Joint module device and robot

Abstract

The embodiment of the utility model provides a joint module device and a robot, the joint module device comprises a joint module, a connecting structure and at least one locking ring, the connecting structure is arranged at at least one end of the joint module in the axial direction, and the connecting structure is provided with a first thread structure; and the at least one locking ring is arranged on the periphery of the joint module in a sleeving mode and can move relative to the joint module, the locking ring is provided with a second threaded structure, and the locking ring is used for rotating relative to the joint module under the action of external force so that threaded connection of the first threaded structure and the second threaded structure can be achieved. According to the joint module device, the joint module and the connecting structure provided by the embodiment of the invention, the first threaded structure of the connecting structure is matched with the second threaded structure of the locking ring, so that reliable mounting and connection can be realized without adopting a screw, and in addition, when the joint module device needs to be disassembled, the joint module is not required to be disassembled. And only the cooperation of the first thread structure and the second thread structure needs to be removed, so that the disassembly and assembly efficiency is high, and the maintenance convenience of the joint module device is conveniently improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a joint module device and a robot. Background Art

[0002] In the related art, the joint module is generally assembled by a motor, a reducer and other parts, and is connected to an external structure (such as a robot's connecting rod or load) through a connecting structure. For example, the joint module is connected to the robot's mechanical arm through a connecting structure to drive the mechanical arm to move. However, when realizing the connection with the connecting structure, the joint module and the connecting structure are connected through a flange. This method requires the use of a large number of screws for fixing, which is inconvenient to disassemble and assemble, and reduces the maintenance reliability of the joint module. Utility Model Content

[0003] In view of this, the embodiments of the present application hope to provide a joint module device and a robot, in which the joint module and the connecting structure can be quickly disassembled and assembled through the first threaded structure of the connecting structure and the second threaded structure of the locking ring, with high installation efficiency and high maintenance reliability.

[0004] The present application provides a joint module device, comprising:

[0005] Joint module;

[0006] A connecting structure, disposed at at least one end of the joint module along the axial direction, the connecting structure having a first thread structure;

[0007] At least one locking ring is sleeved on the outer periphery of the joint module and can move relative to the joint module. The locking ring has a second threaded structure and is used to rotate relative to the joint module under the action of external force to achieve threaded connection between the first threaded structure and the second threaded structure.

[0008] In some embodiments, the connecting structure has a receiving groove and an opening, one axial end of the joint module is inserted into the receiving groove through the opening, the first thread structure is formed on the inner wall surface of the receiving groove, and the second thread structure is formed on the outer peripheral surface of the locking ring.

[0009] In some embodiments, the joint module is provided with a first anti-rotation structure, and the connecting structure is provided with a second anti-rotation structure, and the first anti-rotation structure and the second anti-rotation structure cooperate to achieve circumferential anti-rotation cooperation between the joint module and the connecting structure.

[0010] In some embodiments, the first anti-rotation structure includes at least one notch formed on the outer peripheral surface of the joint module, and the second anti-rotation structure includes at least one protrusion formed on the inner wall surface of the accommodating groove, and the protrusion is inserted into the notch along the axial direction of the joint module.

[0011] In some embodiments, the outer periphery of the joint module has an annular groove, the locking ring is disposed in the annular groove, and the inner diameter of the locking ring is smaller than the outer diameter of the joint module at opposite sides of the annular groove along the axial direction.

[0012] In some embodiments, the groove wall on one side of the annular groove close to the connecting structure has a first conical surface, and the outer diameter of the first conical surface gradually increases in the direction close to the connecting structure. The first conical surface is used to abut against the locking ring along the axial direction.

[0013] In some embodiments, the inner circumferential surface of the locking ring is provided with a second conical surface, and the outer diameter of the second conical surface gradually increases in a direction approaching the connecting structure, and the second conical surface is used to contact the first conical surface.

[0014] In some embodiments, the locking ring is an integral component, or the locking ring includes at least two sub-segments designed separately, and the at least two sub-segments are connected along the circumference of the joint module;

[0015] and / or;

[0016] The locking ring is provided with one or more driving grooves, and the driving groove forms an insertion opening on the end surface of the locking ring along the axial direction and away from the connecting structure, and the insertion opening is used for inserting a partial structure of the driving wrench into the driving groove so that the locking ring rotates under the torque of the driving wrench.

[0017] In some embodiments, the outer peripheral surface of the joint module has a third conical surface, and the outer diameter of the third conical surface gradually increases in a direction away from the connection structure, and the third conical surface is used to abut against the connection structure along the axial direction;

[0018] and / or;

[0019] The number of the connecting structures and the locking rings are two respectively, the joint module includes a first part and a second part, the first part and the second part can rotate relative to each other, the outer periphery of the first part and the outer periphery of the second part are respectively provided with a locking ring, the first part and one of the connecting structures are connected through one of the locking rings, and the second part and the other connecting structure are connected through the other locking ring.

[0020] An embodiment of the present application provides a robot, comprising the joint module device described in any embodiment of the present application.

[0021] In the joint module device provided by the embodiment of the present application, the joint module and the connection structure are connected by a locking ring. By matching the first threaded structure of the connection structure with the second threaded structure of the locking ring, a reliable installation connection can be achieved without using screws. Moreover, when disassembly is required, it is only necessary to release the matching of the first threaded structure and the second threaded structure. The disassembly and assembly efficiency is high, which is convenient for increasing the maintenance convenience of the joint module device. Moreover, when the locking ring is used to connect the connection structure and the joint module, the joint module remains stationary, and only the locking ring needs to be rotated. This can help to ensure the installation position and installation angle of the joint module, etc., and increase the installation and positioning reliability of the joint module. The first threaded structure and the second threaded structure can also facilitate the user to accurately control the locking degree, so that the connection between the joint module and the connection structure will not be too tight to make it difficult to adjust, nor will it be too loose to affect stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a joint module device according to an embodiment of the present application;

[0023] Figure 2 for Figure 1 A schematic structural diagram of the joint module device shown in another perspective;

[0024] Figure 3 for Figure 1 An exploded schematic diagram of the joint module device shown;

[0025] Figure 4 for Figure 1 A schematic diagram of the connection structure, locking ring and joint module shown;

[0026] Figure 5 A schematic diagram of the cooperation between a joint module device and a driving wrench according to an embodiment of the present application;

[0027] Figure 6 Schematic diagram of the explosion of the drive wrench and the locking ring.

[0028] Description of Reference Numerals

[0029] 10-joint module; 10a-annular groove; 10l-first anti-rotation structure; 10b-first cone surface; 10c-third cone surface;

[0030] 20-connection structure; 20a-accommodation groove; 20b-opening;

[0031] 30-locking ring; 30a-second thread structure; 30b-second cone surface; 30c-driving groove; 30d-insertion port;

[0032] 40-driving wrench; 40l-protruding structure. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] The various specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction, for example, different embodiments and technical solutions can be formed by combining different specific technical features. In order to avoid unnecessary repetition, various possible combinations of the specific technical features in the present invention will not be described separately.

[0035] In the following description, the terms "first\second\..." are only used to distinguish different objects, and do not mean that the objects have the same or related points. It should be understood that the directions "above", "below", "outside" and "inside" are all directions in normal use, and the directions "left" and "right" refer to the left and right directions shown in the corresponding schematic diagrams, which may be the left and right directions in normal use or not.

[0036] It should be noted that the terms "comprises", "includes" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0037] The present application embodiment provides a joint module device, see Figures 1 to 6 The joint module device includes a joint module 10, a connecting structure 20 and at least one locking ring 30.

[0038] It can be understood that the application scenarios of the joint module device are not limited. The joint module device can be used in application scenarios that require flexible movement while ensuring stability and adjustability. The joint module device can be used in robots, high-end camera gimbals, or medical equipment fields, etc.

[0039] The embodiments of the present application are described by taking the application of a joint module device in the field of robotics as an example.

[0040] Exemplarily, an embodiment of the present application provides a robot comprising a joint module device of any embodiment of the present application.

[0041] Robots are used to automatically perform tasks. Robots can be used to carry materials, assemble products, clean homes, provide medical assistance, etc., without limitation. That is, robots can be handling robots, collaborative robots, etc.

[0042] The joint module 10 is used to provide rotation or complex multi-degree-of-freedom motion to achieve flexible motion of the robot.

[0043] Exemplarily, the joint module 10 may include a motor assembly and a reducer assembly, the motor assembly provides a power source, the reducer assembly is connected to the motor assembly, the motor assembly reduces the speed through the reducer assembly to increase the output torque, and the motor assembly and the reducer assembly convert electrical energy into mechanical energy to realize the rotation and / or linear motion of the robot's joints.

[0044] Exemplarily, the joint module 10 also includes a brake, which is connected to the power output end of the motor assembly to brake the motor assembly.

[0045] Exemplarily, the joint module 10 may further include a heat dissipation component, which can generate wind force under the drive of the motor component, drive the surrounding air flow, enhance the heat dissipation capacity between the motor component and the reducer component, and reduce the operating temperature of the joint module 10.

[0046] The connection structure 20 is disposed at at least one end of the joint module 10 along the axial direction, and the connection structure 20 has a first thread structure.

[0047] The joint module device can be connected to an external structure, such as a robot arm, through the connection structure 20 to transmit the driving force of the joint module 10 to the external structure. It is understandable that the connection structure 20 and the robot arm can be a separate structure, and the connection structure 20 can also be an integrated structure with a part of the robot arm, which is not limited here.

[0048] It should be noted that the connecting structure 20 is arranged at at least one end of the joint module 10 along the axial direction. The connecting structure 20 may be arranged at one end of the joint module 10 along the axial direction. In this embodiment, the number of the connecting structure 20 may be one; or the connecting structure 20 may be arranged at two opposite ends of the joint module 10 along the axial direction. In this embodiment, the number of the connecting structures 20 may be two.

[0049] It should be understood that the axial direction refers to the direction in which the joint module 10 rotates or moves. If the joint module 10 is used to achieve rotational motion, the axial direction of the joint module 10 is the rotation axis of the motor assembly; if the joint module 10 is used to achieve linear motion, the axial direction of the joint module 10 is the direction of linear motion.

[0050] It is understandable that the first thread structure is a spiral concave-convex structure formed on the surface of the connection structure 20. Here, the first thread structure can be an internal thread or an external thread. The connection structure 20 can be directly or indirectly connected to the joint module 10 through the first thread structure.

[0051] At least one locking ring 30 is sleeved on the outer circumference of the joint module 10 and can move relative to the joint module 10 .

[0052] The locking ring 30 is used to realize the connection between the joint module 10 and the connection structure 20. The number of the locking ring 30 can be one or more, and the locking ring 30 is generally annular.

[0053] The locking ring 30 can move relative to the joint module 10, which means that during the assembly process, the locking ring 30 can move relative to the joint module 10. However, when the joint module 10 and the connecting structure 20 are fixed by the locking ring 30, the part of the joint module 10 for installing the locking ring 30 is stationary relative to the locking ring 30.

[0054] See also Figure 1 and Figure 2 , the locking ring 30 has a second thread structure 30a.

[0055] It is understandable that the second thread structure 30a is a spiral concave-convex structure formed on the surface of the locking ring 30. Here, the second thread structure 30a can be an external thread or an internal thread. The locking ring 30 can be connected to the connecting structure 20 through the second thread structure 30a, thereby realizing the connection between the joint module 10 and the connecting structure 20.

[0056] It should be noted that when the first thread structure is an external thread, the second thread structure is an internal thread. When the first thread structure is an internal thread, the second thread structure is an external thread.

[0057] The locking ring 30 is used to rotate relative to the joint module 10 under the action of external force to achieve the threaded connection between the first thread structure and the second thread structure 30a.

[0058] It should be noted that the external force may be a manual operating force or an operating force applied by a tool.

[0059] Specifically, the locking ring 30 is sleeved on the outer periphery of the joint module 10, and an external force is applied to the locking ring 30, and the locking ring 30 rotates, so that the second thread structure 30a on the locking ring 30 and the first thread structure on the connecting structure 20 are meshed with each other, thereby achieving a stable connection and positioning between the connecting structure 20 and the joint module 10. When it is necessary to release the connection between the connecting structure 20 and the joint module 10, an external force is applied again to drive the locking ring 30 to rotate in the opposite direction, so that the second thread structure 30a on the locking ring 30 and the first thread structure on the connecting structure 20 are out of engagement, thereby achieving the disassembly between the connecting structure 20 and the joint module 10. In this way, the disassembly and assembly between the connecting structure 20 and the joint module 10 is simple, fast, and highly convenient.

[0060] It is understandable that the first thread structure and the second thread structure 30a can be coarse thread, fine thread, trapezoidal thread or sawtooth thread, etc., without limitation. For example, the first thread structure and the second thread structure 30a are fine threads, which have strong clamping force and high vibration resistance.

[0061] It is understandable that in the related art, the joint module and the connecting structure are connected via flanges. This method requires the use of a large number of screws for fixing, which makes disassembly and assembly inconvenient and reduces the maintenance reliability of the joint module.

[0062] In the joint module device provided by the embodiment of the present application, the joint module 10 and the connection structure 20 are connected by the locking ring 30. By matching the first thread structure of the connection structure 20 with the second thread structure 30a of the locking ring 30, a reliable installation connection can be achieved without using screws, and when disassembly is required, it is only necessary to release the matching of the first thread structure and the second thread structure 30a, which has high disassembly efficiency and is convenient for increasing the maintenance convenience of the joint module device. In addition, when the locking ring 30 realizes the connection between the connection structure 20 and the joint module 10, the joint module 10 remains stationary, and only the locking ring 30 needs to be rotated, which can be beneficial to ensure the installation position and installation angle of the joint module 10, etc., and increase the installation and positioning reliability of the joint module 10. The first thread structure and the second thread structure 30a can also facilitate the user to accurately control the locking degree, so that the connection between the joint module 10 and the connection structure 20 will not be too tight to make it difficult to adjust, nor will it be too loose to affect stability.

[0063] For some examples, see Figure 1 and Figure 5 The connecting structure 20 has a receiving groove 20a and an opening 20b. One axial end of the joint module 10 is inserted into the receiving groove 20a through the opening 20b. The first thread structure is formed on the inner wall surface of the receiving groove 20a, and the second thread structure 30a is formed on the outer peripheral surface of the locking ring 30.

[0064] Specifically, the accommodating groove 20a can provide an accommodating space for the locking ring 30 and part of the structure of the joint module 10. The joint module 10 and the locking ring 30 are inserted into the accommodating groove 20a through the opening 20b. The second threaded structure 30a on the locking ring 30 cooperates with the first threaded structure to realize the connection between the connecting structure 20 and the joint module l0.

[0065] In this embodiment, the first threaded structure is an internal thread, and the second threaded structure 30a is an external thread. The cooperation between the first threaded structure and the second threaded structure 30a is realized inside the accommodating groove 20a. On the one hand, it can increase the appearance performance of the joint module device and hide the connection between the first threaded structure and the second threaded structure 30a inside the connecting structure 20. On the other hand, it can also facilitate the application of force from the outside to tighten the first threaded structure and the second threaded structure 30a, and the relative position between the connecting structure 20 and the joint module 10 can be adjusted by the screw-in depth of the second threaded structure 30a.

[0066] It can be understood that in this embodiment, the depth of the accommodating groove 20a can be smaller, that is, it only needs to extend from at least the axial end of the joint module 10 to the position where the locking ring 30 is installed on the joint module 10. The joint module 10 can be located more outside the accommodating groove 20a, and the overall size of the connecting structure 20 can also be smaller, which can reduce the overall weight of the joint module device.

[0067] Exemplarily, the axial length of the portion of the joint module 10 located in the receiving groove 20a does not exceed 1 / 3 of the total axial length of the joint module 10.

[0068] It can be understood that when the locking ring 30 connects the connection structure 20 and the joint module 10, the locking ring 30 rotates, and the joint module 10 and the connection structure 20 can remain stationary, and only the locking ring 30 needs to be rotated. This is helpful to ensure the installation position, installation angle, etc. of the joint module 10 and the connection structure 20.

[0069] For some examples, see Figure 3 The joint module 10 is provided with a first anti-rotation structure 101, and the connection structure 20 is provided with a second anti-rotation structure. The first anti-rotation structure 101 and the second anti-rotation structure cooperate to achieve anti-rotation cooperation between the joint module 10 and the connection structure 20 along the circumferential direction.

[0070] It should be noted that the circumferential anti-rotation cooperation between the joint module 10 and the connection structure 20 means that when the locking ring 30 rotates to achieve the cooperation between the second threaded structure 30a and the first threaded structure on the connection structure 20, the joint module 10 and the connection structure 20 do not rotate relative to each other.

[0071] Specifically, the first stop structure 101 is arranged on the joint module 10, and the second stop structure is arranged on the connecting structure 20. Corresponding to the first stop structure 101, when the joint module 10 is inserted into the accommodating groove 20a, the first stop structure 101 and the second stop structure cooperate with each other to limit the circumferential rotation of the joint module 10 relative to the connecting structure 20 and the relative rotation of the connecting structure 20 relative to the joint module 10 when the locking ring 30 rotates, that is, when the connection between the connecting structure 20 and the joint module 10 is realized, the connection structure 20 and the joint module 10 remain free from relative rotation.

[0072] In this embodiment, the first anti-rotation structure 101 and the second anti-rotation structure are arranged so that when an external force acts on the locking ring 30, no unnecessary relative rotation will occur between the joint module 10 and the connecting structure 20, thereby increasing the positioning reliability between the joint module 10 and the connecting structure 20 and increasing the overall structural reliability of the joint module device. In addition, the assembly reliability can also be increased. When the joint module 10 is inserted into the receiving groove 20a, the first anti-rotation structure 101 and the second anti-rotation structure can be matched accordingly without the need for additional fixing measures. When the connecting structure 20 and the joint module 10 need to be disassembled, the locking release of the first anti-rotation structure 101 and the second anti-rotation structure can also be relatively convenient.

[0073] The specific structures of the first anti-rotation structure 101 and the second anti-rotation structure are not limited. The first anti-rotation structure 101 can be a protrusion, groove or other form of mechanical limiting structure arranged on the joint module 10, and the second anti-rotation structure can be a groove, protrusion or other form of mechanical limiting structure arranged in the receiving groove 20a.

[0074] For example, in some embodiments, please refer to Figure 3 The first anti-rotation structure 10l includes at least one notch formed on the outer peripheral surface of the joint module 10, and the second anti-rotation structure includes at least one protrusion formed on the inner wall surface of the accommodating groove 20a, and the protrusion is inserted into the notch along the axial direction of the joint module 10.

[0075] In this embodiment, the connection structure 20 and the joint module 10 are non-rotatably matched along the circumferential direction by the cooperation between the notch and the protrusion. The structure of the notch and the protrusion is simple. While preventing the joint module 10 from rotationally offset due to external forces, the connection structure 20 and the joint module 10 can also be circumferentially positioned, thereby increasing the working accuracy and stability of the joint module device.

[0076] For some examples, see Figure 3 The outer periphery of the joint module 10 has an annular groove 10a, the locking ring 30 is arranged in the annular groove 10a, and the inner diameter of the locking ring 30 is smaller than the outer diameter of the joint module 10 located on the opposite sides of the annular groove 10a along the axial direction.

[0077] In this embodiment, the annular groove 10a is used to provide a placement space for the locking ring 30 and to position the locking ring 30. By making the inner diameter of the locking ring 30 smaller than the outer diameter of the joint module 10 located on the two opposite sides of the annular groove 10a along the axial direction, the locking ring 30 will not fall off the joint module 10 when the connection with the connecting structure 20 is not achieved, thereby increasing the installation reliability of the locking ring 30. In addition, when the locking ring 30 realizes the connection between the second thread structure 30a and the first thread structure on the connecting structure 20 by rotating, the locking ring 30 can also be tightly attached to the groove wall of the annular groove 10a along the axial direction under rotation, thereby increasing the connection tightness and stability between the joint module 10 and the connecting structure 20.

[0078] For some examples, see Figure 5 The groove wall of the annular groove 10a on one side close to the connecting structure 20 has a first conical surface 10b. The outer diameter of the first conical surface 10b gradually increases in the direction close to the connecting structure 20. The first conical surface 10b is used to abut against the locking ring 30 along the axial direction.

[0079] In this embodiment, the first conical surface 10b has a certain guiding function, which is convenient for axial positioning of the locking ring 30, increases the matching stability between the locking ring 30 and the joint module 10, and increases the assembly speed.

[0080] For some examples, see Figure 5 The inner circumferential surface of the locking ring 30 is provided with a second conical surface 30b, and the outer diameter of the second conical surface 30b gradually increases in the direction approaching the connecting structure 20, and the second conical surface 30b is used to contact the first conical surface 10b.

[0081] In this embodiment, by cooperating the second conical surface 30b of the inner circumferential surface of the locking ring 30 with the first conical surface 10b, the matching alignment between the locking ring 30 and the joint module 10 is further increased, and the friction and meshing force between the locking ring 30 and the joint module 10 are increased, thereby evenly dispersing the axial force, improving the connection stability, and increasing the overall structural reliability of the joint module device.

[0082] In some embodiments, the locking ring 30 is a one-piece component.

[0083] In this embodiment, the locking ring 30 is an integrally formed component, and the locking ring 30 can be formed by integral casting or the like.

[0084] The integrally formed locking ring 30 has a high overall structural strength and is not easily deformed or damaged. In addition, the installation operation is relatively simple as only the locking ring as a whole needs to be installed with the joint module 10 .

[0085] In other embodiments, the locking ring 30 includes at least two separately designed sub-segments, and the at least two sub-segments are connected along the circumference of the joint module 10.

[0086] In this embodiment, the locking ring 30 is a split component, that is, at least two sub-segments of split design are formed separately and then assembled to form the locking ring 30. Exemplarily, at least two sub-segments are arranged along the circumference of the joint module 10 and connected by welding, riveting, screws, pins, snaps and other connection methods to form the locking ring 30, which is sleeved on the outer periphery of the joint module 10. In this embodiment, the locking ring 30 of split design can be assembled with the joint module 10 when the joint module 10 is formed into a pre-assembled whole, or the locking ring 30 can be removed from the joint module 10 without the need to disassemble the joint module 10.

[0087] The material of the locking ring 30 is not limited. For example, the locking ring 30 can be made of metal.

[0088] For some examples, see Figure 4 and Figure 6 The locking ring 30 is provided with one or more driving grooves 30c, and the driving groove 30c is formed with an insertion port 30d on the end surface of the locking ring 30 along the axial direction and away from the connecting structure 20. The insertion port 30d is used for inserting a part of the structure of the driving wrench 40 into the driving groove 30c, so that the locking ring 30 rotates under the torque of the driving wrench 40.

[0089] Specifically, the drive wrench 40 is used to transmit torque. The user can apply external force to the locking ring 30 through the drive wrench 40. For example, see Figure 6 The driving wrench 40 has a protruding structure 401, and the driving wrench 40 is inserted into the driving groove 30c through the protruding structure 401 to apply a driving force to the locking ring 30, driving the locking ring 30 to rotate, so as to achieve a close fit between the first thread structure and the second thread structure 30a.

[0090] The insertion port 30d is used for inserting the protruding structure 401 of the driving wrench 40 into the driving groove 30c. The cooperation between the driving wrench 40 and the driving groove 30c can enable the driving wrench 40 to be accurately inserted into the driving groove 30c, thereby reducing the probability of slippage or damage caused by the driving wrench 40 directly acting on the locking ring 30, and increasing the accuracy and safety of the force applied by the driving wrench 40.

[0091] In this embodiment, part of the structure of the driving wrench 40 extends into the driving groove 30c through the insertion port 30d, which is convenient for accurately applying the force. Moreover, when a larger tightening force is required, the driving wrench 40 can accurately and efficiently rotate the locking ring 30 to increase the tightness of the connection between the connecting structure 20 and the joint module 10. When it is necessary to release the connection between the connecting structure 20 and the joint module 10, it is only necessary to extend part of the structure of the driving wrench 40 into the driving groove 30c to drive the locking ring 30 to rotate to release the connection. The operation is easy and convenient for maintenance of the joint module device.

[0092] For some examples, see Figure 5 The outer peripheral surface of the joint module 10 has a third conical surface 10c, and the outer diameter of the third conical surface 10c gradually increases in the direction away from the connecting structure 20. The third conical surface 10c is used to abut against the connecting structure 20 along the axial direction.

[0093] In this embodiment, the third conical surface 10c enables the joint module 10 to be accurately docked with the connection structure 20 due to the guiding effect of the third conical surface 10c when it is inserted into the connection structure 20. The third conical surface 10c can axially position the joint module 10 during the assembly process, and the third conical surface 10c can also increase the friction and meshing force between the joint module 10 and the connection structure 20, evenly disperse the axial force, and improve the connection stability. And when it is necessary to release the connection relationship between the connection structure 20 and the joint module 10, the third conical surface 10c can also facilitate operation, increasing the convenience of operation.

[0094] It is understandable that the portion of the connection structure 20 that is used to cooperate with the third conical surface 10c can also be designed as a conical surface to increase the positioning reliability and also achieve a certain sealing effect.

[0095] For some examples, see Figures 1 to 3 The number of connecting structures 20 and locking rings 30 are two respectively. The joint module 10 includes a first part and a second part. The first part and the second part can rotate relative to each other. A locking ring 30 is respectively mounted on the periphery of the first part and the periphery of the second part. The first part and one of the connecting structures 20 are connected through one of the locking rings 30, and the second part and the other connecting structure 20 are connected through the other locking ring 30.

[0096] In this embodiment, the power output end of the motor assembly of the joint module 10 can be located at the first part or the second part, that is, the first part can drive the connection structure 20 connected to the first part to rotate relative to the second part, or the second part can drive the connection structure 20 connected to the second part to rotate relative to the first part, which is convenient for the installation of the joint module 10 and the docking of the connection structure 20, without distinguishing the position of the power output end of the joint module 10 in advance. In addition, the appearance reliability of the joint module device can also be high.

[0097] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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 embodiments of the present application. In the present application, the schematic representation of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0098] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A joint module device, characterized in that: include: Joint module; A connecting structure, disposed at at least one end of the joint module along the axial direction, the connecting structure having a first thread structure; At least one locking ring is sleeved on the outer periphery of the joint module and can move relative to the joint module. The locking ring has a second threaded structure and is used to rotate relative to the joint module under the action of external force to achieve threaded connection between the first threaded structure and the second threaded structure.

2. The joint module device according to claim 1, characterized in that: The connection structure has a receiving groove and an opening, and one axial end of the joint module is inserted into the receiving groove through the opening. The first thread structure is formed on the inner wall surface of the receiving groove, and the second thread structure is formed on the outer peripheral surface of the locking ring.

3. The joint module device according to claim 2, characterized in that: The joint module is provided with a first anti-rotation structure, and the connecting structure is provided with a second anti-rotation structure. The first anti-rotation structure and the second anti-rotation structure cooperate with each other to achieve anti-rotation cooperation between the joint module and the connecting structure along the circumferential direction.

4. The joint module device according to claim 3, characterized in that: The first anti-rotation structure includes at least one notch formed on the outer peripheral surface of the joint module, and the second anti-rotation structure includes at least one protrusion formed on the inner wall surface of the accommodating groove, and the protrusion is inserted into the notch along the axial direction of the joint module.

5. The joint module device according to claim 1, characterized in that: The outer periphery of the joint module is provided with an annular groove, the locking ring is arranged in the annular groove, and the inner diameter of the locking ring is smaller than the outer diameter of the joint module at the two opposite sides of the annular groove along the axial direction.

6. The joint module device according to claim 5, characterized in that: A groove wall of the annular groove on one side close to the connection structure has a first conical surface, and an outer diameter of the first conical surface gradually increases in a direction close to the connection structure. The first conical surface is used to abut against the locking ring along the axial direction.

7. The joint module device according to claim 6, characterized in that: The inner circumferential surface of the locking ring is provided with a second conical surface, and the outer diameter of the second conical surface gradually increases in a direction approaching the connecting structure, and the second conical surface is used to contact the first conical surface.

8. The joint module device according to claim 1, characterized in that: The locking ring is an integral component, or the locking ring comprises at least two sub-segments designed separately, and the at least two sub-segments are connected along the circumference of the joint module; and / or; The locking ring is provided with one or more driving grooves, and the driving groove forms an insertion opening on the end surface of the locking ring along the axial direction and away from the connecting structure, and the insertion opening is used for inserting a partial structure of the driving wrench into the driving groove so that the locking ring rotates under the torque of the driving wrench.

9. The joint module device according to any one of claims 1 to 8, characterized in that: The outer peripheral surface of the joint module has a third conical surface, and the outer diameter of the third conical surface gradually increases in the direction away from the connection structure, and the third conical surface is used to abut against the connection structure along the axial direction; and / or; The number of the connecting structures and the locking rings are two respectively, the joint module includes a first part and a second part, the first part and the second part can rotate relative to each other, the outer periphery of the first part and the outer periphery of the second part are respectively provided with a locking ring, the first part and one of the connecting structures are connected through one of the locking rings, and the second part and the other connecting structure are connected through the other locking ring.

10. A robot, characterized in that: A joint module device comprising any one of claims 1 to 9.

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