Mechanical arm connecting structure and first connecting assembly, second connecting assembly and third connecting assembly thereof

Abstract

The utility model discloses a mechanical arm connecting structure and a first connecting assembly, a second connecting assembly and a third connecting assembly thereof. The mechanical arm connecting structure comprises a plurality of rotating joints. The rotating joint comprises a joint seat and a joint module fixedly installed in the joint seat, the joint module comprises a motor and a speed reducer, a first output shaft of the motor and a second output shaft of the speed reducer are hollow shafts, the second output shaft penetrates through the first output shaft, and the two ends of the second output shaft communicate with an inner cavity of the joint seat; the multiple rotating joints are connected in sequence, and the joint bases of every two adjacent rotating joints communicate with each other. When the cable sequentially penetrates through the joint bases in the multiple rotating joints, the cable sequentially penetrates through the first output shafts and the second output shafts of the multiple joint modules, and when the first output shafts and the second output shafts rotate, the cable located in the first output shafts and the second output shafts cannot rotate along with the first output shafts and the second output shafts, so that the cable twisting phenomenon is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a mechanical arm connection structure and a first, a second and a third connection component thereof. Background Art

[0002] In recent years, with the development of robot technology, the application of high-speed, high-precision, high-load-to-weight ratio high-performance robotic arms has attracted attention in the industrial and aerospace fields, and the motion trajectory of the robotic arms has become more complex. However, since the robotic arm will drive the cables buried in the robotic arm to move or rotate during the movement, the complex motion trajectory may cause the cables in the robotic arm to become twisted or even stuck, thereby damaging the cables. Utility Model Content

[0003] The utility model aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the utility model proposes a mechanical arm connection structure and its first, second and third connection components.

[0004] In a first aspect, an embodiment of the utility model provides a mechanical arm connection structure, the mechanical arm connection structure comprising:

[0005] Multiple rotating joints, the rotating joints include a joint seat and a joint module fixedly installed in the joint seat, the joint module includes a motor, a reducer and an output flange, the reducer is arranged at one end of the motor, the first output shaft of the motor is fixedly connected to the input end of the reducer, the first output shaft and the second output shaft of the reducer are both hollow shafts, the second output shaft is penetrated by the first output shaft, the output flange is fixedly connected to the second output shaft, and both ends of the second output shaft are connected to the inner cavity of the joint seat; the multiple rotating joints are connected in sequence, and the joint seats of two adjacent rotating joints are connected to each other.

[0006] The robotic arm connection structure according to the embodiment of the utility model has at least the following technical effects: when the cable passes through the joint seats in multiple rotating joints in sequence, the cable passes through the first output shaft and the second output shaft of multiple joint modules in sequence, and when the first output shaft and the second output shaft rotate, the cables located in the first output shaft and the second output shaft will not rotate with them to avoid the occurrence of wire twisting.

[0007] According to some embodiments of the utility model, one end of the joint seat is rotatably connected to a first connecting ring, a second connecting ring is fixedly provided on the outer peripheral wall of the joint seat, the first connecting ring and the second connecting ring are both provided with positioning holes, and a positioning pin can be simultaneously inserted into the positioning hole of the first connecting ring of one joint seat and the positioning hole of the second connecting ring of another joint seat, and the output flange is fixedly connected to the first connecting ring.

[0008] According to some embodiments of the utility model, the outer peripheral wall of the first connecting ring is provided with a first annular groove, and the outer peripheral wall of the second connecting ring is provided with a second annular groove; when the first connecting ring of the joint seat is in contact with the second connecting ring of another joint seat, the locking ring is simultaneously inserted into the first annular groove and the second annular groove to limit the separation of the two joint seats.

[0009] In the second aspect, an embodiment of the utility model also provides a first connecting component, including a robotic arm connection structure according to the embodiment of the first aspect of the utility model, wherein the axes of the two joint seats are perpendicular to each other, and the first connecting ring of one joint seat is fixedly connected to the second connecting ring of the other joint seat so that the two joint seats are rotatably connected.

[0010] In the third aspect, the embodiment of the utility model also provides a second connecting component, including a robotic arm connecting structure according to the embodiment of the first aspect of the utility model, the axes of the two joint seats are parallel to each other, a first long arm is provided between the two joint seats, the axis of the first long arm is perpendicular to the axis of the joint seat, and the two ends of the first long arm are respectively connected to the two joint seats.

[0011] According to some embodiments of the utility model, a third connecting ring is provided at both ends of the first long arm, and the third connecting ring is provided with a positioning hole, and a positioning pin can be inserted into the positioning hole of the second connecting ring and the positioning hole of the third connecting ring at the same time.

[0012] According to some embodiments of the utility model, the outer peripheral wall of the third connecting ring is provided with a third annular groove; when the second connecting ring of the joint seat is in fit with the third connecting ring, a locking ring is simultaneously inserted into the second annular groove and the third annular groove to limit the separation of the joint seat and the first long arm.

[0013] In the fourth aspect, the embodiment of the utility model also provides a third connecting component, including a mechanical arm connecting structure according to the embodiment of the first aspect of the utility model, the axes of the two joint seats are parallel to each other, a second long arm is provided between the two joint seats, the axis of the second long arm is perpendicular to the axis of the joint seat, one end of the second long arm is connected to one of the joint seats, the other end of the second long arm is connected to a sleeve, the axis of the sleeve is perpendicular to the axis of the second long arm, and the sleeve is coaxially arranged with the other joint seat and rotatably connected.

[0014] According to some embodiments of the utility model, both ends of the second long arm are provided with a fourth connecting ring, the fourth connecting ring is provided with a positioning hole, and the positioning pin can be inserted into the positioning hole of the second connecting ring and the positioning hole of the fourth connecting ring at the same time.

[0015] According to some embodiments of the utility model, the fourth connecting ring is provided with a fourth annular groove. When the fourth connecting ring is in contact with the second connecting ring, a locking ring is simultaneously inserted into the second annular groove and the fourth annular groove to limit the separation of the joint seat and the second long arm. The outer peripheral wall of the sleeve is provided with a fifth connecting ring. The fifth connecting ring is provided with a positioning hole, and a positioning pin can be simultaneously inserted into the positioning hole of the fourth connecting ring and the positioning hole of the fifth connecting ring.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 It is a structural schematic diagram of the mechanical arm connection structure of some embodiments of the utility model;

[0019] Figure 2 is a cross-sectional view of a mechanical arm connection structure of some embodiments of the utility model;

[0020] Figure 3 It is a schematic diagram of the structure of the rotary joint of some embodiments of the utility model;

[0021] Figure 4 is a cross-sectional view of a rotary joint of some embodiments of the utility model;

[0022] Figure 5 It is a schematic structural diagram of the first long arm of some embodiments of the utility model;

[0023] Figure 6 It is a partial structural schematic diagram of the mechanical arm connection structure of some embodiments of the utility model;

[0024] Figure 7 It is a schematic diagram of the structure of the lock ring of some embodiments of the utility model;

[0025] Figure 8 is a schematic structural diagram of a first connection assembly in some embodiments of the utility model;

[0026] Fig. 9is a schematic structural diagram of a second connecting assembly in some embodiments of the utility model;

[0027] Fig.10 It is a schematic structural diagram of the third connecting component of some embodiments of the utility model.

[0028] Figure Number:

[0029] Rotary joint 100, positioning hole 110, positioning pin 120, joint seat 130, first connecting ring 140, first annular groove 141, second connecting ring 150, second annular groove 151, cable 160;

[0030] Joint module 200, motor 210, first output shaft 211, reducer 220, second output shaft 221, output flange 230;

[0031] A first long arm 300, a third connecting ring 310, and a third annular groove 311;

[0032] A second long arm 400, a fourth connecting ring 410, and a fourth annular groove 411;

[0033] Sleeve 500, fifth connecting ring 510, fifth annular groove 511;

[0034] Locking ring 600 , first half ring 610 , second half ring 620 , and limiting groove 630 . DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0036] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] In the description of the present utility model, the meaning of "more than" is more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0038] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0039] The following is a further description of the embodiments of the present invention in conjunction with the accompanying drawings.

[0040] According to some embodiments of the present invention, referring to Figures 1 to 4 The mechanical arm connection structure includes a plurality of rotating joints 100. The rotating joint 100 includes a joint seat 130 and a joint module 200 fixedly installed in the joint seat 130. The joint module 200 includes a motor 210, a reducer 220 and an output flange 230. The reducer 220 is disposed at one end of the motor 210. The motor 210 and the reducer 220 are connected. The first output shaft 211 of the motor 210 is fixedly connected to the input end of the reducer 220. The first output shaft 211 of the motor 210 and the second output shaft 221 of the reducer 220 are both hollow shafts. 21 is passed through the first output shaft 211, the output flange 230 is fixedly connected to the second output shaft 221, the second output shaft 221 and the first output shaft 211 are coaxially arranged, and the second output shaft 221 can rotate relative to the first output shaft 211, both ends of the second output shaft 221 are connected to the inner cavity of the joint seat 130, and the axis of the joint seat 130 is parallel to or coincides with the axis of the first output shaft 211; multiple rotation joints 100 are connected in sequence, and the joint seats 130 of two adjacent rotation joints 100 are connected to each other.

[0041] It can be understood that when the cable 160 passes through the joint seats 130 in multiple rotating joints 100 in sequence, the cable 160 passes through the first output shaft 211 and the second output shaft 221 of multiple joint modules 200 in sequence. When the first output shaft 211 and the second output shaft 221 rotate, the cable 160 located in the first output shaft 211 and the second output shaft 221 will not rotate with it to avoid the occurrence of wire twisting.

[0042] Reference Figures 1 to 3 The connection between the joint seats 130 of two adjacent rotational joints 100 includes a first connection mode, a second connection mode or a third connection mode. The first connection mode corresponds to a first connection component, the second connection mode corresponds to a second connection component, and the third connection mode corresponds to a third connection component.

[0043] In the first connection mode, refer to Figure 2 and Figure 8 The axes of the two joint seats 130 are perpendicular to each other, and one end of one joint seat 130 abuts against one side of the other joint seat 130 so that the two joint seats 130 are rotatably connected.

[0044] In the second connection mode, refer to Figure 2 and Fig. 9 The axes of the two joint seats 130 are parallel to each other and extend in the left-right direction. A first long arm 300 is provided between the two joint seats 130. The axis of the first long arm 300 is perpendicular to the axis of the joint seat 130. The upper and lower ends of the first long arm 300 are respectively connected to the two joint seats 130.

[0045] In the third connection mode, refer to Figure 2 and Fig.10 The axes of the two joint seats 130 are parallel to each other and extend in the left and right directions. A second long arm 400 is provided between the two joint seats 130. The axis of the second long arm 400 is perpendicular to the axis of the joint seat 130. The upper end of the second long arm 400 is connected to a joint seat 130. The lower end of the second long arm 400 is connected to a sleeve 500. The axis of the sleeve 500 is perpendicular to the axis of the second long arm 400. The sleeve 500 is coaxially arranged and rotatably connected with another joint seat 130 located on the left side of the sleeve 500.

[0046] It is understandable that the user can make the connection between two adjacent joint seats 130 the first connection mode, the second connection mode or the third connection mode according to different needs.

[0047] According to some embodiments of the present invention, referring to Figure 3 and Figure 4 The right end of the joint seat 130 is rotatably connected with the first connecting ring 140, and the outer peripheral wall of the joint seat 130 is fixedly provided with the second connecting ring 150, the axis of the first connecting ring 140 is perpendicular to the axis of the second connecting ring 150, the first connecting ring 140 and the second connecting ring 150 are both provided with positioning holes 110, and the first connecting ring 140 and the second connecting ring 150 are both connected with the inner cavity of the joint seat 130. The output flange 230 is fixedly connected to the first connecting ring 140.

[0048] It can be understood that when the connection of the joint seats 130 of two adjacent rotating joints 100 is in the first connection mode, the first connecting ring 140 of one joint seat 130 fits with the second connecting ring 150 of the other joint seat 130 and aligns with the positioning hole 110, and the positioning pin 120 is inserted into the positioning hole 110 of the first connecting ring 140 and the positioning hole 110 of the second connecting ring 150 at the same time to limit the relative rotation of the first connecting ring 140 of one joint seat 130 and the second connecting ring 150 of the other joint seat 130, and since the first connecting ring 140 of the former joint seat 130 is rotatably connected to the joint seat 130, that is, the two joint seats 130 can rotate relative to each other. Since the output flange 230 of one rotating joint 100 is fixedly connected to the first connecting ring 140, that is, the rotation of the output flange 230 can drive the first connecting ring 140 to rotate, thereby driving the second connecting ring 150 fixedly connected to the first connecting ring 140 to rotate, thereby driving the other rotating joint 100 to rotate.

[0049] Reference Figure 8 When the first output shaft 211 of the motor 210 of the rotating joint 100 on the right side rotates, the second output shaft 221 of the reducer 220 drives the output flange 230 to rotate after the action of the reducer 220, and then drives the first connecting ring 140 to rotate. Since the first connecting ring 140 of the rotating joint 100 on the right side is fixedly connected with the second connecting ring 150 of the rotating joint 100 on the left side, the rotating joint 100 on the left side is driven to rotate.

[0050] According to some embodiments of the present invention, referring to Figure 3 , Figure 4 and Figure 7 The outer peripheral wall of the first connecting ring 140 is provided with a first annular groove 141, and the outer peripheral wall of the second connecting ring 150 is provided with a second annular groove 151. When the first connecting ring 140 of the joint seat 130 is fitted with the second connecting ring 150 of the other joint seat 130, the locking ring 600 is inserted into the first annular groove 141 and the second annular groove 151 at the same time, and the locking ring 600 can abut against the groove wall of the first annular groove 141 and the groove wall of the second annular groove 151 respectively, so as to limit the first connecting ring 140 of one joint seat 130 and the second connecting ring 150 of the other joint seat 130 from being separated from each other, thereby limiting the two joint seats 130 from being separated from each other.

[0051] It can be understood that the positioning pin 120 cooperates with the locking ring 600 to enable the joint seats 130 of the two rotating joints 100 to be rotationally connected.

[0052] According to some embodiments of the present invention, referring to Figure 7The lock ring 600 includes a first half ring 610 and a second half ring 620, and the first half ring 610 and the second half ring 620 are detachably connected by bolts. The inner sides of the first half ring 610 and the second half ring 620 are both provided with a limiting groove 630.

[0053] It can be understood that when the first connecting ring 140 of one joint seat 130 and the second connecting ring 150 of another joint seat 130 are fitted together, the first half ring 610 and the second half ring 620 cooperate with each other and are simultaneously mounted on the first connecting ring 140 and the second connecting ring 150. The first half ring 610 and the second half ring 620 are connected by bolts to form a circular ring. At this time, the two sides of the limiting groove 630 are respectively inserted into the first annular groove 141 of the first connecting ring 140 and the second annular groove 151 of the second connecting ring 150 to limit the separation of the first connecting ring 140 and the second connecting ring 150.

[0054] According to some embodiments of the present invention, referring to Figure 2 , Figure 5 and Fig. 9 The first long arm 300 is provided with a third connecting ring 310 at both upper and lower ends, and the third connecting ring 310 is provided with a positioning hole 110. When the first long arm 300 is connected to the joint seat 130 of the rotating joint 100, the third connecting ring 310 and the second connecting ring 150 of the joint seat 130 fit and align with the positioning hole 110, and the positioning pin 120 is inserted into the positioning hole 110 of the second connecting ring 150 and the positioning hole 110 of the third connecting ring 310 at the same time to limit the relative rotation of the second connecting ring 150 and the third connecting ring 310, thereby limiting the relative rotation of the first long arm 300 and the joint seat 130.

[0055] Further, see Figure 2 and Figure 5 A third annular groove 311 is provided on the outer peripheral wall of the third connecting ring 310; when the second connecting ring 150 of the joint seat 130 is in contact with the third connecting ring 310, the locking ring 600 is simultaneously inserted into the second annular groove 151 and the third annular groove 311 to limit the separation of the joint seat 130 and the first long arm 300, and the joint seat 130 and the first long arm 300 are relatively fixed with the cooperation of the positioning pin 120 and the locking ring 600.

[0056] It should be noted that the way in which the locking ring 600 connects the second connecting ring 150 and the third connecting ring 310 is the same as the way in which the locking ring 600 connects the first connecting ring 140 and the second connecting ring 150. The two sides of the limiting groove 630 of the locking ring 600 are respectively inserted into the second annular groove 151 and the third annular groove 311 to limit the separation of the second connecting ring 150 and the third connecting ring 310 from each other.

[0057] According to some embodiments of the present invention, referring to Figure 2 , Figure 6 and Fig.10 , both ends of the second long arm 400 are provided with a fourth connecting ring 410, and the fourth connecting ring 410 is provided with a positioning hole 110. When the second long arm 400 is connected to the joint seat 130 of the rotating joint 100, the fourth connecting ring 410 and the second connecting ring 150 of the joint seat 130 fit and align with the positioning hole 110, and the positioning pin 120 is inserted into the positioning hole 110 of the second connecting ring 150 and the positioning hole 110 of the fourth connecting ring 410 at the same time to limit the relative rotation of the second connecting ring 150 and the fourth connecting ring 410, thereby limiting the relative rotation of the second long arm 400 and the joint seat 130.

[0058] Further, see Figure 6 The fourth connecting ring 410 is provided with a fourth annular groove 411; when the fourth connecting ring 410 is in contact with the second connecting ring 150, the locking ring 600 is simultaneously inserted into the second annular groove 151 and the fourth annular groove 411 to limit the separation of the joint seat 130 and the second long arm 400, and the joint seat 130 and the second long arm 400 are relatively fixed with the cooperation of the positioning pin 120 and the locking ring 600.

[0059] It should be noted that the way in which the locking ring 600 connects the second connecting ring 150 and the fourth connecting ring 410 is the same as the way in which the locking ring 600 connects the first connecting ring 140 and the second connecting ring 150. The two sides of the limiting groove 630 of the locking ring 600 are respectively inserted into the second annular groove 151 and the fourth annular groove 411 to limit the separation of the second connecting ring 150 and the fourth connecting ring 410 from each other.

[0060] According to some embodiments of the present invention, referring to Figure 6 , a fifth connecting ring 510 is fixedly provided on the outer peripheral wall of the sleeve 500, and the fifth connecting ring 510 is provided with a positioning hole 110. When the second long arm 400 is connected to the sleeve 500, the fifth connecting ring 510 and the fourth connecting ring 410 of the second long arm 400 fit and align with the positioning hole 110, and the positioning pin 120 can be inserted into the positioning hole 110 of the fourth connecting ring 410 and the positioning hole 110 of the fifth connecting ring 510 at the same time to limit the relative rotation of the second long arm 400 and the sleeve 500. The locking ring 600 is then inserted into the fourth annular groove 411 of the fourth connecting ring 410 and the fifth annular groove 511 of the fifth connecting ring 510 at the same time to limit the relative separation of the fourth connecting ring 410 and the fifth connecting ring 510. The locking ring 600 and the positioning pin 120 cooperate to relatively fix the second long arm 400 and the sleeve 500.

[0061] It is understandable that, referring to Figure 6 and Fig.10 , the left end of the sleeve 500 is fixedly connected to the first connecting ring 140 of the rotary joint 100, that is, Figure 6The rotating joint 100 shown and the second long arm 400 can rotate relative to each other, that is, the rotation of the output flange 230 can drive the first connecting ring 140 to rotate, thereby driving the sleeve 500 fixedly connected to the first connecting ring 140 to rotate, thereby driving the second long arm 400 and another rotating joint 100 fixedly connected to the second long arm 400 to rotate.

[0062] In the description of this specification, the description with reference to the term "some embodiments" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0063] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A mechanical arm connection structure, characterized in that: include: A plurality of rotating joints (100), wherein the rotating joints (100) comprise a joint seat (130) and a joint module (200) fixedly mounted in the joint seat (130), wherein the joint module (200) comprises a motor (210), a reducer (220) and an output flange (230), wherein the reducer (220) is arranged at one end of the motor (210), a first output shaft (211) of the motor (210) is fixedly connected to an input end of the reducer (220), and the first output The shaft (211) and the second output shaft (221) of the reducer (220) are both hollow shafts, the second output shaft (221) is inserted into the first output shaft (211), the output flange (230) is fixedly connected to the second output shaft (221), and both ends of the second output shaft (221) are connected to the inner cavity of the joint seat (130); the plurality of rotating joints (100) are connected in sequence, and the joint seats (130) of two adjacent rotating joints (100) are connected to each other.

2. The mechanical arm connection structure according to claim 1, characterized in that: One end of the joint seat (130) is rotatably connected to a first connecting ring (140); a second connecting ring (150) is fixedly provided on the outer peripheral wall of the joint seat (130); both the first connecting ring (140) and the second connecting ring (150) are provided with positioning holes (110); a positioning pin (120) can be simultaneously inserted into the positioning hole (110) of the first connecting ring (140) of one joint seat (130) and the positioning hole (110) of the second connecting ring (150) of another joint seat (130); and the output flange (230) is fixedly connected to the first connecting ring (140).

3. The mechanical arm connection structure according to claim 2, characterized in that: The outer peripheral wall of the first connecting ring (140) is provided with a first annular groove (141), and the outer peripheral wall of the second connecting ring (150) is provided with a second annular groove (151); when the first connecting ring (140) of the joint seat (130) is fitted with the second connecting ring (150) of another joint seat (130), the locking ring (600) is simultaneously inserted into the first annular groove (141) and the second annular groove (151) to limit the two joint seats (130) from separating from each other.

4. A first connection assembly, characterized in that: It includes the robot arm connection structure as described in claim 3, wherein the axes of the two joint seats (130) are perpendicular to each other, and the first connecting ring (140) of one joint seat (130) is fixedly connected to the second connecting ring (150) of the other joint seat (130) so that the two joint seats (130) are rotatably connected.

5. A second connection assembly, characterized in that: It includes the robot arm connection structure as described in claim 3, the axes of the two joint seats (130) are parallel to each other, a first long arm (300) is provided between the two joint seats (130), the axis of the first long arm (300) and the axis of the joint seat (130) are perpendicular to each other, and the two ends of the first long arm (300) are respectively connected to the two joint seats (130).

6. The second connection assembly according to claim 5, characterized in that: A third connecting ring (310) is provided at both ends of the first long arm (300), and the third connecting ring (310) is provided with a positioning hole (110), and a positioning pin (120) can be simultaneously inserted into the positioning hole (110) of the second connecting ring (150) and the positioning hole (110) of the third connecting ring (310).

7. The second connection assembly according to claim 6, characterized in that: The outer peripheral wall of the third connecting ring (310) is provided with a third annular groove (311); when the second connecting ring (150) of the joint seat (130) is fitted with the third connecting ring (310), a locking ring (600) is simultaneously inserted into the second annular groove (151) and the third annular groove (311) to limit the separation of the joint seat (130) and the first long arm (300).

8. A third connection assembly, characterized in that: It includes the robot arm connection structure as described in claim 3, the axes of the two joint seats (130) are parallel to each other, a second long arm (400) is provided between the two joint seats (130), the axis of the second long arm (400) is perpendicular to the axis of the joint seat (130), one end of the second long arm (400) is connected to one of the joint seats (130), the other end of the second long arm (400) is connected to a sleeve (500), the axis of the sleeve (500) is perpendicular to the axis of the second long arm (400), and the sleeve (500) is coaxially arranged with the other joint seat (130) and rotatably connected.

9. The third connection assembly according to claim 8, characterized in that: Both ends of the second long arm (400) are provided with a fourth connecting ring (410), and the fourth connecting ring (410) is provided with a positioning hole (110), and a positioning pin (120) can be simultaneously inserted into the positioning hole (110) of the second connecting ring (150) and the positioning hole (110) of the fourth connecting ring (410).

10. The third connection assembly according to claim 9, characterized in that: The fourth connecting ring (410) is provided with a fourth annular groove (411). When the fourth connecting ring (410) is fitted with the second connecting ring (150), the locking ring (600) is simultaneously inserted into the second annular groove (151) and the fourth annular groove (411) to limit the separation of the joint seat (130) and the second long arm (400). The outer peripheral wall of the sleeve (500) is provided with a fifth connecting ring (510). The fifth connecting ring (510) is provided with a positioning hole (110). The positioning pin (120) can be simultaneously inserted into the positioning hole (110) of the fourth connecting ring (410) and the positioning hole (110) of the fifth connecting ring (510).

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