Connecting structure and robot

Abstract

The embodiment of the utility model belongs to the technical field of robots, and relates to a connecting structure and a robot for connecting a robot body and a robot bottom. The upper connecting disc is used for being fixedly connected with a robot body; the lower connecting disc is fixedly connected with the bottom of the robot; the upper connecting disc and the lower connecting disc are oppositely arranged; the plate body of the driving plate is positioned between the upper connecting plate and the lower connecting plate; the upper connecting disc and / or the lower connecting disc extend / extends in the direction where the drive plate is located to form a first positioning pin. A first positioning groove is formed on the driving plate corresponding to the first positioning pin; the first positioning groove comprises a wide part and a narrow part in the rotating direction of the driving plate; the width of the narrow part is in clamping fit with the diameter of the first positioning pin; and the wide part is in clearance fit with the first positioning pin, so that the wide part and the first positioning pin can move relatively. According to the technical scheme, the assembling / separating efficiency of the robot body and the chassis can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically, to a connection structure and a robot. Background Art

[0002] With the development of humanoid robots, their ability to adapt to complex environments and scenarios is gaining increasing attention. Robotic movement is often based on a chassis. However, during transportation, if the chassis and robot are transported together, they are prone to damage and take up a lot of space. Therefore, the robot often needs to be separated from the chassis for subsequent assembly.

[0003] However, it should be noted that the existing connection structure between the robot body and the chassis is complex, which leads to cumbersome assembly and disassembly procedures of the robot body and the chassis, and wastes a lot of manpower and time costs. Utility Model Content

[0004] Based on this, an embodiment of the present application provides a connection structure and a robot to improve the efficiency of assembling / separating the robot body and the chassis.

[0005] In a first aspect, an embodiment of the present application provides a robot connection structure, which adopts the following technical solution:

[0006] A connection structure for connecting a robot body and a robot bottom; the connection structure comprises: an upper connection plate, a lower connection plate, a dial, and mutually cooperating male and female terminals; the dial comprises: a plate body and a handle;

[0007] The upper connecting plate is used to be fixedly connected to the robot body;

[0008] The lower connecting plate is used to be fixedly connected to the bottom of the robot;

[0009] The upper connecting plate and the lower connecting plate are arranged opposite to each other;

[0010] The disc body of the dial is located between the upper connecting disc and the lower connecting disc;

[0011] The upper connecting plate and / or the lower connecting plate extend in the direction of the dial to form a first positioning pin;

[0012] The dial forms a first positioning groove at a position corresponding to the first positioning pin; the first positioning groove includes a wide portion and a narrow portion along the rotation direction of the dial; the width of the narrow portion is tightly matched with the diameter of the first positioning pin; the wide portion is loosely matched with the first positioning pin, so that the wide portion and the first positioning pin can move relative to each other;

[0013] One of the male terminal and the female terminal is provided on the upper connection plate;

[0014] The other of the male terminal and the female terminal is provided on the lower connection plate;

[0015] Along the direction of relative movement of the upper connecting plate and the lower connecting plate, the male connecting terminal and the female connecting terminal are arranged opposite to each other.

[0016] Furthermore, the dial extends outward to form a handle, and the handle is exposed outside the outer edges of the upper connecting plate and the lower connecting plate.

[0017] Furthermore, auxiliary parts are distributed on the surface of the lower connecting plate and / or the upper connecting plate corresponding to the dial along the movement direction of the dial to reduce the driving force of the dial.

[0018] Furthermore, guide posts and guide holes that cooperate with each other are respectively provided around the male terminal and the female terminal along the relative movement direction.

[0019] Furthermore, one of the male terminal and the female terminal is provided on the upper connection plate through the following structure:

[0020] The upper connecting plate is provided with a first mounting groove adapted to one of the male terminal and the female terminal, one of the male terminal and the female terminal is mounted in the first mounting groove, and a first position adjustment gap exists between the first mounting groove and one of the male terminal and the female terminal.

[0021] Furthermore, the other of the male terminal and the female terminal is provided on the lower connection plate through the following structure:

[0022] The lower connecting plate is provided with a second mounting groove adapted to the other of the male terminal and the female terminal, the other of the male terminal and the female terminal is mounted in the second mounting groove, and a second position adjustment gap exists between the second mounting groove and the other of the male terminal and the female terminal.

[0023] Furthermore, one of the upper connecting plate and the lower connecting plate is provided with a second positioning pin; the other of the upper connecting plate and the lower connecting plate is provided with a second positioning hole;

[0024] The second positioning pin and the second positioning hole cooperate with each other and are arranged opposite to each other along the relative movement direction;

[0025] The dial is provided with a through hole for the second positioning pin to pass through, so that the second positioning pin passes through the through hole and is assembled with the second positioning hole.

[0026] Further, the second positioning pin is located inside the first positioning pin; and / or,

[0027] The through hole is a hollow hole of the dial; and / or,

[0028] The lower connecting plate extends in the direction of the dial to form a protrusion adapted to the through hole; the through hole is sleeved outside the protrusion and is rotatably connected to the protrusion; and / or,

[0029] A plurality of first positioning pins are distributed along the circumference of the upper connecting plate and / or the lower connecting plate.

[0030] Furthermore, an avoidance hole is formed along the circumference of the dial;

[0031] A mounting hole is formed along the circumference of the lower connecting plate and corresponds at least to the axial direction of the avoidance hole;

[0032] The fixing piece passes through the avoidance hole and is fixedly connected to the bottom of the robot through the mounting hole.

[0033] In a second aspect, an embodiment of the present application provides a robot comprising a robot body, a robot bottom, and any one of the connection structures described above.

[0034] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0035] The embodiment of the present application is achieved by fixedly connecting the upper connecting plate to the robot body and the lower connecting plate to the bottom of the robot. When the upper connecting plate and the lower connecting plate are docked with each other, the first locating pins of the upper connecting plate and / or the lower connecting plate are assembled in the first locating slot of the dial. By rotating the dial clockwise or counterclockwise, the first locating pin falls into the wide part and the narrow part of the first locating slot respectively. When the first locating pin falls into the wide part, due to the gap between the first locating pin and the wide part, the first locating pin can be separated from the first locating slot by axially pulling the robot body, thereby realizing the separation of the robot body and the bottom of the robot; when the first locating pin falls into the narrow part, due to the first locating pin and the narrow part being clamped together, the first locating pin can be locked with the first locating slot, thereby realizing the connection between the robot body and the bottom of the robot. The embodiment of the present application can easily realize the assembly and separation between the robot body and the robot base by simply turning the dial. It has a simple structure and high assembly and separation efficiency.

[0036] In addition, the embodiment of the present application arranges male and female terminals that cooperate with each other in the connection structure, so that the circuits and communications between the robot base and the robot body can be plugged into the terminals to complete the connection, thereby effectively achieving effective separation between the robot body and the bottom of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the solution of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the robot connection mechanism provided by this application;

[0039] Figure 2 for Figure 1 A schematic diagram of a first exploded structure of the provided robot connection structure from a first perspective;

[0040] Figure 3 for Figure 1 A schematic diagram of the second explosion structure of the robot connection structure provided from a second perspective.

[0041] Figure numerals: 10 connecting structure, 11 upper connecting plate, 12 lower connecting plate, 13 dial, 14 auxiliary part, 111 first positioning pin, 131 first positioning groove, 121 second positioning pin, 122 mounting hole, 123 protrusion, 124 second mounting groove, 112 second positioning hole, 113 first mounting groove, 132 handle, 133 through hole, 134 avoidance hole, 151 male terminal, 152 female terminal, 153 guide column, 154 guide hole, 155 fixing hole, 1311 wide portion, 1312 narrow portion. DETAILED DESCRIPTION

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0043] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0044] Unless otherwise defined, references herein to a structural member being "fixed to" or "fixedly connected to" another structural member, or other similar descriptions, include fixing methods in which the two structural members are prefabricated as one piece or fixedly connected via an intermediate member.

[0045] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0046] like Figure 1 and Figure 2 As shown, Figure 1 This is a schematic diagram of the overall structure of an embodiment of the robot connection mechanism provided by this application; Figure 2 for Figure 1 A schematic diagram of the first exploded structure of the robot connection structure provided from the first perspective.

[0047] The embodiment of the present application provides a connection structure 10 for connecting a robot body and a robot bottom (omitted in the figure). The connection structure 10 includes: an upper connection plate 11, a lower connection plate 12, a dial 13, and a male terminal 151 and a female terminal 152 that cooperate with each other.

[0048] The upper connecting plate 11 is used for fixed connection with the robot body (illustration omitted); the lower connecting plate 12 is used for fixed connection with the bottom of the robot (illustration omitted).

[0049] The upper connecting plate 11 and the lower connecting plate 12 are arranged opposite to each other and can move relative to each other.

[0050] The dial 13 is located between the upper connecting plate 11 and the lower connecting plate 12 .

[0051] Specifically, the dial 13 can be driven to rotate in various ways as needed, such as manually or electrically.

[0052] In the embodiment of the present application, the upper connecting plate, the lower connecting plate and the dial can adopt any shape as needed. For ease of understanding, the embodiment of the present application is mainly explained using a circle as an example.

[0053] The upper connecting plate and / or the lower connecting plate extend toward the dial to form a first positioning pin.

[0054] In an optional embodiment, a plurality of first positioning pins may be distributed along the circumference of the upper connecting plate and / or the lower connecting plate. Distributing a plurality of first positioning pins along the circumference may facilitate assembly between the upper connecting plate and the lower connecting plate. In addition, the first positioning pins may also be provided at any position of the upper connecting plate and / or the lower connecting plate as needed.

[0055] Specifically, the number of the first positioning pins can be set to any desired number to meet the positioning requirements. Figure 2 As shown, for ease of understanding, the embodiment of the present application is described in detail by taking the example that the upper connecting disk 11 extends toward the dial to form a plurality of first positioning pins 111 , and the plurality of first positioning pins 111 are evenly distributed along the circumference of the upper connecting disk 11 .

[0056] A first positioning groove 131 is formed on the dial 13 at a position corresponding to the first positioning pin 111 .

[0057] The first positioning groove 131 includes a wide portion 1311 and a narrow portion 1312 in the direction of rotation of the dial 13. The narrow portion 1312 is tightly fitted with the first positioning pin 131; the wide portion 1311 is loosely fitted with the first positioning pin 131, so that the first positioning pin 131 and the wide portion can move relative to each other.

[0058] One of the male terminal 151 and the female terminal 152 is disposed on the upper connection plate 11 ; the other of the male terminal 151 and the female terminal 152 is disposed on the lower connection plate 12 .

[0059] Along the direction of relative movement of the upper connecting plate 11 and the lower connecting plate 12 , the male connecting terminal 151 and the female connecting terminal 152 are arranged opposite to each other.

[0060] Specifically, the male terminal 151 and the female terminal 152 can be arranged at any position on the upper and lower connection plates as needed. For ease of understanding, the embodiment of the present application provides that the male terminal 151 is arranged at the edge of the lower connection plate 12, and the female terminal 152 is arranged at the edge of the upper connection plate 11 corresponding to the male terminal 151.

[0061] In addition, the male terminal 151 and the female terminal 152 can be set on the upper connecting plate and the lower connecting plate in any structure. For example, fixing holes 155 are respectively set on both sides of the male terminal 151 and the female terminal 152, so that they can be fixed to the lower connecting plate 12 and the upper connecting plate 11 through the fixing holes 155 by locking parts (such as locking screws).

[0062] The embodiment of the present application is achieved by fixedly connecting the upper connecting plate to the robot body and the lower connecting plate to the bottom of the robot. When the upper connecting plate and the lower connecting plate are docked with each other, the first locating pins of the upper connecting plate and / or the lower connecting plate are assembled in the first locating slot of the dial. By rotating the dial clockwise or counterclockwise, the first locating pin falls into the wide part and the narrow part of the first locating slot respectively. When the first locating pin falls into the wide part, due to the clearance fit between the first locating pin and the wide part, the first locating pin can be separated from the first locating slot by axially pulling the robot body, thereby realizing the separation of the robot body and the bottom of the robot; when the first locating pin falls into the narrow part, due to the clamping fit between the first locating pin and the narrow part, the first locating pin can be locked with the first locating slot, thereby realizing the connection between the robot body and the bottom of the robot. The embodiment of the present application can easily realize the assembly and separation between the robot body and the robot base by simply turning the dial. It has a simple structure and high assembly and separation efficiency.

[0063] In addition, the embodiment of the present application arranges male and female terminals that cooperate with each other in the connection structure, so that the circuits and communications between the robot base and the robot body can be plugged into the terminals to complete the connection, thereby effectively achieving effective separation between the robot body and the bottom of the robot.

[0064] like Figure 2 As shown, in an optional embodiment, the dial 13 extends outward to form a handle 132 , and the handle 132 is exposed outside the outer edges of the upper connecting plate 11 and the lower connecting plate 12 .

[0065] In the embodiment of the present application, a handle is formed by extending the dial outward, and the handle is exposed outside the outer edges of the upper connecting plate and the lower connecting plate. The handle can be effectively rotated by grasping the hand, thereby completing the rotation of the dial.

[0066] like Figure 2 As shown, in an optional embodiment, the surfaces of the upper connecting disk and / or the lower connecting disk corresponding to the dial are provided with auxiliary members along the rotation direction of the dial to reduce the resistance to pushing the dial.

[0067] For example, Figure 2 As shown, the surface of the lower connecting plate 12 corresponding to the dial 13 is distributed with the auxiliary parts 14 along the rotation direction of the dial 13 .

[0068] Specifically, the auxiliary part can be semicircular, cylindrical, spherical, etc. The auxiliary part can be fixedly set on the surface of the upper connecting plate and / or the lower connecting plate, or can be set in the form of a ball on the surface of the upper connecting plate and / or the lower connecting plate corresponding to the dial.

[0069] In the implementation of this application, since the robot body is very heavy, a very large force is required during the pushing process of the dial. By distributing auxiliary parts along the rotation direction of the dial on the surfaces corresponding to the upper connecting plate and / or the lower connecting plate and the dial, the pushing force of the dial can be effectively reduced.

[0070] Continue as Figure 2 and 3 As shown, in an optional embodiment, guide posts 153 and guide holes 154 that cooperate with each other are respectively provided around the male terminal 151 and the female terminal 152 along the relative movement direction.

[0071] The embodiment of the present application can effectively achieve guidance during the relative movement of the male terminal and the female terminal by setting guide columns and guide holes that cooperate with each other, thereby providing guidance during the relative movement of the male terminal 151 and the female terminal 152, thereby ensuring that when the robot body is docked with the bottom of the robot, the male terminal 151 and the female terminal 152 can be effectively assembled.

[0072] Continue as Figure 2 and 3 As shown, in an optional embodiment, the above-mentioned “one of the male terminal and the female terminal is provided on the upper connection plate” can be implemented by the following structure:

[0073] For ease of understanding, based on the previous example, the male terminal 151 is fixed to the lower connecting plate 12; the female terminal 152 is fixed to the upper connecting plate 11 as an example for explanation.

[0074] The upper connecting plate 11 is provided with a first mounting groove 113 adapted to the female terminal 152 . The female terminal 152 is mounted in the first mounting groove 113 , and a first position adjustment gap exists between the first mounting groove 113 and the female terminal 152 .

[0075] Continue as Figure 2 As shown, in an optional embodiment, the above-mentioned "the other of the male terminal and the female terminal is provided on the lower connection plate" can be achieved by the following structure:

[0076] The following description will be made by taking the example that the male terminal 151 is fixed to the lower connection plate 12 and the female terminal 152 is fixed to the upper connection plate 11 .

[0077] The lower connecting plate 12 is provided with a second mounting groove 124 adapted to the male terminal 151 . The male terminal is mounted in the second mounting groove 124 , and a second position adjustment gap exists between the second mounting groove 124 and the male terminal 151 .

[0078] In the embodiment of the present application, since there will often be certain deviations during the assembly process of the robot body and the robot base, in order to ensure that the male terminals and the female terminals can be effectively assembled during this process, a position adjustment gap is formed between the above-mentioned mounting grooves and the corresponding terminals, thereby leaving a certain adjustment space for assembly, thereby effectively realizing the aligned assembly of the male terminals and the female terminals.

[0079] Continue as Figure 2 As shown, in an optional embodiment, one of the upper connecting plate and the lower connecting plate is provided with a second positioning pin; the other of the upper connecting plate and the lower connecting plate is provided with a second positioning hole 112 adapted to the second positioning pin; the dial 13 is provided with a through hole 133 for the second positioning pin to pass through, so that the second positioning pin passes through the through hole and is assembled with the second positioning hole.

[0080] The second positioning pin and the second positioning hole are arranged opposite to each other along the relative movement direction.

[0081] For example, Figure 2 and 3 As shown, the lower connecting plate 12 is provided with a second positioning pin 121, and the upper connecting plate 11 is provided with a second positioning hole 112 adapted to the second positioning pin 121. By assembling the second positioning pin 121 and the second positioning hole 112 together, the radial positioning of the upper and lower connecting plates can be completed.

[0082] Specifically, one or more second positioning pins and matching second positioning holes can be used respectively according to needs. For example, multiple matching second positioning pins and second positioning holes can be used. The multiple matching second positioning pins and second positioning holes can be arranged along the circumferential direction, but it is necessary to ensure that they are radially offset from the first positioning pin to prevent movement interference between each other.

[0083] Specifically, the second positioning pin and the first positioning pin can be arranged in any position as needed, for example: the second positioning pin can be located on the inner side of the first positioning pin, or on the outer side of the first positioning pin. For ease of understanding, the embodiment of this application is explained using the example of the second positioning pin being located on the inner side of the first positioning pin.

[0084] Continue as Figure 2 As shown, in an optional embodiment, the through hole 133 of the dial 13 may be a hollow hole of the dial 13 , which facilitates the assembly of the second positioning pin 121 and the second positioning hole 112 .

[0085] Continue as Figure 2As shown, in an optional embodiment, the lower connecting plate 12 extends toward the direction of the dial 13 to form a protrusion 123 adapted to the through hole 133 , and the through hole 133 is sleeved outside the protrusion 123 and is rotatably connected to the protrusion 123 .

[0086] Specifically, the through hole and the protrusion can be connected in a relatively rotatable manner by various existing or future-developed structural members, for example, by a bearing connection, which can help reduce the resistance to the rotation of the dial.

[0087] The embodiment of the present application extends the lower connecting plate in the direction of the dial to form a protrusion that is adapted to the through hole, and the through hole is sleeved on the outer edge of the protrusion and connected to the protrusion for relative rotation, thereby integrating the lower connecting plate and the dial into one. Subsequently, the upper mounting plate can be fixedly connected to the bottom of the robot body, and the lower connecting plate and the dial can be fixedly connected to the bottom of the robot as a whole. Subsequently, the entire robot can be assembled and separated more quickly by assembling and separating the pins with the adapted slots, holes, etc.

[0088] Continue as Figure 2 As shown, in an optional embodiment, an avoidance hole 134 is formed along the circumference of the dial 13 .

[0089] A mounting hole 122 is formed along the circumference of the lower connecting plate 12 , at least corresponding to the axial direction of the avoidance hole 134 .

[0090] In an optional embodiment, in addition to including one or more holes corresponding to the avoidance holes 134, the mounting hole 122 may also form a mounting hole at a position axially corresponding to the first positioning groove 131 of the lower connecting plate 12, thereby increasing the firmness of the connection between the lower connecting plate and the bottom of the robot.

[0091] In the embodiment of the present application, a fixing part (such as a screw or any other structural part that can play a fixing role) is passed through the avoidance hole of the dial (in some cases, it can also be passed through the first positioning groove) and fixedly connected to the bottom of the robot through the mounting hole 122 to fix the lower connecting plate to the bottom of the robot.

[0092] Based on the connection structure described in the above embodiment, an embodiment of the present application provides a robot (illustration omitted), which includes a robot body, a robot bottom and the connection structure described in the above embodiment.

[0093] It should be noted that the above-mentioned robot can be any robot that exists now or will be developed in the future, such as a humanoid machine, and this application does not limit it.

[0094] For the relevant description of the connection mechanism, please refer to the above embodiment and will not be repeated here.

[0095] The embodiment of the present application is achieved by fixedly connecting the upper connecting plate to the robot body and the lower connecting plate to the bottom of the robot. When the upper connecting plate and the lower connecting plate are docked with each other, the first locating pins of the upper connecting plate and / or the lower connecting plate are assembled in the first locating slot of the dial. By rotating the dial clockwise or counterclockwise, the first locating pin falls into the wide part and the narrow part of the first locating slot respectively. When the first locating pin falls into the wide part, due to the gap between the first locating pin and the wide part, the first locating pin can be separated from the first locating slot by axially pulling the robot body, thereby realizing the separation of the robot body and the bottom of the robot; when the first locating pin falls into the narrow part, due to the first locating pin and the narrow part being clamped together, the first locating pin can be locked with the first locating slot, thereby realizing the connection between the robot body and the bottom of the robot. The embodiment of the present application can easily realize the assembly and separation between the robot body and the robot base by simply turning the dial. It has a simple structure and high assembly and separation efficiency.

[0096] In addition, the embodiment of the present application arranges male and female terminals that cooperate with each other in the connection structure, so that the circuits and communications between the robot base and the robot body can be plugged into the terminals to complete the connection, thereby effectively achieving effective separation between the robot body and the bottom of the robot.

[0097] Obviously, the embodiments described above are only some of the embodiments of the present application, rather than all of the embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present application specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present application.

Claims

1. A connecting structure for connecting a robot body and a robot bottom; characterized in that: The connection structure includes: an upper connection plate, a lower connection plate, a dial, and male and female terminals that cooperate with each other; the dial includes: a plate body and a handle; The upper connecting plate is used to be fixedly connected to the robot body; The lower connecting plate is used to be fixedly connected to the bottom of the robot; The upper connecting plate and the lower connecting plate are arranged opposite to each other; The disc body of the dial is located between the upper connecting disc and the lower connecting disc; The upper connecting plate and / or the lower connecting plate extend in the direction of the dial to form a first positioning pin; The dial forms a first positioning groove at a position corresponding to the first positioning pin; the first positioning groove includes a wide portion and a narrow portion along the rotation direction of the dial; the width of the narrow portion is tightly matched with the diameter of the first positioning pin; the wide portion is loosely matched with the first positioning pin, so that the wide portion and the first positioning pin can move relative to each other; One of the male terminal and the female terminal is provided on the upper connection plate; The other of the male terminal and the female terminal is provided on the lower connection plate; Along the direction of relative movement of the upper connecting plate and the lower connecting plate, the male connecting terminal and the female connecting terminal are arranged opposite to each other.

2. The connection structure according to claim 1, characterized in that: The dial extends outward to form a handle, and the handle is exposed outside the outer edges of the upper connecting plate and the lower connecting plate.

3. The connection structure according to claim 1 or 2, characterized in that: The surfaces of the lower connecting plate and / or the upper connecting plate corresponding to the dial are provided with auxiliary parts distributed along the movement direction of the dial to reduce the pushing force of the dial.

4. The connection structure according to claim 1 or 2, characterized in that: Guide columns and guide holes that match each other are respectively provided around the male terminal and the female terminal along the relative movement direction.

5. The connection structure according to claim 1 or 2, characterized in that: The male terminal and the female terminal are provided on the upper connection plate by the following structure: The upper connecting plate is provided with a first mounting groove adapted to one of the male terminal and the female terminal, one of the male terminal and the female terminal is mounted in the first mounting groove, and a first position adjustment gap exists between the first mounting groove and one of the male terminal and the female terminal.

6. The connection structure according to claim 1 or 2, characterized in that: The other of the male terminal and the female terminal is provided on the lower connection plate through the following structure: The lower connecting plate is provided with a second mounting groove adapted to the other of the male terminal and the female terminal, the other of the male terminal and the female terminal is mounted in the second mounting groove, and a second position adjustment gap exists between the second mounting groove and the other of the male terminal and the female terminal.

7. The connection structure according to claim 1 or 2, characterized in that: One of the upper connecting plate and the lower connecting plate is provided with a second positioning pin; the other of the upper connecting plate and the lower connecting plate is provided with a second positioning hole; The second positioning pin and the second positioning hole cooperate with each other and are arranged opposite to each other along the relative movement direction; The dial is provided with a through hole for the second positioning pin to pass through, so that the second positioning pin passes through the through hole and is assembled with the second positioning hole.

8. The connection structure according to claim 7, characterized in that: The second positioning pin is located inside the first positioning pin; and / or, The through hole is a hollow hole of the dial; and / or, The lower connecting plate extends in the direction of the dial to form a protrusion adapted to the through hole; the through hole is sleeved outside the protrusion and is rotatably connected to the protrusion; and / or, A plurality of first positioning pins are distributed along the circumference of the upper connecting plate and / or the lower connecting plate.

9. The connection structure according to claim 1 or 2, characterized in that: forming an avoidance hole along the circumference of the dial; A mounting hole is formed along the circumference of the lower connecting plate and corresponds at least to the axial direction of the avoidance hole; The fixing piece passes through the avoidance hole and is fixedly connected to the bottom of the robot through the mounting hole.

10. A robot, characterized in that: The robot comprises a robot body, a robot bottom and the connecting structure according to any one of claims 1 to 9.

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