Connecting structure, manipulator and humanoid robot
By introducing a locking washer and an adjusting structure into the mechanical connection, the problem of the nut being difficult to press the bearing tightly when locked is solved, achieving precise locking of the locking nut and stable pressing of the bearing, thus improving the reliability and flexibility of the connection.
Patent Information
- Application Number
- CN202520455695.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-14
- Publication Date
- 2026-01-16
- Estimated Expiration
- 2035-03-14
AI Technical Summary
In existing technologies, nuts are difficult to simultaneously and accurately lock and clamp bearings in mechanical connections, resulting in unreliable connections.
The structure employs a locking washer and an adjusting part. Through the combination of a locking nut, a locking pin, and a first elastic element, the precise position locking of the locking nut and the clamping of the bearing are achieved. The locking washer is used to compensate for the gap between the locking nut and the bearing, and the adjusting part adjusts the position through the elastic element to ensure that the connection position is aligned.
This improves the reliability of the connection, ensuring that the locking nut can smoothly press the bearing in the locked position, enhancing the stability and flexibility of the mechanical connection, and reducing the steps required for replacing and adjusting the locking gasket.
Smart Images
Figure CN223802618U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robots, and particularly relates to a connecting structure, a mechanical hand and a humanoid robot. BACKGROUND
[0002] The structures of various parts of a robot need to be connected to each other, for example, in a humanoid robot, mechanical connections exist at multiple positions such as legs and arms of the robot, and in the mechanical connection, threaded connection is the most common connection mode. The mechanical connection structure in the related art includes an intermediate connecting piece and a bearing directly sleeved at an end of the intermediate connecting piece, and the intermediate connecting piece and the bearing are both used for connecting external structures. In order to prevent the bearing from being separated from the intermediate connecting piece, a nut is also threadedly connected at the end of the intermediate connecting piece, and the bearing is pressed tightly by the nut.
[0003] The mechanical connection not only needs to achieve locking of the nut at a reliable and accurate position to prevent loosening of the nut, but also needs the nut to press the bearing at an accurate position. However, the nut loosening prevention mode in the related art is relatively simple, only the non-loosening of the thread is solved, and it is difficult to ensure that the nut can be locked at the target position and can just press the bearing, so that the structure connection is unreliable. CONTENT OF THE UTILITY MODEL
[0004] The present application provides a connecting structure, a mechanical hand and a humanoid robot, which can not only achieve loosening prevention but also press the bearing for connecting external parts at a target locking position, thereby enhancing the reliability of the connection.
[0005] In a first aspect, the embodiments of the present application provide a connecting structure, comprising a connecting shaft, a bearing and a locking structure, the connecting shaft comprises a first connecting part and a second connecting part arranged at the end of the first connecting part, the outer wall of the second connecting part is provided with external threads, the radial dimension of the second connecting part is smaller than the radial dimension of the first connecting part, the bearing is sleeved on the second connecting part, the inner ring size of the bearing is smaller than the radial dimension of the first connecting part, the locking structure comprises a locking nut, a locking pin and a locking pad, the locking pad is sleeved on the second connecting part, the locking nut is screwed on the second connecting part, the locking pad is located between the bearing and the locking nut, the end of the second connecting part away from the first connecting part is provided with an adjusting part, the adjusting part is movably connected to the second connecting part along the axial direction of the second connecting part, a first elastic member is connected between the adjusting part and the second connecting part, the first elastic member makes the adjusting part have a tendency to move towards the locking nut, the end of the second connecting part is provided with a plug-in hole, the first elastic member is located in the plug-in hole, and the adjusting part and the locking nut are both provided with connecting positions, when the locking nut is rotated to the connecting position corresponding to the connecting position of the adjusting part, the locking pin can be connected to the locking nut and the adjusting part through the connecting positions.
[0006] The connecting structure is provided with the locking pad located between the locking nut and the bearing, the locking pad is sleeved on the second connecting part, and the locking nut is connected to the second connecting part, so that the locking nut can be smoothly pressed against the bearing and be locked through the locking pin. Therefore, the locking pad can compensate for the gap between the locking nut and the bearing when the locking nut is locked, so that the locking nut can be accurately located at the locking position and be smoothly pressed against the bearing, and the reliability of the bearing in connecting external structures is improved.
[0007] In addition, the adjusting part is movably arranged on the second connecting part, and the adjusting part and the second connecting part are connected through the first elastic member. In a free state, the first elastic member is in a stretched state. When the connecting position of the adjusting part and the connecting position of the locking nut are aligned in the circumferential direction of the second connecting part but are not aligned in the axial direction, the adjusting part can be moved along the axial direction of the second connecting part to align the connecting position of the adjusting part and the connecting position of the locking nut in the axial direction of the second connecting part. In this way, when the thickness of the locking pad is not sufficient to align the connecting position of the locking nut and the connecting position of the adjusting part in the axial direction of the second connecting part, the defect can be compensated by moving the adjusting part, without the need to increase or decrease the number of locking pads or replace the locking pad, so that the connection of the adjusting part and the locking nut through the locking pin is more convenient and flexible.
[0008] In a possible implementation, the adjusting part is provided with a pin hole in the radial direction of the second connecting part, and the lock nut is provided with a slot at the end away from the lock pad, the slot penetrating the lock nut, and the lock pin is inserted into the pin hole at one end and the other end is inserted into the slot.
[0009] In a possible implementation, the pin hole penetrates the adjusting part, at least one pair of slots on the lock nut are opened in the same direction, the lock pin is arranged in the pin hole, and the two ends of the lock pin are respectively inserted into two slots opened in the same direction.
[0010] In a possible implementation, the pin hole is a counterbore, the counterbore is provided with a second elastic member, the lock pin is inserted into the counterbore, and the lock pin is connected to the adjusting part through the second elastic member, and in the free state, the end of the lock pin protrudes from the counterbore, so that the lock pin can be inserted into the slot.
[0011] In a possible implementation, the adjusting part includes an adjusting body and an insertion part protruding from one end of the adjusting body, the insertion part is inserted into the insertion hole, and the insertion part is connected to the bottom wall of the insertion hole through the first elastic member.
[0012] In a possible implementation, the adjusting part is further provided with a rotating part, the rotating part is provided with a connecting position, the rotating part is arranged at the end of the adjusting body away from the insertion part, a limiting member is arranged between the adjusting body and the rotating part, the rotating part is unidirectionally connected to the adjusting body through the limiting member, and the rotating direction of the rotating part is consistent with the rotating direction of the lock nut when the lock nut is screwed with the second connecting part.
[0013] In a possible implementation, the cross section of the insertion part is a polygon, and the shape and size of the insertion hole are consistent with the shape and size of the insertion part.
[0014] In a possible implementation, the lock pad is a ring pad, the lock pad is made of rubber or silicone, and the inner ring of the lock pad has a larger radial size than the radial size of the second connecting part.
[0015] In a second aspect, the embodiments of the present application provide a mechanical hand, which includes an arm, a palm and the connecting structure, one of the arm and the palm is connected to the first connecting part, and the other is connected to the bearing.
[0016] In a third aspect, the embodiments of the present application provide an anthropomorphic robot, which includes the connecting structure or the mechanical hand. BRIEF DESCRIPTION OF DRAWINGS
[0017] The accompanying drawings, which are incorporated herein and constitute part of this specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application.
[0018] Figure 1 A schematic view of a mechanical hand according to the present application;
[0019] Figure 2 A schematic view of a locking nut according to the present application;
[0020] Figure 3 A sectional view of a connecting structure according to the present application;
[0021] Figure 4 A sectional view of a connecting shaft according to the present application;
[0022] Figure 5 Another sectional view of a connecting structure according to the present application;
[0023] Figure 6 Another sectional view of a connecting shaft according to the present application;
[0024] Figure 7 Yet another sectional view of a connecting structure according to the present application;
[0025] Figure 8 Yet another sectional view of a connecting shaft according to the present application.
[0026] 10, connecting shaft; 11, first connecting part; 12, second connecting part; 121, insertion hole; 122, second elastic member; 13, adjusting part; 131, adjusting body; 132, insertion part; 133, rotating part; 1331, pin hole; 134, limiting member; 14, first elastic member; 20, bearing; 30, locking structure; 31, locking nut; 311, slot; 32, locking pad; 33, locking pin; 100, arm; 200, palm; 300, connecting structure.
[0027] The specific embodiments of the present application have been shown by way of example in the above-described drawings, and will be described in more detail hereinafter. These drawings and the written description are not intended to restrict the scope of the inventive concept in any way, but are merely meant to suggest the general nature of the application to one skilled in the art. DETAILED DESCRIPTION
[0028] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The following description is made in connection with the drawings, in which the same reference numerals designate the same elements throughout the several figures, and the components in the following description are not limited to the components illustrated in the specification, unless otherwise specified. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.
[0029] The present application provides a mechanical hand and a humanoid robot with the same, referring to Figure 1 As shown, the mechanical hand simulates a human arm, including an arm 100 and a palm 200, and the palm 200 is connected to the arm 100.
[0030] As shown, the present application also provides a connecting structure 300, which can be used to connect the palm 200 and the arm 100 of the mechanical hand, or the connecting structure 300 of the present application can also be directly applied to the connection between two components of other parts of the mechanical man. Figure 1 Figure 2 As shown, the present application also provides a connecting structure 300, which can be used to connect the palm 200 and the arm 100 of the mechanical hand, or the connecting structure 300 of the present application can also be directly applied to the connection between two components of other parts of the mechanical man.
[0031] In some realizable modes, the connecting structure 300 includes a connecting shaft 10, a bearing 20 and a locking structure 30, the connecting shaft 10 includes a first connecting part 11 and a second connecting part 12 arranged at the end of the first connecting part 11, and the first connecting part 11 and the second connecting part 12 are both columnar structures. In the present application, the first connecting part 11 and the second connecting part 12 are both cylindrical structures, and the first connecting part 11 and the second connecting part 12 are coaxially arranged. The radial dimension of the second connecting part 12 is smaller than the radial dimension of the first connecting part 11, so that the first connecting part 11 and the second connecting part 12 form a stepped structure.
[0032] The bearing 20 is sleeved on the second connecting part 12, the inner ring size of the bearing 20 is the same as the radial dimension of the second connecting part 12, and is smaller than the radial dimension of the first connecting part 11, so that one end of the bearing 20 can be lapped on the end face of the first connecting part 11 for connecting the second connecting part 12.
[0033] The locking structure 30 of the present application includes a locking nut 31, a locking pin 33 and a locking pad 32, the locking pad 32 is sleeved on the second connecting part 12, and the locking pad 32 abuts against one end of the bearing 20 away from the first connecting part 11. The outer wall of the second connecting part 12 is provided with external threads, the locking nut 31 can be screwed on the second connecting part 12, and rotating the locking nut 31 can move the locking nut 31 towards the locking pad 32, so that the locking nut 31 can abut against one end of the locking pad 32 away from the bearing 20, at this time the locking pad 32 is clamped between the bearing 20 and the locking nut 31.
[0034] The second connecting part 12 is further provided with an adjusting part 13 at one end away from the first connecting part 11. The adjusting part 13 is movably connected to the second connecting part 12, and the moving direction of the adjusting part 13 is parallel to the axial direction of the second connecting part 12. Here, the axial direction of the second connecting part 12 is the moving direction of the lock nut 31 when the lock nut 31 is screwed to the second connecting part 12, i.e. the direction in which the lock nut 31 moves towards or away from the bearing 20.
[0035] The adjusting part 13 and the second connecting part 12 are connected by a first elastic member 14. The first elastic member 14 causes the adjusting part 13 to have a tendency to move towards the lock nut 31. The end of the second connecting part 12 is provided with a plug-in hole 121, and the first elastic member 14 is located in the plug-in hole 121. The plug-in hole 121 can be used to accommodate the first elastic member 14 to avoid the exposure of the first elastic member 14. The adjusting part 13 and the lock nut 31 are both provided with connecting positions. When the lock nut 31 is rotated to the position where the connecting position of the lock nut 31 is opposite to the connecting position of the adjusting part 13, the lock pin 33 can be connected to the connecting positions of the lock nut 31 and the adjusting part 13 at the same time, so that the lock nut 31 and the adjusting part 13 are indirectly connected. At this time, the lock nut 31 is connected to the adjusting part 13 through the lock pin 33, which can prevent the rotation of the lock nut 31 and the movement of the lock nut 31 along the axial direction of the second connecting part 12.
[0036] The bearing 20 of the application is sleeved on the second connecting part 12. By screwing the lock nut 31 to the second connecting part 12, the bearing 20 can be pressed between the first connecting part 11 and the lock nut 31. The application is further provided with a lock pin 33. When the lock nut 31 presses the bearing 20 to the connecting shaft 10, the two ends of the lock pin 33 can be connected to the lock nut 31 and the adjusting part 13 respectively, so as to lock the lock nut 31 and prevent the lock nut 31 from loosening.
[0037] When the lock nut 31 is locked, it not only needs to press the bearing 20, but also needs to align the connecting position of the lock nut 31 with the connecting position of the adjusting part 13, so that the lock pin 33 can be connected to the lock nut 31 and the adjusting part 13. However, during the rotation of the lock nut 31, the connecting position of the lock nut 31 and the connecting position of the adjusting part 13 are often misaligned when the lock nut 31 moves to the position for pressing the bearing 20, which causes the lock pin 33 to fail to be connected to the lock nut 31 and the adjusting part 13 at the same time, or causes the lock nut 31 to fail to press the bearing 20 when the connecting position of the lock nut 31 is aligned with the connecting position of the adjusting part 13.
[0038] Therefore, the application also provides a locking washer 32 between the locking nut 31 and the bearing 20. When the locking nut 31 is pressed against the bearing 20, the locking pin 33 cannot be connected to the locking nut 31 and the adjusting part 13 at the same time. When the locking nut 31 is screwed to the position where the connecting position of the locking nut 31 is aligned with the connecting position of the adjusting part 13, the gap between the locking nut 31 and the bearing 20 at this time is recorded. Then, a locking washer 32 with a corresponding thickness is selected, the locking washer 32 with the corresponding thickness is sleeved on the second connecting part 12 after the locking nut 31 is removed, and then the locking nut 31 is connected to the second connecting part 12. When the locking nut 31 is screwed to abut against the locking washer, the connecting position of the locking nut 31 can be aligned with the connecting position of the adjusting part 13, so that the locking pin 33 can be connected to the locking nut 31 and the adjusting part 13 at the same time. The bearing 20 can be pressed tightly, and the locking nut 31 can be locked by the locking pin 33.
[0039] In addition, it should be noted that when the locking nut 31 is in the locking position, the connecting position of the locking nut 31 needs to be aligned with the connecting position of the adjusting part 13. Here, the alignment specifically means that the connecting positions of the two are not only aligned in the circumferential direction of the second connecting part 12, but also need to be aligned in the axial direction of the second connecting part 12. In this way, the connecting position of the locking nut 31 and the connecting position of the adjusting part 13 can be arranged opposite to each other, so that the locking pin 33 can be connected to the locking nut 31 and the adjusting part 13 at the same time.
[0040] If the thickness of the selected locking washer 32 is not appropriate or the thickness of the selected locking washer 32 has an error, it is easy to cause the connecting position of the locking nut 31 and the connecting position of the adjusting part 13 to be aligned in the circumferential direction of the second connecting part 12, but not aligned in the axial direction of the second connecting part 12. At this time, the thickness of the locking washer 32 needs to be increased or decreased to ensure that the connecting position of the locking nut 31 and the connecting position of the adjusting part 13 are aligned in the axial direction of the second connecting part 12. The way to increase or decrease the thickness of the locking washer 32 can be to select a locking washer 32 with a different thickness, or to increase or decrease the number of locking washers 32. Such an increase in the number of times of unscrewing and screwing the locking nut 31 from the second connecting part 12 increases the operation steps and the installation time. If there is a lack of locking washers 32 with a corresponding thickness or the number of locking washers 32 is insufficient, the existing locking washers 32 cannot ensure that the connecting position of the locking nut 31 and the connecting position of the adjusting part 13 are aligned in the axial direction of the second connecting part 12. At this time, locking washers 32 with a corresponding thickness or a corresponding number need to be additionally produced and manufactured. In this way, the locking nut 31 is limited by the size and number of locking washers 32 when the locking nut 31 is pressed against the bearing 20 and accurately locked by the locking washer 32.
[0041] In the application, the adjusting part 13 is movably arranged on the second connecting part 12, and the adjusting part 13 and the second connecting part 12 are connected through the first elastic member 14. In the free state, the first elastic member 14 is in the stretched state. When the connecting position of the adjusting part 13 and the connecting position of the locking nut 31 are aligned in the circumferential direction of the second connecting part 12 but are not aligned in the axial direction, the connecting part of the adjusting part 13 and the connecting position of the locking nut 31 can be aligned in the axial direction of the second connecting part 12 by moving the adjusting part 13 in the axial direction of the second connecting part 12, and the elastic member 14 can also provide a pulling force to the adjusting part 13, so that the adjusting part 13 has a tendency to move towards the first connecting part 11, and the position of the adjusting part 13 is stable.
[0042] In the application, the adjusting part 13 is movably arranged on the second connecting part 12, and the adjusting part 13 and the second connecting part 12 are connected through the first elastic member 14. In the free state, the first elastic member 14 is in the stretched state. When the connecting position of the adjusting part 13 and the connecting position of the locking nut 31 are aligned in the circumferential direction of the second connecting part 12 but are not aligned in the axial direction, the connecting part of the adjusting part 13 and the connecting position of the locking nut 31 can be aligned in the axial direction of the second connecting part 12 by moving the adjusting part 13 in the axial direction of the second connecting part 12, and the elastic member 14 can also provide a pulling force to the adjusting part 13, so that the adjusting part 13 has a tendency to move towards the first connecting part 11, and the position of the adjusting part 13 is stable.
[0043] Therefore, by arranging the locking pad 32, the application can compensate for the gap between the locking nut 31 and the bearing 20 when the locking nut 31 is locked, so that the locking nut 31 can be accurately positioned at the locking position and smoothly pressed against the bearing 20, thereby enhancing the reliability of the bearing 20 in connecting external structures. Moreover, the thickness of the locking pad 32 can be adjusted to adaptively adjust the position of the adjusting part 13, so that the connecting position of the adjusting part 13 and the connecting position of the locking nut 31 are smoothly aligned, facilitating the locking of the locking nut 31.
[0044] It is worth mentioning that the second connecting part is arranged at both ends of the first connecting part in the axial direction of the first connecting part, and when the second connecting part is arranged at both ends of the first connecting part, the bearing and the locking structure can be arranged on the second connecting part at both ends, and the second connecting part, the bearing and the locking structure at both ends are consistent. The second connecting part, the bearing and the locking structure at one end of the first connecting part are taken as an example for description.
[0045] Referring to Figures 1 to 4As shown, in some possible implementation manners, in order to enable the locking pin 33 to be connected to the locking nut 31 and the adjusting portion 13 at the same time, a pin hole 1331 is arranged on the adjusting portion 13 along the radial direction of the second connecting portion 12, and the locking pin 33 can be inserted into the pin hole 1331, and the pin hole 1331 is used to form a connecting position on the adjusting portion 13. In addition, an open slot 311 is arranged on the end of the locking nut 31 away from the locking pad 32 along the radial direction of the second connecting portion 12, the open slot 311 is arranged through the locking nut 31, and the open slot 311 has an opening on the end surface of the locking nut 31 away from the locking pad 32, so that the open slot 311 is an open slot, and the open slot 311 is used to form a connecting position on the locking nut 31. When the locking nut 31 rotates relative to the second connecting portion 12, the open slot 311 can be aligned with the pin hole 1331 in the circumferential direction of the second connecting portion 12, and the open slot 311 can also be aligned with the pin hole 1331 in the axial direction of the second connecting portion 12 with the rotation of the locking nut 31.
[0046] When the locking nut 31 rotates to the compression bearing 20, the open slot 311 and the pin hole 1331 are arranged opposite to each other, and at this time, the locking pin 33 can be inserted into the open slot 311 and the pin hole 1331 at the same time. In this way, the locking nut 31 cannot rotate around the second connecting portion 12 any more, and the locking nut 31 is in a locked state, and if it is needed to rotate the locking nut 31, the locking pin 33 only needs to be pulled out of the pin hole 1331 and the open slot 311.
[0047] It should be noted that the locking nut 31 is provided with one or more open slots 311, in order to make the connecting positions between the locking pin 33 and the locking nut 31 more, so that the locking position of the locking pin 33 on the locking nut 31 is more accurate, and the application provides a plurality of open slots 311 on the locking nut 31, and the plurality of open slots 311 are arranged at intervals around the central axis of the locking nut 31. Similarly, a plurality of pin holes 1331 can also be arranged on the second connecting portion 12, and the plurality of pin holes 1331 are arranged at intervals around the central axis of the second connecting portion 12, and the pin holes 1331 are arranged in parallel to the radial direction of the second connecting portion 12.
[0048] Referring to Figure 3 and Figure 4As shown, in some possible implementation manners, the pin hole 1331 can be a through hole penetrating the adjusting portion 13 along the radial direction of the second connecting portion 12, the slots 311 on the lock nut 31 are each formed along the radial direction of the lock nut 31, and at least one pair of slots 311 on the lock nut 31 are formed along the same direction. The lock pin 33 is a split pin or a spring pin. When the lock nut 31 is rotated to the locking position, the two ends of the pin hole 1331 are respectively opposite to the two slots 311 formed along the same direction, at this time, one end of the lock pin 33 can be inserted into one of the slots 311 and can extend towards the pin hole 1331 to be inserted into the pin hole 1331, and the lock pin 33 can be further moved to be inserted into the other slot 311, thereby achieving the locking of the lock nut 31.
[0049] For example, the number of slots 311 on the lock nut 31 is even, and the even number of slots 311 are combined two by two, and the two slots 311 in each group are formed in the same direction.
[0050] Referring to Figure 5 and Figure 6 As shown, in some possible implementation manners, the pin hole 1331 can be a through hole penetrating the adjusting portion 13 along the radial direction of the second connecting portion 12, the slots 311 on the lock nut 31 are each formed along the radial direction of the lock nut 31, and at least one pair of slots 311 on the lock nut 31 are formed along the same direction. The lock pin 33 is a split pin or a spring pin. When the lock nut 31 is rotated to the locking position, the two ends of the pin hole 1331 are respectively opposite to the two slots 311 formed along the same direction, at this time, one end of the lock pin 33 can be inserted into one of the slots 311 and can extend towards the pin hole 1331 to be inserted into the pin hole 1331, and the lock pin 33 can be further moved to be inserted into the other slot 311, thereby achieving the locking of the lock nut 31.
[0051] For example, the second elastic member 122 is made of an elastic material such as silica gel or rubber, and the second elastic member 122 is a spring.
[0052] In some possible implementation manners, the locking pad 32 is an annular pad, and the locking pad 32 is made of rubber or silica gel. The inner ring of the locking pad 32 has a radial dimension greater than that of the second connecting portion 12. The locking pad 32 is made of rubber or silica gel, so that the locking pad 32 has a certain compression space. When the locking nut 31 is in the locking position, the thickness of the locking pad 32 is slightly greater than the gap between the locking nut 31 and the bearing 20. In this case, the locking pad 32 does not need to be replaced, and the locking nut 31 only needs to be continuously screwed to compress the locking pad 32. The inner ring of the locking pad 32 has a radial dimension slightly greater than that of the second connecting portion 12, so that when the radial dimension of the second connecting portion 12 is greater than the expected size due to an error, the locking pad 32 can be prevented from being unable to be sleeved on the second connecting portion 12. In addition, the locking pad 32 can also be prevented from being broken due to thermal expansion of the second connecting portion 12.
[0053] Referring to Figure 3 In some possible implementation manners, the end of the second connecting portion 12 away from the first connecting portion 11 is provided with a plug-in hole 121, the adjusting portion 13 includes an adjusting body 131 and a plug-in portion 132 protruding from one end of the adjusting body 131, the plug-in portion 132 is plugged into the plug-in hole 121, and the first elastic member 14 is located in the plug-in hole 121 and connected to the bottom wall of the plug-in hole 121 and the end of the plug-in portion 132 away from the adjusting body 131.
[0054] It should be noted that, in order to prevent the plug-in portion 132 from rotating relative to the second connecting portion 12, the plug-in portion 132 can be provided in a polygonal shape, such as a triangular or quadrangular shape, and the plug-in hole 121 has the same shape and size as the plug-in portion 132, so that the plug-in portion 132 is plugged into the plug-in hole 121.
[0055] Referring to Figure 1 , Figure 7 and Figure 8 In some possible implementation manners, the adjusting portion 13 is further provided with a rotating portion 133 located at the end of the adjusting portion 13 away from the first connecting portion 11. The rotating portion 133 is rotationally connected to the adjusting body 131. In this embodiment, a pin hole 1331 is arranged on the rotating portion 133, and the pin hole 1331 is used to form a connection position on the rotating portion 133 for connecting the locking pin 33, so that one end of the locking pin 33 can be plugged into the rotating portion 133. The adjusting body 131 is internally provided with a limiting member 134 located between the adjusting body 131 and the rotating portion 133. The rotating portion 133 is connected to the limiting member 134, and the limiting member 134 can limit the one-way rotation of the rotating portion 133 relative to the adjusting body 131. It should be noted that the rotating direction of the rotating portion 133 is consistent with the rotating direction of the locking nut 31 when the locking nut 31 is screwed onto the second connecting portion 12.
[0056] By setting the rotating part 133, the locking pin 33 can be rotated relative to the second connecting part 12, and the locking pin 33 is one-way rotation, the rotating direction of the locking pin 33 is the same as the direction of the locking nut 31 when it is screwed to the second connecting part 12. In this way, when the locking nut 31 is in the locking position, if the slot 311 and the pin hole 1331 cannot be arranged opposite, the rotating part 133 can be rotated at this time, so that the pin hole 1331 and the slot 311 are opposite, so as to connect the locking pin 33 to the rotating part 133 and the locking nut 31 at the same time, and the locking nut 31 can only rotate in the direction of the pressing bearing 20, when rotating in the opposite direction, the rotation of the rotating part 133 is limited.
[0057] It should be noted that the limiting part 134 of the present application can be a pawl and ratchet structure, one of the pawl and ratchet structure is connected to the rotating part 133, the other is connected to the adjusting body 131, or the limiting part 134 can also be a one-way bearing, the one-way bearing is arranged in the adjusting body 131, one end of the rotating part 133 can be arranged in the adjusting body 131, and the end of the rotating part 133 can be connected to the inner ring of the one-way bearing.
[0058] Finally, it should be noted that: after considering the specification and practicing the utility model disclosed herein, those skilled in the art will easily think of other embodiments of the utility model. The utility model is intended to cover any variations, uses or adaptability of the utility model, which follow the general principles of the utility model and include common knowledge or conventional technical means in the art which are not disclosed by the utility model, and are not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the utility model is only limited by the appended claims.
Claims
1. A connection structure characterized by comprising: The utility model relates to a connecting shaft locking structure, including: connecting shaft, the connecting shaft includes first connecting part and the second connecting part of setting in the first connecting part end, the outer wall of second connecting part is provided with external thread, the radial dimension of second connecting part is less than the radial dimension of first connecting part; bearing, the bearing is sleeved in second connecting part, the inner ring size of bearing is less than the radial dimension of first connecting part;And locking structure, the locking structure includes locking nut, locking pin and locking pad, the locking pad is sleeved in second connecting part, the locking nut is screwed on second connecting part, and the locking pad is located between bearing and locking nut; The end of second connecting part away from first connecting part is provided with adjusting part, adjusting part is movably connected to second connecting part along the axial direction of second connecting part, first elastic member is connected between adjusting part and second connecting part, first elastic member makes adjusting part have the tendency of moving towards locking nut, the end of second connecting part is provided with insertion hole, first elastic member is located in insertion hole, and connecting position is arranged on adjusting part and locking nut, when locking nut is rotated to the connecting position of locking nut corresponds with the connecting position of adjusting part, locking pin can be connected to locking nut and adjusting part through connecting position at the same time.
2. The connection structure according to claim 1, characterized in that Along the radial direction of second connecting part, pin hole is arranged on adjusting part, and the end of locking nut away from locking pad is provided with slot, the slot penetrates locking nut, one end of locking pin is inserted into pin hole, and the other end can be inserted into slot.
3. The connection structure according to claim 2, characterized in that The pin hole penetrates adjusting part, at least one pair of slots on locking nut are arranged in the same direction, locking pin is arranged in pin hole, and the two ends of locking pin can be respectively inserted into two slots arranged in the same direction.
4. The connection structure according to claim 2, characterized by The pin hole is a counterbore, second elastic member is arranged in the counterbore, locking pin is inserted into the counterbore, and locking pin is connected to adjusting part through second elastic member, in free state, the end of locking pin protrudes from the counterbore, so that locking pin can be inserted into slot.
5. The connection structure according to claim 1, wherein Adjusting part includes adjusting body and insertion part protruding from one end of adjusting body, insertion part is inserted into insertion hole, and insertion part is connected to the bottom wall of insertion hole through first elastic member.
6. The connection structure according to claim 5, characterized in that Adjusting part is also provided with rotating part, connecting position is arranged on rotating part, rotating part is arranged at the end of adjusting body away from insertion part, limiting member is arranged between adjusting body and rotating part, rotating part is unidirectionally connected to adjusting body through limiting member, and the rotating direction of rotating part is consistent with the rotating direction of locking nut when locking nut is screwed on second connecting part.
7. The connection structure according to claim 6, characterized in that The cross section of insertion part is polygonal, the shape and size of insertion hole are consistent with the shape and size of insertion part.
8. The connection structure according to claim 1, wherein The locking pad is annular, the locking pad is made of rubber or silicone material, and the inner ring radial dimension of the locking pad is greater than the radial dimension of the second connecting part.
9. A robot, characterized in that including an arm, a palm, and a connection structure as claimed in any one of claims 1 to 8, one of the arm and the palm being connectable to the first connection portion, the other being connectable to the bearing.
10. A humanoid robot, characterized by, including a connection structure as claimed in any one of claims 1 to 8, or a robot as claimed in claim 9.