Furthermore, a connecting plate is provided in the joint module, which is coplanar with the first connecting platform and located on the inner periphery of the first connecting platform. The outer periphery of the connecting plate is connected to the first connecting platform. The connecting plate, the first connecting platform and the inner wall of the first end are combined to form an installation groove with an opening toward the first end. A side surface of the connecting plate and the first connecting platform facing the opening direction is defined as the bottom surface of the installation groove; the harmonic reducer is installed on the bottom surface of the groove through the reducer flange, the first connecting hole, the third connecting hole and the first bolt.

[0011] Furthermore, the inner ring of the cross roller bearing of the harmonic reducer is connected to the reducer flange, and the outer ring is connected to the torque sensor flange; the outer diameter of the torque sensor flange is larger than the outer diameter of the cross roller bearing, so that the torque sensor flange has an outer ring edge that extends beyond the outer circumference of the cross roller bearing in a radial direction, and the fourth connecting hole is opened at a position on the outer ring edge corresponding to the second connecting hole.

[0012] Furthermore, when two joint modules are connected, the first connection hole of one joint module and the second connection hole of the other joint module are staggered on the projection surface projected in the axial direction.

[0013] Furthermore, the first connecting platform is defined as an annular platform arranged around the inner wall of the first end, and the annular platform is provided with a plurality of the first connecting holes distributed at intervals around the circumference thereof, and a first clearance through hole is provided at a position on the annular platform corresponding to the fourth connecting hole, and the diameter of the first clearance through hole is greater than the diameter of the second bolt.

[0014] Furthermore, the harmonic reducer has a center hole for the wiring harness to pass through; a blocking member is installed on the outer ring of the cross roller bearing of the harmonic reducer, and the blocking member has a blocking portion that extends beyond the outer circumferential surface of the outer ring in the radial direction; a blocking member is arranged on the reducer flange, and the blocking member is coplanar with the blocking portion; the blocking member rotates with the inner ring of the cross roller bearing, and when the blocking member rotates with the inner ring to the position of the blocking portion, it is blocked by the inner ring to prevent the wiring harness from rotating without restriction in the same direction.

[0015] Furthermore, the obstruction member is in a columnar structure, and a mounting hole for detachably mounting the obstruction member is provided on the reducer flange, and the mounting hole passes through the reducer flange along the axial direction; a second clearance through hole is provided on the first connecting platform at a position facing the obstruction member.

[0016] In order to solve the above technical problems, a technical solution adopted by the present invention is: providing a joint module, including the joint connection structure.

[0017] The joint connection structure in the embodiment of the utility model sets the first connection part, the second connection part and the connection assembly inside the shell of the joint module, and there is no need to independently design the outer retaining ring to cover the connection bolts. The connection bolts, the connection platform and other structures of the joint connection structure are all set inside the shell, so that the integrity and consistency between the joint modules are better, and the user's satisfaction and experience are further increased. The joint module in the embodiment of the utility model sets the first connection part on the inner wall of the first end of the shell, and sets the second connection part on the inner wall of the second end of the shell. The first connection part of the joint module and the second connection part of the second end of another adjacent joint module are connected by a connection assembly, and the second connection part of the second end of the joint module and the first connection part of the first end of another adjacent joint module are connected by a connection assembly. In this way, the two ends of the joint module can be connected to two adjacent joint modules respectively, realizing the multi-joint connection of the robot arm, and the connection method is simple and reliable. The joint module in the embodiment of the utility model is connected to another adjacent joint module in an end-to-end manner, so that the two end faces of the two joint modules are completely aligned, ensuring the assembly verticality or parallelism between the joints, and effectively improving the calibration accuracy of the whole machine. The joint module of the utility model embodiment arranges the obstructed member and the blocking member on the same plane so that the joint movement range does not exceed ±180°, effectively avoiding the wiring harness passing through the center hole of the harmonic reducer from being twisted off, thereby improving the safety of the entire machine. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 and Figure 2 It is a connection status diagram of two joint modules in the prior art.

[0020] Figure 3 It is a structural schematic diagram of a joint module in one embodiment of the utility model.

[0021] Figure 4 It is a side view of a joint module in one embodiment of the present invention.

[0022] Figure 5 yes Figure 4 Sectional view of AA.

[0023] Figure 6 yes Figure 4 Cross-sectional view of BB.

[0024] Figure 7 This is a connection status diagram of two joint modules in one embodiment of the utility model.

[0025] Figure 8 yes Figure 7 Cross-sectional view of CC.

[0026] Fig. 9 yes Figure 7 Cross-sectional view of DD.

[0027] The accompanying drawings in the specification are numeraled as follows:

[0028] Shell connection end A101; harmonic reducer end cover connection end A102; threaded hole A103; hexagonal screw A104; mounting hole A105; arc-shaped limit groove A106;

[0029] Joint module 100; another joint module 100'; first end 100a; second end 100b; second end 100b' of another joint module 100'; housing 110; first end inner wall 110a; inner cavity wall 110b; accommodating cavity 111; connecting plate 112; axial hole 112a; opening 113a; groove bottom surface 113b; installation cavity 114; annular cavity wall 114a; annular cavity 115; harmonic reducer 120; cross roller bearing 121; inner ring 121a; outer ring 121b; sixth connecting hole 121c; seventh connecting hole 121d; steel wheel 122; torque sensor flange 123; Fourth connecting hole 123a; receiving groove 123b; outer ring edge 123c; torque sensor 124; eighth connecting hole 124a; reducer flange 125; third connecting hole 125a; fifth connecting hole 125b; third bolt 126; fourth bolt 127; center hole 128; first connecting portion 130; first connecting platform 131; first clearance through hole 131a; second clearance through hole 131b; first connecting hole 132; second connecting portion 140; second connecting platform 141; second connecting hole 142; first bolt 151; second bolt 152; blocking portion 161; fifth bolt 162; blocking member 163. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0031] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0033] See also Figure 3 and Figure 7 , Figure 3 The structure of a joint module 100 in one embodiment is shown. The end of the joint module 100 connected to another adjacent joint module 100' is called the first end 100a, and the end of the joint module 100 away from the first end 100a is called the second end 100b. That is, a joint module 100 has a first end 100a and a second end 100b, the first end 100a is connected to the second end 100b' of another adjacent joint module 100', and the second end 100b can be connected to the first end of another joint module.

[0034] The joint module 100 includes a housing 110, a motor module, a brake, a driver, an encoder (not shown) arranged in the housing 110, a harmonic reducer 120 arranged in the first end inner cavity of the housing 110, and a joint connection structure, and the joint connection structure is used to connect the joint module 100 with another adjacent joint module 100'. The first end of the housing 110 is a hollow cylindrical structure, and the second end of the housing 110 is also a hollow cylindrical structure. The axis L2 of the second end of the housing 110 is perpendicular to the axis L1 of the first end, thereby defining the housing 110 as an L-shaped hollow cylindrical structure as a whole, and defining the joint module 100 as an L-shaped columnar structure as a whole. Of course, the shape of the housing 110 can be set according to the needs of different implementations, and it is not limited to the above-mentioned L-shaped structure.

[0035] See also Figures 4 to 9The second end inner cavity of the shell 110 is provided with an accommodating cavity 111 for accommodating the outer end of the harmonic reducer 120 of another adjacent joint module 100'. A connecting plate 112 is coaxially arranged in the first end inner cavity of the shell 110, and the connecting plate 112 is used to support the harmonic reducer 120. The connecting plate 112 is provided with an axial hole 112a, and the axial hole 112a is used for the power shaft (not shown) of the harmonic reducer 120 to pass through it. The outer periphery of the connecting plate 112 can be directly seamlessly connected to the first end inner wall 110a of the shell 110, and can also be connected to the first end inner wall 110a of the shell 110 in a gap-like manner through a plurality of radially shaped connecting strips. The side surface of the connecting plate 112 facing the first end and the inner wall 110a of the first end enclose a mounting groove 113 with an opening 113a facing the first end. The mounting groove 113 is used to accommodate the harmonic reducer 120. When the harmonic reducer 120 is assembled in the mounting groove 113, the outer end of the harmonic reducer 120 extends out of the first end of the housing 110 through the opening 113a. When the joint module 100 is connected to the second end 100b' of another adjacent joint module 100', the outer end of the harmonic reducer 120 is accommodated in the accommodating cavity 111 of the other adjacent joint module 100' (see Figure 8 ). A mounting cavity 114 for mounting the motor assembly is provided on a side of the connecting plate 112 away from the opening 113a. The mounting cavity 114 surrounds the outside of the axial hole 112a and is coaxially arranged therewith. An annular cavity 115 is formed between the annular cavity wall 114a of the mounting cavity 114 and the inner cavity wall 110b of the housing 110. The annular cavity 115 can be divided into multiple parts by at least one partition wall 115a, thereby forming at least two heat dissipation cavities. Heat dissipation components can be arranged in the at least two heat dissipation cavities to dissipate internal heat to the outside of the housing 110.

[0036] The harmonic reducer 120 can be any harmonic reducer 120 on the market. The harmonic reducer 120 is connected between the joint module 100 and another adjacent joint module 100' through the joint connection structure, so that the joint module 100 and another adjacent joint module 100' can rotate relative to each other. The harmonic reducer 120 includes a cross roller bearing 121, a power shaft (not shown), a steel wheel 122, a flexible wheel, a wave generator (not shown), a torque sensor flange 123 arranged at the first end (outer end) of the cross roller bearing 121, and a torque sensor 124 arranged at the outer end of the torque sensor flange 123. The inner ring 121a of the cross roller bearing 121 is assembled in the mounting groove 113 at the first end of the joint module 100, and the outer ring 121b of the cross roller bearing 121 is connected to the torque sensor flange 123.

[0037] The joint connection structure includes a first connection portion 130 arranged on the inner wall 110a of the first end of the joint module 100, a second connection portion 140 arranged on the inner wall of the second end of the joint module 100 (the inner cavity wall 110b of the above-mentioned accommodating cavity 111), and a connection component. When two joint modules are connected, the connection component is connected to the first connection portion 130 of one joint module 100 and the second connection portion 140 of the other joint module 100'. Specifically, the first connection portion 130 includes a first connection platform 131 distributed circumferentially around the inner wall 110a of the first end and a first connection hole 132 arranged on the first connection platform 131 along the axis L1 direction of the first end of the shell 110; the second connection portion 140 includes a second connection platform 141 distributed circumferentially around the inner wall of the second end of the shell 110 and a second connection hole 142 arranged on the second connection platform 141 along the axis L2 direction of the second end. When two joint modules are connected, the first connection hole 132 of one joint module 100 and the second connection hole 142 of another joint module 100' are staggered on the projection surface projected in the direction of the axis L1. The connecting assembly is detachably connected to the first connection hole 132 of one joint module 100 and the second connection hole 142 of another joint module 100'. The connecting assembly includes a first bolt 151 and a second bolt 152, the first bolt 151 connects the harmonic reducer 120 of the joint module 100 with the first connection hole 132, and the second bolt 152 connects the harmonic reducer 120 of the joint module 100 with the second connection hole 142 of another adjacent joint module 100'. The first bolt 151 and the second bolt 152 use the harmonic reducer 120 as a rotation medium, so that one joint module 100 and another adjacent joint module 100' can rotate relative to each other after being connected to the two ends of the harmonic reducer 120 respectively. Of course, in other embodiments, the first bolt 151 and the second bolt 152 can also use a separate rotary bearing as a rotation medium to enable one joint module 100 and another adjacent joint module 100 ′ to rotate relative to each other.

[0038] In the illustrated embodiment, the first connecting platform 131 is an annular platform disposed between the connecting plate 112 and the first end inner wall 110a, the inner periphery of the annular platform is integrally formed with the connecting plate 112, and the outer periphery is integrally connected with the first end inner wall 110a, so that the connecting plate 112 and the first end inner wall 110a are seamlessly connected. The first side surface of the annular platform facing the opening 113a is coplanar (located in the same plane) with the first side surface of the connecting plate 112, and the first side surface of the annular platform and the first side surface of the connecting plate 112 integrally form the groove bottom surface 113b of the mounting groove 113. The second side surface of the annular platform away from the first side surface protrudes from the second side surface of the connecting plate 112 in a direction away from the opening 113a. The annular cavity wall 114a is formed between the second side surface of the annular platform and the second side surface of the connecting plate 112 and extends in a direction away from the opening 113a. The annular platform, the inner cavity wall 110b of the shell 110 and the annular cavity wall 114a together form the annular cavity 115. The second side surface of the annular platform forms the bottom wall of the annular cavity 115. A plurality of first connecting holes 132 are provided on the ring platform (first connecting platform 131), and the plurality of first connecting holes 132 are arranged at intervals along the circumferential direction of the ring platform, and each first connecting hole 132 passes through the ring platform along the axis L1 direction, and each first connecting hole 132 is connected with the first bolt 151, and the first bolt 151 is used to connect a reducer flange 125, and the reducer flange 125 is connected to the harmonic reducer 120, so that the harmonic reducer 120 is installed on the groove bottom surface 113b of the installation groove 113 through the reducer flange 125, the first bolts 151, and the first connecting holes 132.

[0039] The outer diameter of the reducer flange 125 matches the inner diameter of the mounting groove 113 (the inner diameter of the first end inner wall 110a of the housing 110). A third connection hole 125a is provided on the periphery of the reducer flange 125 at a position directly opposite to the first connection hole 132. The number and position of the third connection holes 125a correspond to the first connection holes 132. During installation, after aligning the third connection holes 125a with the first connection holes 132, the first bolt 151 is passed through the first connection hole 132 and then screwed into the third connection hole 125a. A plurality of fifth connection holes 125b are provided on the inner periphery of the reducer flange 125 at a position directly opposite to the steel wheel 122 of the harmonic reducer 120 and the inner ring 121a of the cross roller bearing 121. The plurality of fifth connection holes 125b are spaced apart along the inner periphery of the reducer flange 125, and each fifth connection hole 125b passes through the reducer flange 125 along the axis L1 direction. The steel wheel 122 and the inner ring 121a of the cross roller bearing 121 are both provided with a sixth connecting hole 121c at a position opposite to the fifth connecting hole 125b. During installation, the sixth connecting hole 121c is aligned with the fifth connecting hole 125b, and then the third bolt 126 is passed through the fifth connecting hole 125b and screwed into the sixth connecting hole 121c.

[0040] The torque sensor flange 123 is connected to the end of the cross roller bearing 121 of the harmonic reducer 120 away from the reducer flange 125. Specifically, a plurality of seventh connection holes 121d are provided on the outer ring 121b of the cross roller bearing 121, and the plurality of seventh connection holes 121d are distributed at intervals along the circumference of the cross roller bearing 121, and each of the seventh connection holes 121d penetrates the outer ring 121b of the cross roller bearing 121 along the axis L1 direction. The torque sensor flange 123 and the torque sensor 124 are both provided with an eighth connection hole 124a at the position facing the seventh connection hole 121d. During installation, the seventh connection hole 121d and the eighth connection hole 124a are aligned, and the fourth bolt 127 is passed through the seventh connection hole 121d and then screwed into the eighth connection hole 124a.

[0041] A fourth connection hole 123a is provided on the torque sensor flange 123 at a position corresponding to the second connection hole 142. A first clearance through hole 131a is provided on the above-mentioned ring stage at a position corresponding to the fourth connection hole 123a. When two joint modules are connected, the first clearance through hole 131a of one joint module 100 and the second connection hole 142 of another joint module 100' are coaxially arranged, and the diameter of the first clearance through hole 131a is greater than the diameter of the second bolt 152; and the fourth connection hole 123a on the torque sensor flange 123 of one joint module 100 is arranged opposite to the second connection hole 142 on the second connection platform 141 of another joint module 100', and the second bolt 152 passes through the first clearance through hole 131a and then connects the fourth connection hole 123a on the torque sensor flange 123 and the second connection hole 142 on the second connection platform 141 of another joint module 100'. Specifically, a receiving groove 123b for accommodating at least a portion of the cross roller bearing 121 is provided on the torque sensor flange 123 at a position directly opposite the cross roller bearing 121, and an outer peripheral wall of the receiving groove 123b forms an outer ring edge 123c surrounding the outer periphery of the cross roller bearing 121, and an outer diameter of the outer ring edge 123c is greater than an outer diameter of the cross roller bearing 121. The above-mentioned fourth connecting hole 123a is opened at a position on the outer ring edge 123c corresponding to the second connecting hole 142. When the joint module 100 is connected to the second end 100b' of another adjacent joint module 100', the first end (the end away from the reducer flange 125) of the torque sensor flange 123 on the joint module 100 is placed on the second connecting platform 141, and the fourth connecting hole 123a on the torque sensor flange 123 is aligned with the second connecting hole 142 on the second connecting platform 141 of the other adjacent joint module 100', and then the second bolt 152 is passed through the fourth connecting hole 123a and then screwed into the second connecting hole 142.

[0042] The harmonic reducer 120 has a central hole 128 for the wire harness to pass through. A blocking member is installed on the outer ring 121b of the cross roller bearing 121 of the harmonic reducer 120, and the blocking member has a blocking portion 161 that exceeds the outer peripheral surface of the outer ring 121b in the radial direction. The blocking member is detachably connected to one end of the outer ring 121b of the cross roller bearing 121 close to the reducer flange 125 through a fifth bolt 162, and the blocking portion 161 is located between the outer ring edge 123c and the reducer flange 125. A blocking member 163 is provided on the reducer flange 125, and the blocking member 163 is coplanar with the blocking portion 161 (located in the same longitudinal section). The blocking member 163 rotates with the inner ring 121a of the cross roller bearing 121. When the blocking member 163 rotates with the inner ring 121a to the position of the blocking portion 161, it is blocked by the inner ring 121a to prevent the wiring harness from rotating in the same direction without restriction, so as to prevent the wiring harness from rotating more than ±180°. The blocking member 163 is a columnar structure (such as the stud shown in the accompanying drawings), and a mounting hole for detachably mounting the blocking member 163 is provided on the reducer flange 125, and the mounting hole passes through the reducer flange 125 along the axis L1 direction; a second clearance through hole 131b is provided on the first connecting platform 131 at a position directly opposite to the blocking member 163.

[0043] In the embodiment shown, the connection method of the two joint modules is as follows:

[0044] (I) Installing the harmonic reducer: (1) Aligning the third connecting hole 125a on the reducer flange 125 with the first connecting hole 132 at the first end of the first joint module 100; (2) Aligning the mounting hole on the reducer flange 125 with the second clearance hole 131b coaxially, allowing the blocking member 163 to pass through the second clearance hole 131b and then be screwed to the reducer flange 125, thereby allowing the axis of the blocking member 163 to be coplanar with the axis of the blocking member on the cross roller bearing 121, so that the rotational motion range of the blocking member 163 is close to ±180° (for example, ±175°); (3) Allowing the first bolt 151 to pass through the first connecting hole 132 and then be screwed into the third connecting hole 125a facing the first connecting hole;

[0045] (2) Connecting the second joint module to the first joint module: (1) Aligning the second end of the adjacent second joint module (another joint module 100') with the first end of the first joint module 100, that is, aligning the second connecting hole 142 on the second connecting platform 141 of the second end of the second joint module with the first clearance hole 131a on the first connecting platform 131 of the first joint module 100, and each first clearance hole 131a is located between the corresponding two adjacent first connecting holes 132; (2) Passing the second bolt 152 through the first clearance hole 131a and the fourth connecting hole 123a on the outer ring 121b of the cross roller bearing 121, and then screwing it into the second connecting hole 142. Since the inner ring 121a of the cross roller bearing 121 of the harmonic reducer 120 is connected to the reducer flange 125, and the reducer flange 125 is connected to the first joint module 100 through the first bolt 151, the first joint module 100 can rotate with the inner ring 121a of the cross roller bearing 121; and since the second end of the second joint module is connected to the outer ring 121b of the cross roller bearing 121 through the second bolt 152, the second joint module can rotate with the outer ring 121b relative to the inner ring 121a.

[0046] The joint connection structure in the embodiment of the utility model sets the first connection part, the second connection part and the connection assembly inside the shell of the joint module, and there is no need to independently design the variable diameter outer ring to block the connection bolts. The connection bolts, connection platform and other structures of the joint connection structure are all set inside the shell, so that the integrity and consistency between the joint modules are better, further increasing the user's satisfaction and experience. The joint module in the embodiment of the utility model sets the first connection part on the inner wall of the first end of the shell, and sets the second connection part on the inner wall of the second end of the shell. The first connection part of the joint module and the second connection part of the second end of another adjacent joint module are connected by a connection assembly, and the second connection part of the second end of the joint module and the first connection part of the first end of another adjacent joint module are connected by a connection assembly. In this way, the two ends of the joint module can be connected to two adjacent joint modules respectively, realizing the multi-joint connection of the robot arm, and the connection method is simple and reliable. The joint module in the embodiment of the utility model is connected to another adjacent joint module in an end-to-end manner, so that the two end faces of the two joint modules are completely aligned, ensuring the assembly verticality or parallelism between the joints, and effectively improving the calibration accuracy of the whole machine. The joint module of the utility model embodiment arranges the obstructed member and the blocking member on the same plane so that the joint movement range does not exceed ±180°, effectively avoiding the wiring harness passing through the center hole of the harmonic reducer from being twisted off, thereby improving the safety of the entire machine.

[0047] The above embodiments only express the preferred implementation of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A joint connection structure, characterized in that: It includes a first connecting part arranged on the inner wall of the first end of the joint module, a second connecting part arranged on the inner wall of the second end of the joint module, and a connecting component. When two joint modules are connected, the connecting component is connected to the first connecting part of one joint module and the second connecting part of the other joint module.

2. The joint connection structure according to claim 1, characterized in that: The first connecting part includes a first connecting platform distributed circumferentially around the inner wall of the first end and a first connecting hole arranged on the first connecting platform; the second connecting part includes a second connecting platform distributed circumferentially around the inner wall of the second end and a second connecting hole arranged on the second connecting platform; when two joint modules are connected, the connecting component can be detachably connected to the first connecting hole of one joint module and the second connecting hole of the other joint module.

3. The joint connection structure according to claim 2, characterized in that: A harmonic reducer is provided at the first end of the joint module, and the harmonic reducer is connected to the first connecting platform through a reducer flange, and a third connecting hole is provided on the reducer flange at a position directly opposite to the first connecting hole; A torque sensor flange is connected to one end of the cross roller bearing of the harmonic reducer away from the reducer flange, and a fourth connection hole is arranged on the torque sensor flange at a position corresponding to the second connection hole; when two joint modules are connected, the fourth connection hole on the torque sensor flange on one joint module is arranged opposite to the second connection hole on the second connection platform of the other joint module; The connecting assembly includes a first bolt and a second bolt, the first bolt is used to connect the first connecting hole on the first connecting platform of a joint module and the third connecting hole on the reducer flange, and the second bolt is used to connect the fourth connecting hole on the torque sensor flange and the second connecting hole on the second connecting platform of another joint module.

4. The joint connection structure according to claim 3, characterized in that: The joint module is provided with a connecting plate which is coplanar with the first connecting platform and is located on the inner periphery of the first connecting platform. The outer periphery of the connecting plate is connected to the first connecting platform. The connecting plate, the first connecting platform and the inner wall of the first end are combined to form a mounting groove with an opening toward the first end. The side surfaces of the connecting plate and the first connecting platform facing the opening direction are defined as the bottom surface of the mounting groove. The harmonic reducer is installed on the bottom surface of the groove through the reducer flange, the first connecting hole, the third connecting hole and the first bolt.

5. The joint connection structure according to claim 3, characterized in that: The inner ring of the cross roller bearing of the harmonic reducer is connected to the reducer flange, and the outer ring is connected to the torque sensor flange; the outer diameter of the torque sensor flange is larger than the outer diameter of the cross roller bearing, so that the torque sensor flange has an outer ring edge that extends beyond the outer circumference of the cross roller bearing in a radial direction, and the fourth connecting hole is opened at a position on the outer ring edge corresponding to the second connecting hole.

6. The joint connection structure according to claim 3, characterized in that: When two joint modules are connected, the first connection hole of one joint module and the second connection hole of the other joint module are staggered on the projection surface projected in the axial direction.

7. The joint connection structure according to claim 6, characterized in that: The first connecting platform is defined as an annular platform arranged around the inner wall of the first end, and the annular platform is provided with a plurality of the first connecting holes distributed at intervals around the circumference thereof, and a first clearance through hole is provided at a position on the annular platform corresponding to the fourth connecting hole, and the diameter of the first clearance through hole is greater than the diameter of the second bolt.

8. The joint connection structure according to claim 5, characterized in that: The harmonic reducer has a center hole for the wiring harness to pass through; a blocking member is installed on the outer ring of the cross roller bearing of the harmonic reducer, and the blocking member has a blocking portion that extends beyond the outer circumferential surface of the outer ring in the radial direction; a blocking member is arranged on the reducer flange, and the blocking member is coplanar with the blocking portion; the blocking member rotates with the inner ring of the cross roller bearing, and when the blocking member rotates with the inner ring to the position of the blocking portion, it is blocked by the inner ring to prevent the wiring harness from rotating without restriction in the same direction.

9. The joint connection structure according to claim 8, characterized in that: The obstruction member is in a columnar structure, and a mounting hole for detachably mounting the obstruction member is provided on the reducer flange, and the mounting hole passes through the reducer flange along the axial direction; a second clearance through hole is provided on the first connecting platform at a position directly facing the obstruction member.

10. A joint module, characterized in that: The invention comprises a joint connection structure as claimed in any one of claims 1 to 9.

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