Connecting structure and connecting part thereof, mechanical arm and equipment comprising the same

Abstract

This disclosure provides a connection structure and its connecting part, a robotic arm and device including the connection structure, relating to the technical field of connection structures between robotic arms and execution tools. The connection structure includes a first connecting part, a second connecting part, and a first guide structure. The first connecting part is provided with multiple locking blocks. The second connecting part is provided with locking slots that mate with the locking blocks. The locking blocks are screwed into the locking slots along a first rotation direction to prevent the first connecting part from disengaging from the second connecting part. The first guide structure includes a matching first guide part and a first guide surface, one of which is located in the first connecting part and the other in the second connecting part; the first guide part rotates in either the forward or reverse direction along the first rotation direction when it moves along the first guide surface. The locking blocks of the first connecting part engage with the locking slots of the second connecting part, making the connection between the first and second connecting parts convenient and quick.

Description

Technical Field

[0001] This disclosure relates to the field of connection structure technology between robotic arms and execution tools, specifically to a connection structure and its connection part, a robotic arm and device containing the connection structure. Background Technology

[0002] With the development of technology and the improvement of living standards, the application of cleaning equipment is becoming increasingly widespread, which in turn leads to increased requirements for cleaning equipment to meet more application scenarios.

[0003] Some cleaning equipment will incorporate robotic arms to expand its functionality. For example, the robotic arm can pick up trash in areas inaccessible to the main body of the cleaning equipment. However, existing robotic arms and their actuators lack a quick-connect and disconnection mechanism; they are fixedly connected, limiting the application scenarios of each robotic arm to one actuator. Utility Model Content

[0004] In view of the problems existing in the prior art, this disclosure provides a connection structure and its connection part, a robotic arm and device containing the connection structure, so as to realize the quick assembly and disassembly of the connection structure, thereby improving the problem that the existing robotic arm and the execution tool can only be fixedly connected, resulting in the robotic arm only being able to correspond to one execution tool.

[0005] To achieve the above and other related objectives, a first aspect of this disclosure provides a connection structure, including a first connecting portion, a second connecting portion, and a first guide structure. The first connecting portion is provided with a plurality of locking blocks. The second connecting portion is provided with locking grooves that mate with the locking blocks. The locking blocks are screwed into the locking grooves along a first rotation direction to prevent the first connecting portion from disengaging from the second connecting portion in a direction perpendicular to the first rotation direction. The first guide structure includes a matching first guide portion and a first guide surface, one of which is disposed in the first connecting portion and the other in the second connecting portion; wherein, when the first guide portion moves along the first guide surface, it rotates in either the forward or reverse direction along the first rotation direction to guide the locking blocks and the locking grooves to a mating angle.

[0006] The connection structure disclosed herein includes a first connecting part and a second connecting part that are connected to each other. The first connecting part and the second connecting part are engaged by a locking block that cooperates with a locking slot in the second connecting part, making the connection between the first connecting part and the second connecting part convenient and quick.

[0007] One of the first connecting part and the second connecting part is connected to the main body of the robotic arm, and the other is connected to the execution tool. The quick assembly and disassembly of the execution tool and the robotic arm are achieved through the snap-fit ​​between the first connecting part and the second connecting part, which is conducive to the robotic arm changing different execution tools to achieve different functions.

[0008] The connection structure disclosed herein includes a first guide structure. When the first connecting part and the second connecting part are mated, the first guide part rotates in the forward or reverse direction along the first guide surface, thereby guiding the locking block and the locking slot to the mating angle so that the locking block can be screwed into the locking slot, so that the first connecting part and the second connecting part are engaged.

[0009] In an exemplary embodiment of this disclosure, at least two first guide surfaces are provided. Along the docking direction between the first connecting portion and the second connecting portion, the two first guide surfaces are inclined in the forward and reverse directions of the first rotation direction, respectively.

[0010] There are two first guide surfaces. When the first guide part moves along the two first guide surfaces, it will rotate in the forward and reverse directions along the first rotation direction, respectively. This allows the first connecting part and the second connecting part to be at different relative angles. In both cases, the first guide part and the first guide surface can ensure that the locking block and the locking slot are at the docking angle. This reduces the requirement for the relative angle between the first connecting part and the second connecting part during docking, and improves the accuracy and convenience of docking the first connecting part and the second connecting part.

[0011] In an exemplary embodiment of this disclosure, two first guide surfaces are disposed opposite to each other to form a first guide groove, and the width of the first guide groove gradually decreases in both directions along the first rotation direction.

[0012] Two first guide surfaces are arranged opposite each other to form a first guide groove. The first guide part extends into the first guide groove to guide and direct the first guide part, so that when the card block is in front of or behind the card groove in the first rotation direction, the first guide part can be guided to drive the card block or card groove to rotate to the docking angle to complete the engagement of the first connecting part and the second connecting part.

[0013] In an exemplary embodiment of this disclosure, the connection structure includes a first locking structure configured to lock the first connecting portion and the second connecting portion to restrict relative rotation between the first connecting portion and the second connecting portion.

[0014] The first locking structure restricts the relative rotation of the first connecting part and the second connecting part, thereby preventing the block from disengaging from the slot and keeping the first connecting part and the second connecting part in a locked state so that the robotic arm can drive the execution tool to complete the operation.

[0015] In an exemplary embodiment of this disclosure, the first locking structure includes a first locking portion and a second locking portion, which are matched. One of the first locking portion and the second locking portion is disposed on the first connecting portion, and the other is disposed on the second connecting portion. The first locking portion and the second locking portion cooperate to restrict the rotation of the first connecting portion and the second connecting portion.

[0016] By cooperating with the first locking part and the second locking part, the rotation of the first connecting part and the second connecting part is restricted, so that the first connecting part and the second connecting part are kept in a locked state.

[0017] In an exemplary embodiment of this disclosure, the first locking part is a spring plunger, which is fixed to the first connecting part or the second connecting part. The second locking part is a first limiting hole that mates with the spring plunger.

[0018] The spring plunger includes a spring, a plunger head, and other structures. The spring is elastic, allowing the spring plunger to extend and retract within a certain range, thereby allowing the plunger head to be inserted into the first limiting hole. This keeps the spring plunger and the first limiting hole relatively fixed, thus limiting the rotation of the first connecting part and the second connecting part.

[0019] When the first connecting part and / or the second connecting part is subjected to a force exceeding the spring plunger threshold, the spring plunger disengages from the first limiting hole, allowing the first connecting part and the second connecting part to rotate relative to each other. This, in turn, causes the locking block to disengage from the slot, completing the separation of the first connecting part and the second connecting part. By setting the first locking structure, the rotation of the first connecting part and the second connecting part is restricted, facilitating the assembly and disassembly of the first connecting part and the second connecting part, thereby facilitating the connection and separation of the main body of the robotic arm from the execution tool.

[0020] In an exemplary embodiment of this disclosure, the first locking structure further includes a second guide groove, which is disposed in the second connecting portion or the first connecting portion along with the first limiting hole. The second guide groove gradually decreases in depth from away from the first limiting hole to closer to the first limiting hole, so that the spring plunger gradually compresses as it moves toward the first limiting hole.

[0021] When the first connecting part and the second connecting part are in the mating position, the spring plunger is located in the area where the second guide groove is deeper. At this time, the spring compression of the spring plunger is small or not compressed by the bottom of the second guide groove, which avoids the first connecting part and the second connecting part from being separated due to the large resistance of the spring plunger when they are mated. This ensures that the locking block and the locking groove are in the mating position, making it easy for the locking block to be screwed into the locking groove.

[0022] When the locking block is screwed into the slot, the spring plunger moves with the first or second connecting part. The spring plunger abuts against the bottom of the second guide groove and moves along the second guide groove. The compression of the spring plunger gradually increases, reducing the possibility of the first and second connecting parts separating in the opposite direction along the mating direction due to a sudden increase in the spring compression. This effectively ensures that the locking block can be screwed into the slot and that the first and second connecting parts can be stably engaged.

[0023] In an exemplary embodiment of this disclosure, both the first locking part and the second locking part are provided with an electrical connection part, so as to realize the electrical connection between the first connection part and the second connection part when the first locking part and the second locking part are engaged.

[0024] The first locking part and the second locking part cooperate to realize the electrical connection between the first connecting part and the second connecting part, which can be used for power supply, signal transmission, etc., to facilitate information interaction or power supply between the main body of the robotic arm and the execution tool.

[0025] In an exemplary embodiment of this disclosure, the connecting structure includes a second guide structure configured to guide the first connecting portion and the second connecting portion to move relative to each other to a mating position. The second guide structure includes a guide surface disposed on the first connecting portion and / or the second connecting portion, the guide surface being a conical surface or a partially conical surface.

[0026] By using a conical surface or a partial conical surface as a guide, the positions of the first connecting part and the second connecting part can be corrected during the docking process, thereby ensuring that the first connecting part and the second connecting part move accurately to the docking position. The docking position refers to the position where the first connecting part and the second connecting part abut against each other, but the locking block is not screwed into the locking groove.

[0027] In an exemplary embodiment of this disclosure, the connection structure includes a guide portion, which is disposed on a first connection portion or a second connection portion, and a first guide surface is disposed on the guide portion.

[0028] The guide section provides a carrier for the setting of the first guide surface, so that the first guide section can cooperate with the first guide surface.

[0029] In an exemplary embodiment of this disclosure, the guide surface includes a first guide surface and a second guide surface. The second guide surface is disposed on the guide portion. The first guide surface is disposed opposite to the guide portion on the second connecting portion or the first connecting portion. The first guide surface and the second guide surface have synchronously decreasing or increasing diameters along the mating direction of the first connecting portion and the second connecting portion.

[0030] Both the first guide surface and the second guide surface are conical or partially conical surfaces. Through the abutting and cooperation of the first guide surface and the second guide surface, the first connecting part and the second connecting part are aligned in the plane of the first rotation direction, so that the first connecting part and the second connecting part can be accurately positioned after docking, and the locking block can be accurately screwed into the locking slot.

[0031] In an exemplary embodiment of this disclosure, two guide portions are provided, and the two guide portions are arranged at intervals along a first rotation direction.

[0032] The two guide parts are arranged at a certain angle. The two guide parts correspond to the two first guide parts, thereby stabilizing the relative rotation of the first connecting part and the second connecting part and preventing horizontal deflection when the first connecting part and the second connecting part rotate.

[0033] In an exemplary embodiment of this disclosure, a plurality of slots are arranged in a circumferential array along a first rotation direction. Two guide portions are disposed on the second connecting portion and are circumferentially symmetrical about the rotation center of the slots.

[0034] There can be two or more slots. By setting multiple slots, the stability of the connection between the first connecting part and the second connecting part can be ensured, and the problem of relative tilting between the first connecting part and the second connecting part when subjected to force can be avoided.

[0035] Two guide parts are symmetrically arranged on the second connecting part, which makes the weight distribution of the second connecting part uniform and is conducive to the stability and balance of the connection between the first connecting part and the second connecting part.

[0036] In an exemplary embodiment of this disclosure, a clearance area is provided at the bottom of the guide portion, and the clearance area is provided at the end of the first guide surface to clearance the first guide portion.

[0037] After the first guide part moves along the first guide surface to the bottom of the first guide surface, the first connecting part and the second connecting part are in a mating position. Then, the locking block is screwed into the locking groove so that the first connecting part and the second connecting part are engaged. By setting an avoidance area to avoid interference with the first guide part, it is ensured that the locking block can be screwed into the locking groove so that the first connecting part and the second connecting part are stably connected.

[0038] In an exemplary embodiment of this disclosure, the connection structure includes a male power connector and a female power connector. The female power connector is matched with the male power connector. One of the male and female power connectors is disposed in a first connecting portion, and the other is disposed in a second connecting portion. When the locking block is screwed into the locking slot, the male power connector and the female power connector engage, thereby electrically connecting the first connecting portion and the second connecting portion.

[0039] The first connection part and the second connection part are electrically connected by the cooperation of the male power supply connector and the female power supply connector, thereby realizing the power supply and signal interaction between the first connection part and the second connection part.

[0040] In an exemplary embodiment of this disclosure, the connection structure includes a limiting block that restricts the card block from rotating over the card slot. The limiting block is disposed at the front end of the card slot along a first rotation direction, and / or, the limiting block is disposed at the rear end of the card block along the first rotation direction.

[0041] The limiting block can be located at the front end of the slot along the first rotation direction, or at the rear end of the block along the first rotation direction, or simultaneously at both ends. By abutting the end of the block or slot with the limiting block, the position of the block screwing into the slot is restricted, preventing over-rotation of the block and slot, and ensuring that the first connecting part and the second connecting part stop at the expected engagement position.

[0042] In an exemplary embodiment of this disclosure, the connecting structure includes a protrusion and a recess. The protrusion is disposed on a first connecting portion, and a plurality of locking blocks are circumferentially arranged on the outer periphery of the protrusion; the recess is disposed on a second connecting portion, and the sidewall of the recess is provided with a protrusion, the protrusion and the bottom wall of the recess forming a locking groove.

[0043] The protrusion and the recess cooperate to make the first connecting part abut against the second connecting part. The protrusion and the recess can play a limiting role to reduce the shaking after the first connecting part and the second connecting part are engaged.

[0044] In an exemplary embodiment of this disclosure, the connection structure includes a sensor disposed on a first connection portion or a second connection portion to sense whether the first connection portion or the second connection portion has moved to a docking position.

[0045] The sensor can be a photoelectric sensor, a micro switch, a Hall sensor, etc., to determine whether the first connecting part and the second connecting part have moved to the docking position, so as to determine the subsequent actions of the first connecting part and the second connecting part, such as controlling the rotation of the first connecting part to make the card block screw into the card slot, etc.

[0046] The connection structure may also include a sensed structure that matches the sensor to cooperate with the sensor.

[0047] A second aspect of this disclosure provides a first connecting portion configured to connect with a second connecting portion. The first connecting portion includes a locking block and a first guide portion. The locking block is configured to engage with a slot in the second connecting portion to prevent the first connecting portion from disengaging from the second connecting portion in a direction perpendicular to the first rotation direction when the locking block is screwed into the slot in a first rotation direction. The first guide portion is configured to engage with a first guide surface of the second connecting portion, such that when the first guide portion moves with the first guide surface, it rotates in the forward or reverse direction along the first rotation direction to guide the locking block and the slot to a mating angle.

[0048] The first connecting part of this disclosure engages with the second connecting part via a locking block that cooperates with the locking groove of the second connecting part, thereby enabling quick connection and disconnection of the first connecting part and the second connecting part. Through the cooperation of the first guide part and the first guide surface of the second connecting part, the first connecting part and the second connecting part are guided during the docking process, allowing the locking block to be accurately screwed into the locking groove to complete the engagement of the first connecting part and the second connecting part.

[0049] In one embodiment of the first connecting portion of this disclosure, the first connecting portion includes a first locking portion, which is configured to match a second locking portion of the second connecting portion to restrict rotation of the first connecting portion and the second connecting portion when the locking block is screwed into the locking slot.

[0050] In one embodiment of the first connecting portion of this disclosure, the first connecting portion includes a first guide surface. The first guide surface is a conical surface or a partial conical surface, and the first guide surface is configured to match a second guide surface of the second connecting portion to guide the first connecting portion and the second connecting portion to move relative to each other to a docking position.

[0051] A third aspect of this disclosure provides a second connecting portion configured to connect with a first connecting portion. The second connecting portion includes a slot and a first guide surface. The slot is configured to engage with a locking block of the first connecting portion to prevent the first connecting portion from disengaging from the second connecting portion in a direction perpendicular to the first rotation direction when the locking block is screwed into the slot in a first rotation direction. The first guide surface is an inclined surface and is configured to engage with a first guide portion of the first connecting portion. When the first guide portion moves along the first guide surface, it rotates in the forward or reverse direction of the first rotation direction to guide the locking block and the slot to a mating angle.

[0052] The second connecting part of this disclosure has a slot that engages with the locking block of the first connecting part to allow the first connecting part and the second connecting part to engage. The first guiding surface of the second connecting part is an inclined surface, which is used to guide the first guiding part of the first connecting part so that the first connecting part and the second connecting part move to the docking angle during the docking process.

[0053] In one embodiment of the second connecting portion of this disclosure, the second connecting portion includes a guide portion. The guide portion is provided with a second guide surface, which is configured to cooperate with a first guide surface of the first connecting portion to guide the second connecting portion and the first connecting portion to move relative to each other to a docking position.

[0054] In a second connection embodiment of this disclosure, a first guide surface is disposed on the guide portion. A clearance area is provided at the bottom of the guide portion, and the clearance area is disposed at the end of the first guide surface to clearance the first guide portion.

[0055] A fourth aspect of this disclosure provides a robotic arm, which includes an execution tool, a main body, and a connection structure of any one of the above, wherein the connection structure is connected to the main body and the execution tool respectively.

[0056] The robotic arm disclosed herein connects the execution tool and the main body through a connecting structure. The first connecting part and the second connecting part of the connecting structure are quickly connected, thereby realizing the quick-release connection between the execution tool and the main body. This allows the robotic arm to be compatible with a variety of execution tools, thereby achieving different functions and expanding the application scenarios of the robotic arm.

[0057] In one embodiment of the robotic arm disclosed herein, the main body includes a drive unit that drives the main body to move; the drive unit drives the first connecting part to engage with the second connecting part; or, the drive unit drives the second connecting part to engage with the first connecting part.

[0058] The first connecting part and the second connecting part of the robotic arm disclosed herein are connected and disconnected using the drive part of the main body, avoiding the need for a separate drive mechanism, reducing the number of drive mechanisms in the robotic arm, and lowering costs.

[0059] A fifth aspect of this disclosure provides a cleaning device, which includes a device body and the aforementioned robotic arm. The robotic arm is mounted on the device body.

[0060] The cleaning equipment disclosed herein can utilize a robotic arm to connect with different execution tools, thereby achieving different functions, such as picking up garbage from areas that the cleaning equipment cannot reach, organizing items, etc., expanding the application scenarios of the cleaning equipment and improving the ease of use of the cleaning equipment.

[0061] In combination with existing technologies, the beneficial effects of this disclosure are as follows:

[0062] Existing robotic arms and execution tools lack suitable quick-connect and disconnection structures, resulting in a fixed connection between the robotic arm and the execution tool. Consequently, each robotic arm can only correspond to one execution tool, limiting its functionality. The connection structure disclosed herein includes a first connecting part and a second connecting part connected together. The first connecting part's locking block engages with the second connecting part's locking slot, enabling convenient and quick connection between the two parts.

[0063] One of the first connecting part and the second connecting part is connected to the main body of the robotic arm, and the other is connected to the execution tool. The quick assembly and disassembly of the execution tool and the robotic arm are achieved through the snap-fit ​​between the first connecting part and the second connecting part, which is conducive to the robotic arm changing different execution tools to achieve different functions.

[0064] The connection structure disclosed herein includes a first guide structure. When the first connecting part and the second connecting part are mated, the first guide part rotates in the forward or reverse direction along the first guide surface, thereby guiding the locking block and the locking slot to the mating angle so that the locking block can be screwed into the locking slot, so that the first connecting part and the second connecting part are engaged. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is a schematic diagram of the connection state of an exemplary connection structure disclosed herein;

[0067] Figure 2This is an example diagram of the exploded connection state of the connection structure disclosed herein;

[0068] Figure 3 This is an exploded cross-sectional view of an exemplary connection structure in this disclosure.

[0069] Figure 4 This is a schematic diagram of an exemplary first connecting portion of the present disclosure;

[0070] Figure 5 This is a top view of an exemplary first connecting portion of the present disclosure;

[0071] Figure 6 This is a schematic diagram of an exemplary second connection portion of the present disclosure;

[0072] Figure 7 This is a top view of an exemplary second connection portion of the present disclosure;

[0073] Figure 8 This is a perspective view of an exemplary second connecting portion of the present disclosure;

[0074] Figure 9 This is a schematic diagram of an exemplary robotic arm disclosed herein.

[0075] Component designation explanation:

[0076] 100. First connecting part;

[0077] 200. Second connecting part;

[0078] 310. Protrusion; 311. Locking block; 312. Limiting block; 320. Recess; 321. Slot; 322. Protrusion;

[0079] 400, First locking structure; 410, First locking part; 411, Spring plunger; 420, Second locking part; 421, First limiting hole; 430, Second guide groove;

[0080] 500, First guide structure; 510, First guide section; 520, Guide section; 521, First guide surface; 5211, First guide groove; 522, Avoidance area;

[0081] 600. Second guide structure; 610. Guide surface; 611. First guide surface; 612. Second guide surface;

[0082] 710, male power connector; 720, female power connector;

[0083] 800, Sensor;

[0084] 910. Execution tools; 920. Main body. Detailed Implementation

[0085] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. This disclosure can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of this disclosure is for describing specific implementation schemes and not for limiting the scope of protection of this disclosure. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0086] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise stated in this disclosure, both endpoints of each numerical range and any value between the two endpoints may be selected. Unless otherwise defined, all technical and scientific terms used in this disclosure, as well as the prior art known to those skilled in the art and the descriptions in this disclosure, may be implemented using any prior art methods, apparatus, and materials similar to or equivalent to the methods, apparatus, and materials in the embodiments of this disclosure.

[0087] It should be noted that the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity of description and are not intended to limit the scope of this disclosure. Any changes or adjustments to their relative relationships, without substantially altering the technical content, shall also be considered within the scope of this disclosure.

[0088] Please see Figures 1 to 9 The first aspect of this disclosure provides a connection structure including a first connecting portion 100, a second connecting portion 200, and a first guide structure 500. The first connecting portion 100 is provided with a plurality of locking blocks 311. The second connecting portion 200 is provided with locking grooves 321 that mate with the locking blocks 311. The locking blocks 311 are screwed into the locking grooves 321 along a first rotation direction to prevent the first connecting portion 100 from disengaging from the second connecting portion 200 in a direction perpendicular to the first rotation direction. The first guide structure 500 includes a matching first guide portion 510 and a first guide surface 521. One of the first guide portion 510 and the first guide surface 521 is disposed in the first connecting portion 100, and the other is disposed in the second connecting portion 200. When the first guide portion 510 moves along the first guide surface 521, it rotates in either the forward or reverse direction along the first rotation direction to guide the locking blocks 311 and the locking grooves 321 to a mating angle.

[0089] When the first connecting part 100 and the second connecting part 200 need to be connected, the first connecting part 100 and the second connecting part 200 move relative to each other along the mating direction until they reach the mating position, where they abut against each other, and the locking block 311 is at the entrance of the locking slot 321. Then, the first connecting part 100 and the second connecting part 200 rotate relative to each other, and the locking block 311 screws into the locking slot 321, thus completing the connection between the first connecting part 100 and the second connecting part 200.

[0090] The first connecting part 100 and the second connecting part 200 are engaged by the locking block 311 of the first connecting part 100 and the locking slot 321 of the second connecting part 200, making the connection and separation of the first connecting part 100 and the second connecting part 200 convenient and quick.

[0091] One of the first connecting part 100 and the second connecting part 200 is connected to the main body 920 of the robotic arm, and the other is connected to the execution tool 910. The execution tool 910 and the robotic arm can be quickly disassembled and assembled through the snap-fit ​​between the first connecting part 100 and the second connecting part 200, which is conducive to the robotic arm changing different execution tools 910 to achieve different functions.

[0092] Please see Figure 2 The connection structure disclosed herein includes a first guide structure 500. When the first connecting part 100 and the second connecting part 200 are docked, the first guide part 510 rotates in the forward or reverse direction along the first guide surface 521. When the first guide part 510 moves to the end of the first guide surface 521, the locking block 311 and the locking groove 321 move to the docking angle. The locking block 311 is located at the entrance of the locking groove 321, which facilitates the accurate screwing of the locking block 311 into the locking groove 321, so that the first connecting part 100 and the second connecting part 200 are engaged.

[0093] Please see Figure 2 In one embodiment, the connecting structure includes a protrusion 310 and a recess 320.

[0094] The protrusion 310 is disposed on the first connecting part 100. The cross-section of the protrusion 310 can be circular, square, triangular or other arbitrary shape. Preferably, the cross-section of the protrusion 310 is circular so that the first connecting part 100 and the second connecting part 200 can rotate relative to each other.

[0095] Multiple locking blocks 311 are arranged in a circular array on the outer periphery of the protrusion 310 to facilitate the locking blocks 311 being screwed into the locking slot 321. The number of locking blocks 311 can be 2, 3, 4 or more. By setting multiple locking blocks 311, the stability of the connection between the first connecting part 100 and the second connecting part 200 can be improved.

[0096] A recessed portion 320 is provided on the second connecting portion 200. The cross-sectional shape of the recessed portion 320 is adapted to the outer peripheral surface of the plurality of locking blocks 311 so as to facilitate the insertion of the protrusion 310 with the locking blocks 311.

[0097] The sidewall of the recess 320 is provided with protrusions 322, which form grooves 321 with the bottom wall of the recess 320. The number of grooves 321 matches the number of locking blocks 311, and the multiple grooves 321 are arranged in a circumferential array along the first rotation direction. The locking blocks 311 are inserted into the recess 320 to a certain depth along the gap between the protrusions 322, and then the locking blocks 311 are rotated and screwed into the grooves 321, so that the locking blocks 311 and the grooves 321 are engaged.

[0098] The protrusion 310 and the recess 320 cooperate to facilitate the engagement of the first connecting part 100 and the second connecting part 200.

[0099] The protrusion 322 abuts against the side wall of the protrusion 310 or has a certain gap, which can reduce the shaking of the first connecting part 100 and the second connecting part 200.

[0100] The locking block 311 abuts against the side wall of the recess 320 or has a certain gap, which can reduce the shaking of the first connecting part 100 and the second connecting part 200.

[0101] In one embodiment, a cavity is provided in the middle of the protrusion 310, and the cavity and the recess 320 together form a chamber, which can be used to protect some components.

[0102] Please see Figure 6 and Figure 7 In one embodiment, at least two first guide surfaces 521 are provided. Along the docking direction between the first connecting portion 100 and the second connecting portion 200, the two first guide surfaces 521 are inclined in the forward and reverse directions of the first rotation direction, respectively.

[0103] The first guide surface 521 has two parts. When the first guide part 510 moves along one of the two first guide surfaces 521, it rotates in the positive direction of the first rotation direction. When the first guide part 520 moves along the other, it rotates in the opposite direction of the first rotation direction. This allows the first connecting part 100 and the second connecting part 200 to be at different relative angles, and the cooperation of the first guide part 510 and the first guide surface 521 ensures that the locking block 311 and the locking slot 321 are at a docking angle, allowing the first connecting part 100 and the second connecting part 200 to move to the docking position. This reduces the requirement for the relative angle between the first connecting part 100 and the second connecting part 200 during docking, improving the accuracy and convenience of docking the first connecting part 100 and the second connecting part 200.

[0104] Of course, as optional, there may be one or more first guide surfaces 521. For example, one first guide surface 521 may be provided, located on the second connecting portion 200. The first guide surface 521 is inclined in the forward or reverse direction of the first rotation direction along the docking direction between the first connecting portion 100 and the second connecting portion 200. This causes the first guide portion 510 to rotate in the forward or reverse direction of the first rotation direction when it moves along the first guide surface 521. When the first guide portion 510 moves to the end of the first guide surface 521, the locking block 311 and the locking groove 321 are at the docking angle. When the first connecting portion 100 and the second connecting portion 200 dock, the docking error between the first connecting portion 100 and the second connecting portion 200 is ensured to be in the reverse or forward direction of the first rotation direction, thereby ensuring that the first guide portion 510 can abut against the first guide surface 521.

[0105] Please see Figure 6 and Figure 7 In one embodiment, two first guide surfaces 521 are arranged opposite each other to form a first guide groove 5211. The width of the first guide groove 5211 gradually decreases in both directions along the first rotation direction.

[0106] Two first guide surfaces 521 are arranged opposite each other to form a first guide groove 5211. The first guide part 510 moves into the first guide groove 5211 to guide and direct the first guide part 510. This allows the first guide part 510 to guide the first guide part 510 to rotate to the docking angle when the locking block 311 is in front of or behind the locking groove 321 in the first rotation direction, thereby completing the engagement of the first connecting part 100 and the second connecting part 200. By forming the first guide groove 5211, the angle requirement for the first connecting part 100 and the second connecting part 200 to dock is reduced, making it easier for the first connecting part 100 and the second connecting part 200 to dock.

[0107] Please see Figure 2 and Figure 3In one embodiment, the connecting structure includes a second guide structure 600, which guides the first connecting portion 100 and the second connecting portion 200 to move relative to each other to a docking position. The second guide structure 600 includes a guide surface 610 disposed on the first connecting portion 100 and / or the second connecting portion 200, and the guide surface 610 is a conical surface or a partial conical surface.

[0108] The guide surface 610 can be disposed on the first connecting portion 100, and the second connecting portion 200 has a position that abuts against the guide surface 610. Alternatively, the guide surface 610 can be disposed on the second connecting portion 200, and the first connecting portion 100 has a position that abuts against the guide surface 610. The guide surface 610 can also be disposed separately on the first connecting portion 100 and the second connecting portion 200, with the guide surface 610 on the first connecting portion 100 and the guide surface 610 on the second connecting portion 200 engaging, thereby guiding the first connecting portion 100 and the second connecting portion 200.

[0109] By using the conical surface or part of the conical surface as a guide, the positions of the first connecting part 100 and the second connecting part 200 can be corrected during the docking process, thereby enabling the first connecting part 100 and the second connecting part 200 to move accurately to the docking position.

[0110] The first guide structure 500 guides the first connecting portion 100 and the second connecting portion 200 to rotate in the forward or reverse direction along the first rotation direction, thereby correcting the deviation of the mating angle between the first connecting portion 100 and the second connecting portion 200. The second guide structure 600, on the one hand, guides the displacement of the first connecting portion 100 and the second connecting portion 200 in the plane of the first rotation direction, correcting the positional deviation of the first connecting portion 100 and the second connecting portion 200 in the plane of the first rotation direction; on the other hand, the second guide structure 600 corrects the angular deviation between the first connecting portion 100 and the second connecting portion 200 and the plane of the first rotation direction, so that the predetermined positions of the first connecting portion 100 and the second connecting portion 200 can abut.

[0111] Through the cooperation of the first guide structure 500 and the second guide structure 600, the first connecting part 100 and the second connecting part 200 are corrected, so that the first connecting part 100 and the second connecting part 200 move accurately to the contact position.

[0112] Please see Figure 6 and Figure 7 In one embodiment, the connection structure includes a guide portion 520, which is disposed on the first connection portion 100 or the second connection portion 200, and a first guide surface 521 is disposed on the guide portion 520.

[0113] The guide portion 520 provides a carrier for the setting of the first guide surface 521 so that the first guide portion 510 can cooperate with the first guide surface 521.

[0114] In one embodiment, a first guide groove 5211 formed by two first guide surfaces 521 is formed on the guide portion 520 so that the first guide portion 510 can move along the first guide groove 5211.

[0115] Please see Figure 3 In one embodiment, the guide surface 610 includes a first guide surface 611 and a second guide surface 612.

[0116] The second guide surface 612 is disposed on the guide portion 520 and shares the guide portion 520 with the first guide surface 521 to reduce the number of parts and facilitate processing.

[0117] The first guide surface 611 is disposed opposite to the guide portion 520 on the second connecting portion 200 or the first connecting portion 100. For example, the guide portion 520 is disposed on the first connecting portion 100, and the first guide surface 611 is disposed on the second connecting portion 200; or, the guide portion 520 is disposed on the second connecting portion 200, and the first guide surface 611 is disposed on the first connecting portion 100. The second guide surface 612 is matched with the first guide surface 611 to facilitate guiding the first connecting portion 100 and the second connecting portion 200.

[0118] The diameter of the first guide surface 611 and the second guide surface 612 gradually decreases or increases synchronously along the docking direction of the first connecting portion 100 and the second connecting portion 200.

[0119] Please see Figure 3 In one embodiment, the second guide surface 612 is located on the guide portion 520. Along the direction in which the first guide portion 510 enters the first guide groove 5211, the diameter of the first guide surface 611 gradually decreases, and the diameter of the second guide surface 612 gradually decreases, thereby facilitating the contact between the second guide surface 612 and the first guide surface 611, and driving the second guide surface 612 to gradually approach the axis of the first guide surface 611, so as to correct the deviation between the first connecting portion 100 and the second connecting portion 200.

[0120] In another embodiment, the second guide surface 612 is located on the guide portion 520. Along the direction in which the first guide portion 510 enters the first guide groove 5211, the diameter of the first guide surface 611 gradually increases, and the diameter of the second guide surface 612 gradually increases. The first guide surface 611 is sleeved on the second guide surface 612, and the first guide surface 611 and the second guide surface 612 abut and move to correct the deviation of the first connecting portion 100 and the second connecting portion 200.

[0121] Both the first guide surface 611 and the second guide surface 612 are conical surfaces or partially conical surfaces. Through the abutting and cooperation of the first guide surface 611 and the second guide surface 612, the first connecting part 100 and the second connecting part 200 are aligned in the plane of the first rotation direction, so that the first connecting part 100 and the second connecting part 200 can be accurately positioned after docking, and the locking block 311 can be accurately screwed into the locking groove 321.

[0122] In one embodiment, two guide portions 520 are provided, and the two guide portions 520 are arranged at intervals along the first rotation direction.

[0123] Two guide portions 520 are arranged at a certain angle, and the two guide portions 520 correspond to the two first guide portions 510, thereby stabilizing the relative rotation of the first connecting portion 100 and the second connecting portion 200 and preventing horizontal deflection when the first connecting portion 100 and the second connecting portion 200 rotate.

[0124] Please see Figure 7 In one embodiment, the two guide portions 520 are arranged in a circular array along the first rotation direction so that the first connecting portion 100 or the second connecting portion 200 remains stable when rotating and avoids deflection.

[0125] In one embodiment, two guide portions 520 are disposed on the second connecting portion 200 and are circumferentially symmetrical about the rotation center of the slot 321.

[0126] Two guide parts 520 are symmetrically arranged on the second connecting part 200, so that the weight distribution of the second connecting part 200 is uniform, which is beneficial to the stability and balance of the connection between the first connecting part 100 and the second connecting part 200.

[0127] The guide portion 520 protrudes from the body of the second connecting portion 200, and the recessed portion 320 is recessed into the body of the second connecting portion 200, thereby increasing the axial length of the second connecting portion 200. This can increase the contact distance between the first connecting portion 100 and the second connecting portion 200, and improve the connection stability between the first connecting portion 100 and the second connecting portion 200.

[0128] Please see Figure 6 In one embodiment, a clearance area 522 is provided at the bottom of the guide portion 520. The clearance area 522 is provided at the end of the first guide surface 521 to avoid the first guide portion 510.

[0129] After the first guide portion 510 moves along the first guide surface 521 to the bottom of the first guide surface 521, the first connecting portion 100 and the second connecting portion 200 are in a mating position. Then, the locking block 311 is screwed into the locking groove 321 so that the first connecting portion 100 and the second connecting portion 200 are engaged. By setting the avoidance area 522 to avoid interference with the first guide portion 510, it is ensured that the locking block 311 can be screwed into the locking groove 321 so that the first connecting portion 100 and the second connecting portion 200 are stably connected.

[0130] Please see Figure 6 In one embodiment, the avoidance area 522 is connected to the first guide groove 5211 so that after the first guide part 510 moves to the bottom of the first guide groove 5211, the avoidance area 522 avoids the first guide part 510.

[0131] In one embodiment, the avoidance area 522 extends unidirectionally in either the forward or reverse direction along the first rotation direction, starting from the first guide groove 5211.

[0132] On the one hand, the clearance area 522 can avoid the first guide portion 510; on the other hand, when the first connecting portion 100 and the second connecting portion 200 separate, the first guide portion 510 rotates from the clearance area 522 into the first guide groove 5211. The side of the guide groove without the clearance area 522 can limit the first guide portion 510, so that the first connecting portion 100 and the second connecting portion 200 rotate relative to each other to the docking position, avoiding the situation where the first connecting portion 100 and the second connecting portion 200 cannot separate in the opposite direction of the docking direction due to excessive rotation, so that the first connecting portion 100 and the second connecting portion 200 can be stably separated.

[0133] Please see Figure 3 In one embodiment, the connection structure includes a first locking structure 400, which is configured to lock the first connecting portion 100 and the second connecting portion 200 to restrict relative rotation between the first connecting portion 100 and the second connecting portion 200.

[0134] The first locking structure 400 restricts the relative rotation of the first connecting part 100 and the second connecting part 200, thereby preventing the locking block 311 from disengaging from the slot 321, so that the first connecting part 100 and the second connecting part 200 remain in a locked state, so that the robotic arm can drive the execution tool 910 to complete the operation.

[0135] In one embodiment, the first locking structure 400 includes a first locking portion 410 and a second locking portion 420, with the first locking portion 410 and the second locking portion 420 mating. One of the first locking portion 410 and the second locking portion 420 is disposed on the first connecting portion 100, and the other is disposed on the second connecting portion 200. The first locking portion 410 and the second locking portion 420 cooperate to restrict the rotation of the first connecting portion 100 and the second connecting portion 200. Through the cooperation of the first locking portion 410 and the second locking portion 420, the rotation of the first connecting portion 100 and the second connecting portion 200 is restricted, so that the first connecting portion 100 and the second connecting portion 200 remain in a locked state.

[0136] Of course, as an alternative, the first locking structure 400 may also include only one locking part to lock the first connecting part 100 and the second connecting part 200. For example, the locking part is a telescopic rod, which is disposed on the first connecting part 100. When locking is required, the telescopic rod extends and presses against the second connecting part 200, thereby increasing the static friction between the first connecting part 100 and the second connecting part 200 and restricting the locking of the first connecting part 100 and the second connecting part 200.

[0137] Please see Figure 4 and Figure 6 In one embodiment, the first locking part 410 is a spring plunger 411, which is fixed to the first connecting part 100 or the second connecting part 200. The second locking part 420 is a first limiting hole 421 that cooperates with the spring plunger 411.

[0138] The spring plunger 411 can be fixed to the first connecting part 100 or the second connecting part 200.

[0139] The spring plunger 411 can be fixed in various ways. For example, the spring plunger 411 can be fixed to the first connecting part 100, which has a mounting hole. The spring plunger 411 is inserted into the mounting hole and engages with it, thus mounting the spring plunger 411 onto the first connecting part 100. The spring plunger 411 can also be fixed by threaded connection, welding connection, or other methods.

[0140] The spring plunger 411 includes a spring, a plunger head, and other structures. The spring is elastic, allowing the spring plunger 411 to extend and retract within a certain range. The plunger head, such as a ball or a cylinder, deforms the spring by compressing it. When the spring plunger 411 reaches the first limiting hole 421, the spring is compressed and reset, causing the plunger head to insert into the first limiting hole 421. This keeps the spring plunger 411 relatively fixed with the first limiting hole 421, thereby limiting the rotation of the first connecting part 100 and the second connecting part 200.

[0141] When the first connecting part 100 separates from the second connecting part 200, the spring plunger 411 is subjected to a force exceeding the threshold. The plunger head interacts with the first limiting hole 421, causing the plunger head to compress the spring and deform, thereby causing the plunger head to disengage from the first limiting hole 421. The first connecting part 100 and the second connecting part 200 can continue to rotate relative to each other until the locking block 311 disengages from the locking groove 321, and the first connecting part 100 and the second connecting part 200 move to the docking position.

[0142] By setting the first locking structure 400, the rotation of the first connecting part 100 and the second connecting part 200 is restricted, which facilitates the assembly and disassembly of the first connecting part 100 and the second connecting part 200, thereby facilitating the connection and separation of the main body 920 of the robotic arm and the execution tool 910.

[0143] Please see Figure 3 and Figure 6 In one embodiment, the first locking structure 400 further includes a second guide groove 430, which is co-located with the first limiting hole 421 in the second connecting portion 200 or the first connecting portion 100. The second guide groove 430 gradually decreases in depth from away from the first limiting hole 421 to closer to the first limiting hole 421, so that the spring plunger 411 is gradually compressed when it moves toward the first limiting hole 421.

[0144] When the first connecting part 100 and the second connecting part 200 are in the mating position, the spring plunger 411 is located in the area where the second guide groove 430 is relatively deep. At this time, the spring compression of the spring plunger 411 is small or it is not compressed by the bottom of the second guide groove 430. This avoids the situation where the first connecting part 100 and the second connecting part 200 are disengaged due to the large resistance of the spring plunger 411 when they are mating. This ensures that the locking block 311 and the locking groove 321 are in the mating position, making it easy for the locking block 311 to be screwed into the locking groove 321.

[0145] When the locking block 311 is screwed into the locking groove 321, the spring plunger 411 moves with the first connecting part 100 or the second connecting part 200. The spring plunger 411 abuts against the bottom of the second guide groove 430 and moves along the second guide groove 430. Initially, the distance the locking block 311 is screwed into the locking groove 321 is small, the compression of the spring plunger 411 is small, and the force generated by the spring plunger 411 is also small, preventing the locking block 311 from disengaging from the locking groove 321 and causing the first connecting part 100 to disengage from the second connecting part 200. As the depth of the locking block 311 screwed into the locking groove 321 increases, the compression of the spring plunger 411 gradually increases. Although the force generated by the spring plunger 411 gradually increases, it will not cause the locking block 311 to disengage from the locking groove 321. By setting the second guide groove 430, it is effectively ensured that the locking block 311 can be screwed into the locking groove 321, and the first connecting part 100 and the second connecting part 200 can be stably engaged.

[0146] In one embodiment, both the first locking part 410 and the second locking part 420 are provided with electrical connection parts so that when the first locking part 410 and the second locking part 420 are engaged, an electrical connection is realized between the first connecting part 100 and the second connecting part 200.

[0147] The first locking part 410 and the second locking part 420 cooperate to realize the electrical connection between the first connecting part 100 and the second connecting part 200, which can be used for power supply, signal transmission, etc., to facilitate information interaction or power supply between the main body 920 of the robotic arm and the execution tool 910.

[0148] Please see Figure 3 In one embodiment, the connection structure includes a male power connector 710 and a female power connector 720. The female power connector 720 is matched with the male power connector 710. One of the male power connector 710 and the female power connector 720 is disposed in the first connecting portion 100, and the other is disposed in the second connecting portion 200. When the locking block 311 is screwed into the locking slot 321, the male power connector 710 and the female power connector 720 cooperate to electrically connect the first connecting portion 100 and the second connecting portion 200. The cooperation of the male power connector 710 and the female power connector 720 realizes the electrical connection between the first connecting portion 100 and the second connecting portion 200, thereby realizing power supply and signal interaction between the first connecting portion 100 and the second connecting portion 200.

[0149] In one embodiment, the power supply male connector 710 is disposed in the cavity of the first connecting portion 100. The power supply male connector 710 is usually a protruding component. By being disposed in the cavity, the power supply male connector 710 is protected, reducing the risk of the power supply male connector 710 being bumped or knocked.

[0150] The power supply female connector 720 is disposed in the recessed portion 320 of the second connecting portion 200. The recessed portion 320 and the cavity cooperate to form a closed chamber, thereby protecting the power supply male connector 710 and the power supply female connector 720, reducing the risk of impact damage, and ensuring signal transmission, power supply, etc.

[0151] Please see Figure 4 In one embodiment, the connection structure includes a limiting block 312, which restricts the card block 311 from rotating with the card slot 321. The limiting block 312 is disposed at the front end of the card slot 321 along the first rotation direction, and / or, the limiting block 312 is disposed at the rear end of the card block 311 along the first rotation direction.

[0152] The limiting block 312 can be disposed at the front end of the slot 321 along the first rotation direction, or at the rear end of the block 311 along the first rotation direction, or simultaneously at both the front end of the slot 321 and the rear end of the block 311 along the first rotation direction. By abutting the end of the block 311 or the slot 321 with the limiting block 312, the position of the block 311 screwed into the slot 321 is restricted, preventing the block 311 from over-rotating with the slot 321, and ensuring that the first connecting part 100 and the second connecting part 200 stop at the expected engagement position.

[0153] Please see Figure 3 In one embodiment, the connection structure includes a sensor 800, which is disposed on the first connection portion 100 or the second connection portion 200 to sense whether the first connection portion 100 and the second connection portion 200 have moved to the docking position.

[0154] The sensor 800 can be a photoelectric sensor, a micro switch, a Hall sensor, etc., to determine whether the first connecting part 100 and the second connecting part 200 have moved to the docking position, thereby facilitating the control of the subsequent actions of the first connecting part 100 and the second connecting part 200, such as controlling the rotation of the first connecting part 100 so that the locking block 311 is screwed into the locking slot 321, etc.

[0155] The connection structure may also include a sensed structure that matches the sensor 800, so as to cooperate with the sensor 800. For example, an abutment part that contacts a micro switch.

[0156] Please see Figures 1 to 5 A second aspect of this disclosure provides a first connecting portion 100 configured to connect with a second connecting portion 200. The first connecting portion 100 includes a locking block 311 and a first guide portion 510. The locking block 311 is configured to engage with a slot 321 of the second connecting portion 200 to prevent the first connecting portion 100 from disengaging from the second connecting portion 200 in a direction perpendicular to the first rotation direction when the locking block 311 is screwed into the slot 321 in a first rotation direction. The first guide portion 510 is configured to engage with a first guide surface 521 of the second connecting portion 200, such that when the first guide portion 510 and the first guide surface 521 move, they rotate in the forward or reverse direction along the first rotation direction to guide the locking block 311 and the slot 321 to a mating angle.

[0157] The first connecting part 100 of this disclosure engages with the second connecting part 200 via a locking block 311 and a locking groove 321, thereby enabling quick connection and disconnection of the first connecting part 100 and the second connecting part 200. The first guiding part 510 engages with the first guiding surface 521 of the second connecting part 200, guiding the first connecting part 100 and the second connecting part 200 during the docking process, allowing the locking block 311 to be accurately screwed into the locking groove 321, thus completing the engagement of the first connecting part 100 and the second connecting part 200.

[0158] In one embodiment of the first connecting portion 100, the first connecting portion 100 includes a first locking portion 410, which is configured to match a second locking portion 420 of the second connecting portion 200 to restrict rotation of the first connecting portion 100 and the second connecting portion 200 when the locking block 311 is screwed into the locking slot 321.

[0159] The first locking part 410 can be a spring plunger 411, so as to facilitate its cooperation with the second locking part 420 of the second connecting part 200 to restrict the rotation of the first connecting part 100 and the second connecting part 200.

[0160] In one embodiment of the first connecting portion 100, the first connecting portion 100 includes a first guide surface 611. The first guide surface 611 is a conical surface or a partially conical surface, and the first guide surface 611 is configured to match a second guide surface 612 of the second connecting portion 200 to guide the first connecting portion 100 and the second connecting portion 200 to move relative to each other to a docking position.

[0161] The first connection portion 100 of this disclosure may also include a power supply male connector 710, a sensor 800, a protrusion 310, and other structures, as described above, and will not be repeated here.

[0162] Please see Figures 1 to 3 , Figures 6 to 8 A third aspect of this disclosure provides a second connecting portion 200 configured to connect with a first connecting portion 100. The second connecting portion 200 includes a slot 321 and a first guide surface 521. The slot 321 is configured to engage with a locking block 311 of the first connecting portion 100 to restrict the first connecting portion 100 from disengaging from the second connecting portion 200 in a direction perpendicular to the first rotation direction when the locking block 311 is screwed into the slot 321 in a first rotation direction. The first guide surface 521 is an inclined surface and is configured to engage with a first guide portion 510 of the first connecting portion 100. When the first guide portion 510 moves along the first guide surface 521, it rotates in the forward or reverse direction of the first rotation direction to guide the locking block 311 and the slot 321 to a mating angle.

[0163] The slot 321 of the second connecting portion 200 of this disclosure engages with the locking block 311 of the first connecting portion 100 to engage the first connecting portion 100 and the second connecting portion 200. The first guide surface 521 of the second connecting portion 200 is an inclined surface, which is used to guide the first guide portion 510 of the first connecting portion 100 so that the first connecting portion 100 and the second connecting portion 200 move to the docking angle during the docking process.

[0164] In one embodiment of the second connecting portion 200, the second connecting portion 200 includes a guide portion 520. The guide portion 520 is provided with a second guide surface 612, which is configured to cooperate with a first guide surface 611 of the first connecting portion 100 to guide the second connecting portion 200 and the first connecting portion 100 to move relative to each other to a docking position.

[0165] In one embodiment of the second connecting portion 200, a first guiding surface 521 is disposed on the guiding portion 520. A clearance area 522 is disposed at the bottom of the guiding portion 520, and the clearance area 522 is disposed at the end of the first guiding surface 521 to clearance the first guiding portion 510.

[0166] By providing a guide portion 520, which cooperates with the first guide portion 510 and the first guide surface 611 of the first connecting portion 100, the first connecting portion 100 moves to the docking position when it docks with the second connecting portion 200.

[0167] The second connecting part 200 of this disclosure may also include a first limiting block 312, a second guide groove 430, a power supply female head 720 and other structures, as described above, and will not be repeated here.

[0168] Please see Figure 9 The fourth aspect of this disclosure provides a robotic arm, which includes an execution tool 910, a main body 920, and a connection structure of any one of the above, wherein the connection structure is connected to the main body 920 and the execution tool 910 respectively.

[0169] The robotic arm disclosed herein has an execution tool 910 connected to the main body 920 via a connection structure. The first connection part 100 and the second connection part 200 of the connection structure are quick-release connected, thereby realizing the quick-release connection between the execution tool 910 and the main body 920. This allows the robotic arm to be compatible with multiple execution tools 910, thereby achieving different functions and expanding the application scenarios of the robotic arm.

[0170] In one embodiment of the robotic arm, the main body 920 is fixed to the first connecting part 100, and the execution tool 910 is fixed to the second connecting part 200.

[0171] In another embodiment of the robotic arm, the main body 920 is fixed to the second connecting part 200, and the execution tool 910 is fixed to the first connecting part 100.

[0172] In one embodiment of the robotic arm, the main body 920 includes a drive unit that drives the main body 920 to move. The drive unit drives the first connecting part 100 to engage with the second connecting part 200; alternatively, the drive unit drives the second connecting part 200 to engage with the first connecting part 100. The first connecting part 100 and the second connecting part 200 of the robotic arm of this disclosure are connected and disconnected using the drive unit of the main body 920, avoiding the need for a separate drive mechanism, reducing the number of drive mechanisms in the robotic arm, and lowering costs.

[0173] A fifth aspect of this disclosure provides a cleaning device, which includes a device body and the aforementioned robotic arm. The robotic arm is mounted on the device body.

[0174] Cleaning equipment includes, but is not limited to, self-propelled cleaning robots, such as sweepers, floor scrubbers, and window cleaners. The cleaning equipment disclosed herein can utilize a robotic arm to connect with different execution tools 910, thereby achieving different functions, such as picking up trash from areas inaccessible to the cleaning equipment, organizing items, etc., expanding the application scenarios of the cleaning equipment and improving its ease of use.

[0175] The connection structure disclosed herein allows for quick assembly and disassembly of the first connecting part 100 and the second connecting part 200, facilitating the connection of the robotic arm to different execution tools 910. Therefore, this disclosure effectively overcomes some practical problems in the prior art, thus possessing high utilization value and practical significance.

[0176] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the claims of this disclosure.

Claims

1. A connection structure, characterized in that, include: The first connecting part (100) is provided with multiple locking blocks (311); The second connecting part (200) is provided with a slot (321) that cooperates with the locking block (311). The locking block (311) is screwed into the slot (321) in the first rotation direction to restrict the first connecting part (100) from disengaging from the second connecting part (200) in a direction perpendicular to the first rotation direction. A first guide structure (500) includes a matching first guide portion (510) and a first guide surface (521), one of the first guide portion (510) and the first guide surface (521) being disposed on the first connecting portion (100) and the other being disposed on the second connecting portion (200). When the first guide part (510) moves along the first guide surface (521), it rotates in the forward or reverse direction along the first rotation direction to guide the card block (311) and the card slot (321) to move to the docking angle.

2. The connection structure according to claim 1, characterized in that, The first guide surface (521) has at least two; Along the docking direction of the first connecting part (100) and the second connecting part (200), the two first guide surfaces (521) are respectively inclined in the positive and negative directions of the first rotation direction.

3. The connection structure according to claim 2, characterized in that, Two first guide surfaces (521) are arranged opposite each other to form a first guide groove. The width of the first guide groove gradually decreases in both directions along the first rotation direction.

4. The connection structure according to claim 1, characterized in that, include: A first locking structure (400) is configured to lock the first connecting portion (100) and the second connecting portion (200) to restrict relative rotation between the first connecting portion (100) and the second connecting portion (200).

5. The connection structure according to claim 4, characterized in that, The first locking structure (400) includes: First locking part (410); The second locking part (420) matches the first locking part (410); One of the first locking part (410) and the second locking part (420) is disposed on the first connecting part (100), and the other is disposed on the second connecting part (200). The first locking part (410) and the second locking part (420) cooperate to restrict the rotation of the first connecting part (100) and the second connecting part (200).

6. The connection structure according to claim 5, characterized in that, The first locking part (410) is a spring plunger (411), which is fixed to the first connecting part (100) or the second connecting part (200). The second locking part (420) is a first limiting hole (421) that cooperates with the spring plunger (411).

7. The connection structure according to claim 6, characterized in that, The first locking structure (400) further includes: The second guide groove (430) is provided in the second connecting part (200) or the first connecting part (100) along with the first limiting hole (421). The second guide groove (430) gradually decreases in depth from away from the first limiting hole (421) to closer to the first limiting hole (421), so that the spring plunger (411) is gradually compressed when it moves toward the first limiting hole (421).

8. The connection structure according to claim 5 or 6, characterized in that, Both the first locking part (410) and the second locking part (420) are provided with electrical connection parts to realize electrical connection between the first connection part (100) and the second connection part (200) when the first locking part (410) and the second locking part (420) cooperate.

9. The connection structure according to claim 1, characterized in that, include: The second guide structure (600) is configured to guide the first connecting part (100) and the second connecting part (200) to move relative to each other to the docking position; The second guide structure (600) includes a guide surface (610) disposed on the first connecting portion (100) and / or the second connecting portion (200), wherein the guide surface (610) is a conical surface or a partial conical surface.

10. The connection structure according to claim 9, characterized in that, include: A guide portion (520) is disposed on the first connecting portion (100) or the second connecting portion (200), and a first guide surface (521) is disposed on the guide portion (520).

11. The connection structure according to claim 10, characterized in that, The guide surface (610) includes: A second guide surface (612) is disposed on the guide portion (520); The first guide surface (611) is disposed opposite to the guide portion (520) on the second connecting portion (200) or the first connecting portion (100). The first guide surface (611) and the second guide surface (612) gradually decrease in diameter or gradually increase in diameter along the docking direction of the first connecting part (100) and the second connecting part (200).

12. The connection structure according to claim 10, characterized in that, Two guide portions (520) are provided, and the two guide portions (520) are arranged at intervals along the first rotation direction.

13. The connection structure according to claim 12, characterized in that, The plurality of the slots (321) are arranged in a circumferential array along the first rotation direction; The two guide portions (520) are disposed on the second connecting portion (200) and are circumferentially symmetrical about the rotation center of the slot (321).

14. The connection structure according to claim 10, characterized in that, The bottom of the guide portion (520) is provided with a clearance area (522), which is located at the end of the first guide surface (521) to avoid the first guide portion (510).

15. The connection structure according to claim 1, characterized in that, include: Male power connector (710); The female power connector (720) is matched with the male power connector (710); One of the power supply male connector (710) and the power supply female connector (720) is disposed in the first connecting part (100), and the other is disposed in the second connecting part (200). When the locking block (311) is screwed into the locking slot (321), the power supply male connector (710) and the power supply female connector (720) cooperate to make the first connecting part (100) and the second connecting part (200) electrically connected.

16. The connection structure according to claim 1, characterized in that, include: The limiting block (312) restricts the card block (311) from rotating over the card slot (321); The limiting block (312) is disposed at the front end of the slot (321) along the first rotation direction, and / or the limiting block (312) is disposed at the rear end of the block (311) along the first rotation direction.

17. The connection structure according to claim 1, characterized in that, include: A protrusion (310) is provided on the first connecting part (100), and a plurality of the card blocks (311) are arranged in a circumferential array on the outer periphery of the protrusion (310); A recess (320) is provided in the second connecting part (200). A protrusion (322) is provided on the side wall of the recess (320). The protrusion (322) and the bottom wall of the recess (320) form the slot (321).

18. The connection structure according to claim 1, characterized in that, include: A sensor (800) is disposed on the first connecting part (100) or the second connecting part (200) to sense whether the first connecting part (100) and the second connecting part (200) have moved to the docking position.

19. A first connecting portion configured to connect with a second connecting portion (200), characterized in that, include: The locking block (311) is configured to cooperate with the slot (321) of the second connecting part (200) to restrict the first connecting part (100) from disengaging from the second connecting part (200) in a direction perpendicular to the first rotating direction when the locking block (311) is screwed into the slot (321) in the first rotation direction. The first guide portion (510) is configured to cooperate with the first guide surface (521) of the second connecting portion (200) so that the first guide portion (510) and the first guide surface (521) rotate in the forward or reverse direction along the first rotation direction when they move, so as to guide the card block (311) and the card slot (321) to move to the docking angle.

20. The first connecting portion according to claim 19, characterized in that, include: The first locking part (410) is configured to match the second locking part (420) of the second connecting part (200) to restrict the rotation of the first connecting part (100) and the second connecting part (200) when the locking block (311) is screwed into the locking slot (321).

21. The first connecting portion according to claim 19, characterized in that, include: A first guide surface (611) is a conical surface or a partial conical surface. The first guide surface (611) is configured to match the second guide surface (612) of the second connecting part (200) to guide the first connecting part (100) and the second connecting part (200) to move relative to each other to the docking position.

22. A second connecting portion configured to connect with a first connecting portion (100), characterized in that, include: The slot (321) is configured to cooperate with the locking block (311) of the first connecting part (100) to restrict the first connecting part (100) from disengaging from the second connecting part (200) in a direction perpendicular to the first rotating direction when the locking block (311) is screwed into the slot (321) in the first rotation direction. The first guide surface (521) is an inclined surface. The first guide surface (521) is configured to cooperate with the first guide portion (510) of the first connecting portion (100). When the first guide portion (510) moves along the first guide surface (521), it rotates in the forward or reverse direction along the first rotation direction to guide the card block (311) and the card slot (321) to move to the docking angle.

23. The second connecting portion according to claim 22, characterized in that, include: The guide portion (520) is provided with a second guide surface (612), which is configured to cooperate with the first guide surface (611) of the first connecting portion (100) to guide the second connecting portion (200) and the first connecting portion (100) to move relative to each other to the docking position.

24. The second connecting portion according to claim 23, characterized in that, The first guide surface (521) is disposed on the guide portion (520); The bottom of the guide portion (520) is provided with a clearance area (522), which is located at the end of the first guide surface (521) to avoid the first guide portion (510).

25. A robotic arm, characterized in that, include: Execution tool (910); Main body (920); The connection structure according to any one of claims 1 to 18 is connected to the main body (920) and the execution tool (910) respectively.

26. The robotic arm according to claim 25, characterized in that, The main body (920) includes: The driving unit drives the main body to move; The driving unit drives the first connecting part (100) to engage with the second connecting part (200); or, the driving unit drives the second connecting part (200) to engage with the first connecting part (100).

27. A device, characterized in that, include: Equipment body; The robotic arm as described in claim 25 or 26, wherein the robotic arm is mounted on the main body of the device.

Images