Joint connecting structure

Abstract

The utility model belongs to the technical field of robots, and discloses a joint connecting structure. The joint connecting structure comprises a first joint, a second joint and a connecting flange, the connecting flange is provided with a first mounting face and a second mounting face which are oppositely arranged, the first joint is provided with an annular flange, and a first locking piece sequentially penetrates through the connecting flange and the annular flange so as to fix the first joint to the first mounting face of the connecting flange; the plurality of first locking pieces are circumferentially distributed; the second locking pieces sequentially penetrate through the connecting flange and the second joint to fix the second joint to the second mounting face of the connecting flange, and the second locking pieces are distributed in a circumferential mode. The multiple first locking pieces and the multiple second locking pieces are distributed circumferentially to provide uniform fixing force, so that connection looseness of the first joints and the second joints caused by uneven stress is effectively prevented, external torque and shearing force can be better resisted, and the rigidity and stability of the joint connecting structure are further improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a joint connection structure. Background Technology

[0002] Collaborative robots are robots designed to work alongside humans to perform specific tasks and actions. To improve versatility, many collaborative robots are constructed in a modular fashion, allowing any number of joints to be assembled together according to the system layout required to accomplish the necessary tasks. Currently, commonly used connection methods suffer from poor structural rigidity, resulting in poor stability after two joints are assembled, thus affecting the reliability of the collaborative robot.

[0003] Therefore, a joint connection structure is needed to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a joint connection structure with good stability and rigidity, thereby ensuring the reliability of collaborative robots.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A joint connection structure, comprising:

[0007] The connecting flange has a first mounting surface and a second mounting surface that are positioned opposite to each other.

[0008] The first joint has an annular flange, and the first locking member passes through the connecting flange and the annular flange in sequence to fix the first joint to the first mounting surface of the connecting flange, and the plurality of the first locking members are circumferentially distributed.

[0009] The second joint and the second locking member pass through the connecting flange and the second joint in sequence to fix the second joint to the second mounting surface of the connecting flange, and the plurality of the second locking members are circumferentially distributed.

[0010] Preferably, a first receiving groove is recessed on the first mounting surface, and the annular flange is engaged in the first receiving groove.

[0011] Preferably, the second mounting surface is provided with a plurality of second receiving grooves, which are circumferentially distributed, and the heads of the plurality of first locking members are correspondingly received in the plurality of second receiving grooves.

[0012] Preferably, there is an operating space between the first joint and the connecting flange, the operating space is arranged in a ring shape, and a plurality of second locking members are located within the operating space.

[0013] Preferably, the connecting flange has a first annular groove and / or the first joint has a second annular groove to form the operating space.

[0014] Preferably, the connecting flange and the second joint are in a concave-convex fit.

[0015] Preferably, the second mounting surface is recessed with a third receiving groove, and the second joint is protruded with a positioning protrusion, which is engaged in the third receiving groove.

[0016] Preferably, the joint connection structure further includes:

[0017] A shielding ring is fitted over the connecting flange. The outer peripheral surfaces of the first joint, the second joint, the connecting flange, and the shielding ring are all coplanar.

[0018] Preferably, the joint connection structure further includes a third locking member, through which the shielding ring and the connecting flange are fixedly connected.

[0019] Preferably, the shielding ring includes multiple shielding ring groups, which are spliced ​​together to form the shielding ring.

[0020] The beneficial effects of this utility model are:

[0021] This joint connection structure includes a first joint, a second joint, and a connecting flange. The connecting flange has a first mounting surface and a second mounting surface that are disposed opposite to each other. The first joint has an annular flange. A first locking member passes through the connecting flange and the annular flange in sequence to fix the first joint to the first mounting surface of the connecting flange, and a plurality of first locking members are distributed in a circular pattern. A second locking member passes through the connecting flange and the second joint in sequence to fix the second joint to the second mounting surface of the connecting flange, and the second locking member is distributed in a circular pattern.

[0022] The first and second joints are connected by fixing them to the first and second mounting surfaces of the connecting flange, which are respectively positioned opposite each other. The connecting flange provides a stable support base for the first and second joints. The first joint engages with the first mounting surface of the connecting flange via its annular flange. Multiple first locking elements pass sequentially through the connecting flange and the annular flange, thus firmly fixing the first joint to the first mounting surface of the connecting flange. The multiple first locking elements are circumferentially distributed, providing a uniform fixing force to the connection between the first joint and the connecting flange, effectively preventing loosening due to uneven force, and better resisting external torque and shear force, further improving the rigidity and stability of the connection. The second joint is securely fixed to the second mounting surface of the connecting flange by second locking elements. The multiple second locking elements are circumferentially distributed, providing a uniform fixing force to the connection between the second joint and the connecting flange, effectively preventing loosening due to uneven force, and better resisting external torque and shear force, further improving the rigidity and stability of the connection. Attached Figure Description

[0023] Figure 1 This is an exploded structural diagram of the joint connection structure provided by this utility model;

[0024] Figure 2 This is a schematic diagram of the joint connection structure provided by this utility model;

[0025] Figure 3 This is a cross-sectional schematic diagram of the joint connection structure provided by this utility model.

[0026] In the picture:

[0027] 1. Connecting flange; 11. First receiving groove; 12. Second receiving groove; 13. Third receiving groove;

[0028] 2. First joint; 21. Annular flange;

[0029] 3. Second joint; 31. Positioning protrusion;

[0030] 41. First locking element; 42. Second locking element; 43. Third locking element;

[0031] 5. Operating space;

[0032] 6. Shielding ring; 61. Shielding group ring. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0034] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0037] Collaborative robots are robots designed to work alongside humans to perform specific tasks and actions. To improve versatility, many collaborative robots are constructed in a modular fashion, allowing any number of joints to be assembled together according to the system layout required to accomplish the necessary tasks. Currently, commonly used connection methods suffer from poor structural rigidity, resulting in poor stability after two joints are assembled, thus affecting the reliability of the collaborative robot.

[0038] To solve the above problems, such as Figures 1-3As shown, this embodiment provides a joint connection structure, which includes a first joint 2, a second joint 3, and a connecting flange 1. The connecting flange 1 has a first mounting surface and a second mounting surface that are disposed opposite to each other. The first joint 2 has an annular flange 21. A first locking member 41 passes through the connecting flange 1 and the annular flange 21 in sequence to fix the first joint 2 to the first mounting surface of the connecting flange 1, and a plurality of first locking members 41 are circumferentially distributed. A second locking member 42 passes through the connecting flange 1 and the second joint 3 in sequence to fix the second joint 3 to the second mounting surface of the connecting flange 1, and the second locking member 42 is circumferentially distributed.

[0039] By fixing the first joint 2 and the second joint 3 to the first mounting surface and the second mounting surface of the connecting flange 1, which are respectively disposed opposite to each other, the first joint 2 and the second joint 3 are connected. The connecting flange 1 provides a stable support foundation for the first joint 2 and the second joint 3. Specifically, the first joint 2 engages with the first mounting surface of the connecting flange 1 through its annular flange 21. Multiple first locking elements 41 pass sequentially through the connecting flange 1 and the annular flange 21, thereby firmly fixing the first joint 2 to the first mounting surface of the connecting flange 1. The multiple first locking elements 41 are circumferentially distributed, providing a uniform fixing force for the connection between the first joint 2 and the connecting flange 1, effectively preventing loosening due to uneven force, and better resisting external torque and shear force, further improving the rigidity and stability of the connection. The second joint 3 is firmly fixed to the second mounting surface of the connecting flange 1 through second locking elements 42. The multiple second locking elements 42 are circumferentially distributed, providing a uniform fixing force for the connection between the second joint 3 and the connecting flange 1, effectively preventing loosening due to uneven force, and better resisting external torque and shear force, further improving the rigidity and stability of the connection.

[0040] In the specific implementation process, the circumference formed by the multiple first locking members 41 is concentric with the circumference formed by the multiple second locking members 42, and the diameter of the circumference formed by the multiple first locking members 41 is smaller than the diameter of the circumference formed by the multiple second locking members 42. That is, the multiple second locking members 42 are located on the outer ring of the multiple first locking members 41. This arrangement can facilitate assembly.

[0041] In this embodiment, the connecting flange 1 has multiple circumferentially arranged first threaded holes, and the annular flange 21 has multiple circumferentially arranged second threaded holes. Each of the first threaded holes corresponds to one of the second threaded holes. The first locking member 41 passes through the corresponding first and second threaded holes in sequence and is threaded into both the first and second threaded holes to connect the first joint 2 to the connecting flange 1. Specifically, in this embodiment, the first locking member 41 is a screw.

[0042] Specifically, such as Figure 1 , Figure 3 As shown, the second mounting surface has multiple second receiving grooves 12, which are circumferentially distributed. The heads of multiple first locking members 41 are correspondingly received within the multiple second receiving grooves 12. The heads of the first locking members 41 being received within the second receiving grooves 12 can restrict the axial and radial movement of the first locking members 41, thereby enhancing the stability of the connection and preventing the first locking members 41 from loosening due to vibration or external force.

[0043] In this embodiment, multiple second receiving grooves 12 correspond one-to-one with multiple first threaded holes. A first locking member 41 is inserted through the second mounting surface. Tightening the first locking member 41 connects the connecting flange 1 and the first joint 2. After tightening, the head of the first locking member 41 is housed within the second receiving groove 12, and the head of the first locking member 41 abuts against the bottom of the second receiving groove 12. Specifically, in this embodiment, the first locking member 41 is a cylindrical head screw. The cylindrical head screw occupies less installation space while ensuring a reliable connection between the first joint 2 and the connecting flange 1, making this joint connection structure more compact and small.

[0044] Specifically, such as Figure 1 , Figure 3 As shown, a first receiving groove 11 is recessed on the first mounting surface, and an annular flange 21 is engaged within the first receiving groove 11. When fixing the first joint 2 to the connecting flange 1, it is only necessary to engage the annular flange 21 into the first receiving groove 11, which simplifies the installation process and eliminates the need for time-consuming adjustments to the positional relationship between the first joint 2 and the connecting flange 1. Engaging the annular flange 21 into the first receiving groove 11 further improves the stability of the connection between the first joint 2 and the connecting flange 1. By recessing the first receiving groove 11, the volume of the first joint 2 after connecting to the connecting flange 1 can be reduced, making the joint connection structure more compact and small.

[0045] Specifically, such as Figure 1 , Figure 3 As shown, there is an operating space 5 between the first joint 2 and the connecting flange 1. The operating space 5 is arranged in a ring shape, and multiple second locking elements 42 are located within the operating space 5. During specific assembly, the second locking elements 42 can be locked through the operating space 5 to prevent the first joint 2 and the connecting flange 1 from interfering with the installation of the second joint 3.

[0046] Specifically, the connecting flange 1 has a first annular groove and / or the first joint 2 has a second annular groove to form an operating space 5. In some embodiments, the connecting flange 1 has a first annular groove so that there is a gap between the connecting flange 1 and the first joint 2, and this gap forms the operating space 5; specifically, the first mounting surface of the connecting flange 1 has a first annular groove. In other embodiments, the first joint 2 has a second annular groove so that there is a gap between the connecting flange 1 and the first joint 2, and this gap forms the operating space 5; specifically, the wall surface of the first joint 2 facing the connecting flange 1 has a second annular groove. In still other embodiments, the connecting flange 1 has a first annular groove, and the first joint 2 has a second annular groove, and the first and second annular grooves together form the operating space 5. It should be noted that the specific arrangement depends on actual needs, and this embodiment does not limit it.

[0047] In this embodiment, the connecting flange 1 has multiple circumferentially arranged third threaded holes, and the second joint 3 has multiple circumferentially arranged fourth threaded holes. Each of the third threaded holes corresponds to one of the fourth threaded holes. The second locking member 42 passes through the corresponding third and fourth threaded holes sequentially and engages with them threadedly to connect the second joint 3 to the connecting flange 1. Specifically, in this embodiment, the second locking member 42 is a screw.

[0048] Specifically, multiple third threaded holes communicate with the operating space 5, allowing the second locking member 42 to be located within the operating space 5. During installation, the multiple second locking members 42 are first inserted through the third threaded holes from the first mounting surface. Then, the connecting flange 1 is connected to the first joint 2, and the second joint 3 is fitted into the second mounting surface of the connecting flange 1. The second locking members 42 are then tightened through the operating space 5 to securely connect the connecting flange 1 and the second joint 3. In this embodiment, the second locking member 42 is an external hexagonal screw, allowing it to be tightened into place within the operating space 5 using an open-end wrench, ensuring the reliability of the connection between the connecting flange 1 and the second joint 3.

[0049] Specifically, the connecting flange 1 and the second joint 3 are in a convex-concave fit. By setting the connecting flange 1 and the second joint 3 to a convex-concave fit, the installation process can be simplified, eliminating the need for time-consuming adjustments to the positional relationship between the second joint 3 and the connecting flange 1; and the stability of the connection between the second joint 3 and the connecting flange 1 can be further improved.

[0050] In this embodiment, as Figure 1 , Figure 3As shown, the second mounting surface has a recessed third receiving groove 13, and the second joint 3 has a protruding positioning protrusion 31, which is engaged within the third receiving groove 13. The third receiving groove 13 and the positioning protrusion 31 are provided to achieve a concave-convex fit between the connecting flange 1 and the second joint 3. It should be noted that other forms in the prior art can also be used to achieve the concave-convex fit between the connecting flange 1 and the second joint 3; this embodiment does not limit this aspect.

[0051] Specifically, such as Figures 1-3 As shown, this joint connection structure also includes a shielding ring 6, which is sleeved on the outside of the connecting flange 1. The outer peripheral surfaces of the first joint 2, the second joint 3, the connecting flange 1, and the shielding ring 6 are all coplanar. The design of the shielding ring 6 makes the outer surface of the entire joint connection structure smooth and clean, shields the operating space 5, improves the overall aesthetics, and prevents external impurities and dust from entering the joint connection structure through the operating space 5, facilitating cleaning and maintenance.

[0052] Specifically, such as Figure 1 , Figure 2 As shown, the joint connection structure also includes a third locking member 43, through which the retaining ring 6 and the connecting flange 1 are fixedly connected. The third locking member 43 securely connects the retaining ring 6 to the connecting flange 1, ensuring that the retaining ring 6 is not easily loosened or separated by external forces. In this embodiment, the third locking member 43 is a screw, which is sequentially passed through the retaining ring 6 and the connecting flange 1 to fix them together.

[0053] Specifically, such as Figure 1 , Figure 2 As shown, the shielding ring 6 includes multiple shielding ring assemblies 61, which are spliced ​​together to form the shielding ring 6. By fixing the shielding ring assemblies 61 to the connecting flange 1 to form the shielding ring 6, the assembly difficulty is reduced; manufacturing the shielding ring 6 by disassembling it into multiple shielding ring assemblies 61 reduces the manufacturing difficulty and can reduce production costs. For example, in this embodiment, the shielding ring 6 is composed of two shielding ring assemblies 61.

[0054] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An articulation structure, characterized by, The utility model relates to a joint connecting structure, which comprises: a connecting flange (1) having oppositely arranged first and second mounting surfaces; a first joint (2) having an annular flange (21), a plurality of first locking members (41) penetrating the connecting flange (1) and the annular flange (21) in sequence to fix the first joint (2) to the first mounting surface of the connecting flange (1), and the first locking members (41) being circumferentially distributed; a second joint (3) having a plurality of second locking members (42) penetrating the connecting flange (1) and the second joint (3) in sequence to fix the second joint (3) to the second mounting surface of the connecting flange (1), and the second locking members (42) being circumferentially distributed; a plurality of second accommodating grooves (12) are formed in the second mounting surface, the second accommodating grooves (12) being circumferentially distributed, and the heads of the first locking members (41) being accommodated in the second accommodating grooves (12).

2. The knuckle structure according to claim 1, characterized by a first accommodating groove (11) is recessed in the first mounting surface, and the annular flange (21) is clamped in the first accommodating groove (11).

3. The knuckle structure according to claim 1, characterized by an operating space (5) is formed between the first joint (2) and the connecting flange (1), and the operating space (5) is annularly arranged, and the second locking members (42) are located in the operating space (5).

4. The knuckle structure according to claim 3, characterized by the connecting flange (1) is provided with a first annular groove, and / or the first joint (2) is provided with a second annular groove to form the operating space (5).

5. The knuckle structure according to claim 1, characterized by the connecting flange (1) and the second joint (3) are recessed and protruded.

6. The knuckle structure according to claim 5, characterized by the second mounting surface is recessed with a third accommodating groove (13), and the second joint (3) is protruded with a positioning protrusion (31) clamped in the third accommodating groove (13).

7. The knuckle structure according to claim 2, characterized by The joint connecting structure further comprises: a shielding ring (6) sleeved outside the connecting flange (1), and the outer circumferential surfaces of the first joint (2), the second joint (3), the connecting flange (1) and the shielding ring (6) are coplanar.

8. The knuckle structure according to claim 7, characterized by The joint connecting structure further comprises a third locking member (43), and the shielding ring (6) and the connecting flange (1) are fixedly connected through the third locking member (43).

9. The knuckle structure according to claim 7, characterized by The shielding ring (6) comprises a plurality of shielding group rings (61), and the shielding group rings (61) are spliced to form the shielding ring (6).

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