Connection assembly, joint assembly and robot

Abstract

The utility model provides a kind of connecting assembly, joint assembly and robot, connecting assembly includes connecting component and first fastener, connecting component includes first connecting piece and second connecting piece, in the axial direction of connecting component, connecting component has first end side and second end side in different sides, first end side is used to connect first joint, second end side is used to connect second joint, first connecting piece is equipped with first end side, and second connecting piece is equipped with second end side. First fastener is arranged in the circumferential side of connecting component, and first connecting piece and second connecting piece are connected in the radial direction of connecting component, in the axial direction of connecting component, there is no gap between first connecting piece and second connecting piece;Or, in the axial direction of connecting component, there is gap between first connecting piece and second connecting piece and the height of gap is less than or equal to 1mm. The present application aims to improve the compactness of the structure of joint assembly.

Description

Technical Field

[0001] This utility model relates to the field of joint component technology, specifically to connection assemblies, joint components, and robots. Background Technology

[0002] The robot includes joint components, through which it achieves movement. Each joint component includes a first joint, a second joint, and a connecting assembly. The connecting assembly is located between the first and second joints.

[0003] In related technologies, a connecting assembly includes a connecting component and a first fastener. A first joint and a second joint are connected to different sides of the connecting component along its axial direction. The connecting component includes a first connector and a second connector, wherein the first connector connects to the first joint and the second connector connects to the second joint. The first fastener passes through the first connector and the second connector along the axial direction of the connecting assembly to connect the first connector and the second connector together.

[0004] However, during the assembly of the joint assembly, in order for the first fastener to connect the first connector and the second connector together, the joint assembly needs to reserve a certain installation space for the first fastener in the axial direction of the connecting assembly (such as space for the fastener to be inserted and tightened). This installation space is not effectively utilized, which makes the structure of the joint assembly not compact enough. Utility Model Content

[0005] Embodiments of this invention provide a connection assembly, a joint assembly, and a robot, designed to improve the compactness of the joint assembly structure.

[0006] In a first aspect, embodiments of the present invention provide a connection assembly, comprising:

[0007] A connecting assembly includes a first connector and a second connector. Axially, the connecting assembly has a first end side and a second end side located on different sides. The first end side is used to connect a first joint, and the second end side is used to connect a second joint. The first connector has the first end side, and the second connector has the second end side.

[0008] A first fastener is disposed on the outer periphery of the connecting assembly and connects the first connector and the second connector in the radial direction of the connecting assembly;

[0009] In the axial direction of the connecting assembly, there is no gap between the first connector and the second connector; or, in the axial direction of the connecting assembly, there is a gap between the first connector and the second connector and the height of the gap is less than or equal to 1 mm.

[0010] Optionally, the first fastener is provided in multiple forms.

[0011] Optionally, a plurality of the first fasteners are spaced apart in the circumferential direction of the connecting component.

[0012] Optionally, the first connector is provided with a first limiting surface, which is parallel to the axis of the connecting component. In the circumferential direction of the connecting component, the first limiting surface is disposed opposite to the second connector. The first fastener passes through the first limiting surface. There are multiple first limiting surfaces, and one first fastener corresponds to one first limiting surface.

[0013] The plane containing one of the first limiting surfaces intersects with the plane containing the other first limiting surface and forms an angle, wherein the angle A satisfies the following relationship: 160°≤A<180°;

[0014] Alternatively, the plane containing one of the first limiting surfaces is coplanar with the plane containing the other first limiting surface.

[0015] In the circumferential direction of the connecting component, the axis of the connecting component is the intersection line of two adjacent first limiting surfaces, and the angle between the two first limiting surfaces is between 160 degrees and 180 degrees.

[0016] Optionally, the first connector is also connected to the second connector.

[0017] Optionally, the first connector and the second connector are inserted radially into the connecting assembly.

[0018] Optionally, the first connector is provided with a first slot, and the second connector is inserted into the first slot, the first slot extending along the circumferential direction of the connecting assembly.

[0019] Optionally, the first slot has a first slot bottom and a first slot opening opposite to the first slot bottom. In the width direction of the first slot, the first slot also has two first slot sidewalls disposed opposite to each other. In the direction of the first slot opening near the first slot bottom, the distance between the two first slot sidewalls gradually decreases.

[0020] Optionally, the included angle B between the two first groove sidewalls satisfies the following relationship: 30°≤B≤60°.

[0021] Optionally, the second connector includes a first connecting body and a first insertion protrusion. The first connecting body has a second end side, and the first insertion protrusion is used to insert into the first slot. The first insertion protrusion has a first connecting surface and two first contact surfaces. One of the first contact surfaces is in contact with a corresponding sidewall of the first slot. The first connecting surface is connected to the two first contact surfaces at an angle. The first connecting surface is disposed opposite to the bottom of the first slot. The angle between the first connecting surface and any of the first contact surfaces is greater than the angle between the two first contact surfaces.

[0022] Optionally, the second connector includes a first connecting body and a first insertion protrusion. The first connecting body has a second end side, the first insertion protrusion is used to insert into the first slot, the first insertion protrusion and the first connecting body restrict the second slot, and the first connector is inserted into the second slot.

[0023] Optionally, the second slot extends along the circumferential direction of the connecting assembly.

[0024] Optionally, the second slot has a second slot bottom and a second slot opening opposite to the second slot bottom. In the width direction of the second slot, the second slot also has two second slot sidewalls disposed opposite to each other. In the direction of the second slot opening near the second slot bottom, the distance between the two second slot sidewalls gradually decreases.

[0025] Optionally, the included angle C between the two second groove sidewalls satisfies the following relationship: 30°≤C≤60°.

[0026] Optionally, the first connector includes a second connecting body and a second insertion protrusion. The second connecting body has the first end side, and the second insertion protrusion is used to insert into the second slot. The second insertion protrusion has a second connecting surface and two second contact surfaces. One of the second contact surfaces is in contact with a corresponding sidewall of the second slot. The second connecting surface is connected to the two second contact surfaces at an angle. The second connecting surface is disposed opposite to the bottom of the second slot. The angle between the second connecting surface and any of the second contact surfaces is greater than the angle between the two second contact surfaces.

[0027] Optionally, two first fasteners are provided, and in the circumferential direction of the connecting assembly, the opposite sides of the first insertion protrusion are respectively connected to one of the first fasteners.

[0028] Optionally, the first connector includes a second connecting body and a second insertion protrusion. The second connecting body is provided with the first end side. The second connecting body and the second insertion protrusion limit the first slot. The second insertion protrusion is inserted into the second slot.

[0029] Optionally, the connection assembly further includes a second fastener disposed on the first connector, the second fastener being used to connect the first connector and the first joint together.

[0030] Optionally, in the width direction of the first slot, the first slot also has two opposing first slot sidewalls, the first connector has a countersunk hole and a clearance channel, in the axial direction of the connecting assembly, the countersunk hole and the clearance channel are opposite to each other, the countersunk hole is at least partially opened in one of the first slot sidewalls, the clearance channel is opened in the other first slot sidewall, and the head of the second fastener can be installed in the countersunk hole from the clearance channel along the axial direction of the connecting assembly.

[0031] Optionally, the connection assembly further includes a third fastener disposed on the outer periphery of the connection component to connect the first connector and the second connector. In the circumferential direction of the connection component, the first slot is spaced apart from the third fastener.

[0032] The first connector is provided with a first positioning part, and the first positioning part has a positioning groove. The second connector is provided with a second positioning part, and the second positioning part is installed in the positioning groove. The third fastener passes through the groove wall of the positioning groove and passes through the second positioning part.

[0033] Optionally, the minimum angle between the extension direction of the first fastener and the axial direction of the connecting assembly is between 80 and 90 degrees.

[0034] And / or, in the axial direction of the connecting assembly, the projection of the head of the first fastener at least partially coincides with the projection of the first connector.

[0035] Secondly, embodiments of the present invention provide a joint assembly, comprising:

[0036] First joint;

[0037] The second joint; and

[0038] The aforementioned connection assembly connects the first joint and the second joint.

[0039] Thirdly, embodiments of the present invention provide a robot including the aforementioned joint assembly.

[0040] The beneficial effects of the embodiments of this utility model are as follows:

[0041] In the embodiments of this utility model, the waste of installation space is eliminated. In related technologies, the first fastener passes through the axial direction of the connecting component, and the joint assembly needs to reserve a dedicated installation space (such as space for fastener insertion and tightening operations) in the axial direction of the connecting component. However, in this disclosure, the first fastener is located on the outer periphery of the connecting component, so this part of the installation space no longer needs to be reserved separately for the first fastener. It can be fully utilized or directly compressed, making the joint assembly more compact in the axial direction of the connecting component. In this way, the structural compactness of the joint assembly is improved.

[0042] In addition, the first fastener located on the outer periphery of the connecting component makes it easier to install, tighten, or remove from the side, eliminating the need for deep hole operations along the axial direction of the connecting component and reducing limitations on tool operation. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a three-dimensional schematic diagram of the joint assembly provided in an embodiment of this utility model;

[0045] Figure 2 yes Figure 1 Exploded view of the mid-joint component;

[0046] Figure 3 yes Figure 1 A partial structural diagram of the connection assembly in the middle;

[0047] Figure 4 yes Figure 3 Sectional view of AA;

[0048] Figure 5 yes Figure 4 Enlarged view of point C in the middle;

[0049] Figure 6 yes Figure 3 BB section view;

[0050] Figure 7 yes Figure 2 A schematic diagram of the structure of the first connecting component;

[0051] Figure 8 yes Figure 7 Enlarged view of point D in the middle;

[0052] Figure 9 yes Figure 2A schematic diagram of the structure of the second connecting member;

[0053] Figure 10 yes Figure 9 Enlarged view of point B in the middle.

[0054] Explanation of reference numerals in the attached figures:

[0055] 100. Joint assembly; 110. First joint; 120. Second joint; 130. Connection assembly; 140. Connection component; 200. First connector; 210. Second connection body; 211. First end side; 212. First mounting hole; 213. Countersunk hole; 220. Second insertion protrusion; 221. Second contact surface; 222. Second connection surface; 223. Clearance channel; 230. First limiting part; 231. First limiting surface; 232. Second mounting hole; 240. First positioning part; 241. Positioning groove; 242. Fourth mounting hole; 25 0. First slot; 251. First slot sidewall; 252. First slot bottom; 253. First slot opening; 300. Second connector; 310. First connecting body; 311. Second end side; 320. First insertion protrusion; 321. Third mounting hole; 322. First contact surface; 323. First connecting surface; 330. Second slot; 331. Second slot sidewall; 332. Second slot bottom; 333. Second slot opening; 340. Second positioning part; 341. Fifth mounting hole; 410. First fastener; 420. Second fastener; 430. Third fastener. Detailed Implementation

[0056] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of the present utility model and are not intended to limit the present utility model. In the present utility model, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in actual use or operation, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.

[0057] Reference Figure 1 and 2 This disclosure provides a robot. The robot may be configured as, but is not limited to, a bipedal robot, a quadrupedal robot, or a hexapedal robot. The robot includes joint components 100, through which the robot achieves movement.

[0058] The joint assembly 100 includes a first joint 110, a second joint 120, and a connection assembly 130 connecting the first joint 110 and the second joint 120. If the robot is a bipedal robot, the joint assembly 100 can be an upper limb or a lower limb. If the robot is a quadrupedal robot, the joint assembly 100 can be a forelimb or a hind limb. If the robot is a hexapedal robot, the joint assembly 100 can be a forefoot, a midfoot, or a hindfoot.

[0059] Refer to together Figures 3 to 10 This disclosure provides a connection assembly 130. The connection assembly 130 includes a connection component 140 and a first fastener 410. The connection component 140 includes a first connector 200 and a second connector 300. Axially, the connection component 140 has a first end side 211 and a second end side 311 located on different sides. The first end side 211 is used to connect a first joint 110, and the second end side 311 is used to connect a second joint 120. The first connector 200 has the first end side 211, and the second connector 300 has the second end side 311. The first fastener 410 is located on the outer periphery of the connection component 140 and connects the first connector 200 and the second connector 300 in the radial direction of the connection component 140. This eliminates wasted installation space. In related technologies, the first fastener 410 passes through the connection component 140 axially, requiring the joint assembly 100 to reserve dedicated installation space (such as space for fastener insertion and tightening operations) in the axial direction of the connection component 140. By placing the first fastener 410 on the outer periphery of the connecting assembly 140, this installation space no longer needs to be reserved separately for the first fastener 410, and can be fully utilized or directly compressed, making the joint assembly 100 more compact in the axial dimension of the connecting assembly 140. In this way, the structural compactness of the joint assembly 100 is improved.

[0060] In addition, the first fastener 410 provided on the outer periphery of the connecting component 140 makes it easier to install, tighten or remove from the side, eliminating the need for deep hole operations along the axial direction of the connecting component 140 and reducing the limitations of tool operation.

[0061] It is understood that, in a radial direction of the connecting assembly 140, the first connector 200 and the second connector 300 are at least partially disposed opposite each other, so that a first fastener 410 disposed on the outer periphery of the connecting assembly 140 can connect the first connector 200 and the second connector 300. In one example, in the axial direction of the connecting assembly 140, the first connector 200 and the second connector 300 may not be disposed opposite each other, or they may be disposed opposite each other, without limitation.

[0062] Furthermore, it is understood that the first fastener 410 is a mechanical part that fastens the first connector 200 and the second connector 300 into a whole. The first fastener 410 may be configured as, but is not limited to, bolts, screws, studs, pins or rivets, etc., without limitation.

[0063] In some embodiments, there is no gap between the first connector 200 and the second connector 300 in the axial direction of the connecting assembly 140. This allows for a more compact axial dimension of the connecting assembly 130 in the connecting assembly 140. This, in turn, improves the structural compactness of the joint assembly 100.

[0064] It should be noted that, due to manufacturing tolerances, the slight gap between the first connector 200 and the second connector 300 in the actual product also falls within the scope of protection of this application.

[0065] In some other embodiments, a gap exists between the first connector 200 and the second connector 300 along the axial direction of the connecting assembly 140, and the height of the gap is less than or equal to 1 mm. This allows for a more compact axial dimension of the connecting assembly 130 along the connecting assembly 140. This, in turn, improves the structural compactness of the joint assembly 100.

[0066] In one example, the gap between the first connector 200 and the second connector 300 in the axial direction of the connecting assembly 140 is 0.12 mm, 0.13 mm, 0.24 mm, 0.29 mm, 0.31 mm, 0.33 mm, 0.37 mm, 0.46 mm, 0.48 mm, 0.51 mm, 0.55 mm, 0.56 mm, 0.68 mm, 0.73 mm, 0.77 mm, 0.88 mm, 0.93 mm, or 1 mm.

[0067] In some embodiments, the first fastener 410 is provided in multiple forms.

[0068] In this way, the connection force between the first connector 200 and the second connector 300 can be distributed to multiple contact points, avoiding deformation, loosening or breakage of a single first fastener 410 due to force concentration, and in particular, it can better withstand complex loads such as torque and radial force generated during robot movement.

[0069] Even if some of the first fasteners 410 wear out or fail due to long-term use (such as stripped threads), the remaining first fasteners 410 can still maintain a certain connection strength, reducing the risk of sudden failure of the joint assembly 100 and improving the safety of robot operation.

[0070] It should be noted that "multiple" as mentioned in this disclosure refers to at least two or more. In one example, the number of first fasteners 410 can be two, three, four, or five, etc., and there is no limitation herein.

[0071] In some embodiments, a plurality of first fasteners 410 are spaced apart in the circumferential direction of the connecting component 140.

[0072] Multiple first fasteners 410 are spaced apart circumferentially along the connecting assembly 140 (e.g., but not limited to being distributed at an angle along the circumference), which can evenly distribute the connecting force between the first connector 200 and the second connector 300 to multiple contact points on the outer periphery, avoiding excessive local stress caused by the first fasteners 410 being concentrated in a certain area.

[0073] In some embodiments, the first connector 200 is provided with a first limiting surface 231, which is parallel to the axis of the connecting component 140. In the circumferential direction of the connecting component 140, the first limiting surface 231 is disposed opposite to the second connector 300. A first fastener 410 passes through the first limiting surface 231. There are multiple first limiting surfaces 231, and one first fastener 410 is disposed corresponding to one first limiting surface 231. The plane of one first limiting surface 231 intersects the plane of another first limiting surface and forms an angle. The angle A satisfies the following relationship: 160°≤A<180°; or, the plane of one first limiting surface 231 is coplanar with the plane of another first limiting surface.

[0074] The angle range of adjacent first limiting surfaces 231 is 160 degrees to 180 degrees (the closer to 180 degrees, the closer to circumferential symmetry), meaning that the corresponding first fasteners 410 are also close to a 180-degree distribution. When the joint assembly 100 is subjected to torque about the axis of the connecting assembly 140, two adjacent first fasteners 410 can provide restraining forces from opposite directions to counteract the torsional tendency. For example, if the joint assembly 100 is subjected to a clockwise torque, one first fastener 410 is subjected to tension, and the other adjacent first fastener 410 is subjected to a reverse tension. The combined effect of both can more stably restrict the relative rotation between the first connector 200 and the second connector 300.

[0075] In addition, the angle range of adjacent first limiting surfaces 231 is 160 degrees to 180 degrees, which makes the constraint force distribution more uniform, avoids the force concentration of the first fastener 410 due to the small spacing, reduces the load pressure of a single first fastener 410 or first limiting surface 231, and extends the service life of the connection assembly 130.

[0076] In one example, the angle between adjacent first limiting surfaces 231 may be, but is not limited to, 160 degrees, 161 degrees, 161.2 degrees, 162.5 degrees, 163.1 degrees, 163.7 degrees, 164 degrees, 164.9 degrees, 165.2 degrees, 165.3 degrees, 167 degrees, 168.9 degrees, 169.3 degrees, 169.4 degrees, 169.5 degrees, 169.8 degrees, 170 degrees, 171.6 degrees, 173.5 degrees, 174.6 degrees, 176.3 degrees, 176.6 degrees, 177.1 degrees, 178.3 degrees, 178.5 degrees, 178.9 degrees, 179.1 degrees, 170.3 degrees, 179.8 degrees, or 180 degrees.

[0077] In some embodiments, the first connector 200 is also plugged into the second connector 300.

[0078] The insertion provides mechanical guidance during the initial assembly of the first connector 200 and the second connector 300, enabling initial alignment of the two (including fixing the axial and circumferential relative positions of the connecting components 140) without relying on the first fastener 410. For example, after the first connector 200 and the second connector 300 are inserted, radial and circumferential misalignment can be quickly limited, providing a stable foundation for the subsequent installation of the first fastener 410.

[0079] In some embodiments, the first connector 200 and the second connector 300 are inserted radially into the connecting assembly 140.

[0080] Thus, when the first joint 110 tends to tilt relative to the second joint 120, the insertion surfaces of the first connector 200 and the second connector 300 can share the bending moment borne by the first fastener 410, which helps to extend the service life of the first fastener 410. In some embodiments, the first connector 200 is provided with a first slot 250, and the second connector 300 is inserted into the first slot 250, the first slot 250 extending along the circumferential direction of the connecting assembly 140.

[0081] Thus, the contact area between the second connector 300 and the groove wall of the first slot 250 is relatively large. When the first joint 110 has a tendency to tilt relative to the second joint 120, the second connector 300 and the first connector 200 can be subjected to relatively uniform force, which helps to reduce the probability of deformation of the first connector 200 and the second connector 300, thereby helping to extend the service life of the connecting assembly 140.

[0082] In some embodiments, the first slot 250 has a first slot bottom 252 and a first slot opening 253 opposite to the first slot bottom 252. In the width direction of the first slot 250, the first slot 250 also has two first slot sidewalls 251 disposed opposite to each other. In the direction of the first slot opening 253 near the first slot bottom 252, the distance between the two first slot sidewalls 251 gradually decreases.

[0083] At the first slot 253, the two first slot sidewalls 251 are relatively far apart, providing a larger entry tolerance space for the insertion end of the second connector 300. Even if there is a slight angular deviation of the second connector 300 during insertion, it can be smoothly guided through the wider first slot 253. As the insertion depth increases, the distance between the two first slot sidewalls 251 gradually decreases, which naturally guides the second connector 300 to slide along the preset path of the slot, ultimately completing the insertion of the second connector 300 and the first slot 250, reducing the number of manual adjustments.

[0084] Furthermore, when the second connector 300 is inserted into the first slot 250, the two side walls 251 of the first slot will compress the second connector 300. This wedge-shaped fit generates a pre-tightening force between the first connector 200 and the second connector 300, reducing the possibility of the second connector 300 loosening or shifting within the first slot 250.

[0085] In some embodiments, the included angle B formed by the two first groove sidewalls 251 satisfies the following relationship: 30°≤B≤60°.

[0086] When the included angle is less than 30 degrees, a large thrust needs to be applied when the second connector 300 is inserted into the first slot 250 (which may even cause plastic deformation of the second connector 300 or the side wall 251 of the first slot), significantly increasing the assembly difficulty.

[0087] When the included angle is greater than 60 degrees, the compressive force of the two first slot sidewalls 251 on the second connector 300 is small, which makes the second connector 300 easier to loosen in the first slot 250.

[0088] Thus, when the included angle is between 30 and 60 degrees, the pressure exerted by the two first groove sidewalls 251 on the second connector 300 is greater, making it less likely for the second connector 300 to loosen in the first slot 250, while also reducing the thrust required for the second connector 300 to be inserted into the first slot 250.

[0089] In one example, the included angle between the two first groove sidewalls 251 may be, but is not limited to, 30 degrees, 31.2 degrees, 32.4 degrees, 33.3 degrees, 34.9 degrees, 35.1 degrees, 35.3 degrees, 36.7 degrees, 38.1 degrees, 38.2 degrees, 39.3 degrees, 40 degrees, 40.3 degrees, 40.6 degrees, 40.8 degrees, 41.1 degrees, 41.3 degrees, 42 degrees, 44 degrees, 45 degrees, 48 ​​degrees, 48.7 degrees, 49.3 degrees, 49.8 degrees, 50 degrees, 57.2 degrees, 58.6 degrees, 59.6 degrees, 59.8 degrees, or 60 degrees.

[0090] In some embodiments, the second connector 300 includes a first connecting body 310 and a first insertion protrusion 320. The first connecting body 310 has a second end side 311. The first insertion protrusion 320 is used to insert into the first slot 250. The first insertion protrusion 320 has a first connecting surface 323 and two first contact surfaces 322. One first contact surface 322 is in contact with a corresponding first slot sidewall 251. The first connecting surface 323 is connected to the two first contact surfaces 322 at an angle. The first connecting surface 323 is disposed opposite to the bottom of the first slot 252. The angle between the first connecting surface 323 and any one of the first contact surfaces 322 is greater than the angle between the two first contact surfaces 322.

[0091] Thus, in the insertion direction of the first insertion protrusion 320, the first connecting surface 323 prevents the first insertion protrusion 320 from being too sharp, which helps to reduce the risk of the first insertion protrusion 320 scratching people during the insertion of the first insertion protrusion 320 into the first slot 250.

[0092] In some embodiments, the second connector 300 includes a first connecting body 310 and a first insertion protrusion 320. The first connecting body 310 has a second end side 311. The first insertion protrusion 320 is used to insert into the first slot 250. The first insertion protrusion 320 and the first connecting body 310 limit the second slot 330. The first connector 200 is inserted into the second slot 330.

[0093] The first insertion protrusion 320 is inserted into the first slot 250 of the first connector 200, while the first connector 200 is inserted into the second slot 330 formed by the first insertion protrusion 320 and the first connecting body 310. This interlocking structure increases the contact area between the first connector 200 and the second connector 300. More contact points can distribute the load over a larger area, reducing the risk of material fatigue or fracture and extending the service life of the joint assembly 100.

[0094] Furthermore, it is understood that the first insertion protrusion 320 not only serves as a structure that restricts the second slot 330, but also as a structure that is inserted into the first slot 250, which makes the first insertion protrusion 320 more versatile.

[0095] Furthermore, during assembly, the engagement of the first slot 250 with the first insertion protrusion 320 and the engagement of the second slot 330 with the first connector 200 form a dual guide. That is, when the first insertion protrusion 320 is inserted into the first slot 250, the first connector 200 can be guided into the second slot 330. The two directions of guidance assist each other, and even if there is a slight angle or positional deviation, it can be automatically corrected through bidirectional engagement, reducing the number of manual adjustments.

[0096] The interlocking manner of the first connector 200 and the second connector 300 is beneficial to increasing the contact area between the first connector 200 and the second connector 300, which is beneficial to increasing the friction between the first connector 200 and the second connector 300, thereby making it less likely for the first connector 200 and the second connector 300 to slide against each other, and improving the relaxation effect of the first connector 200 and the second connector 300.

[0097] In some embodiments, the second slot 330 extends along the circumferential direction of the connecting assembly 140.

[0098] Thus, the contact area between the first connector 200 and the groove wall of the second slot 330 is relatively large. When the first joint 110 has a tendency to tilt relative to the second joint 120, the first connector 200 and the second connector 300 can be subjected to force more evenly, which helps to reduce the probability of deformation of the first connector 200 and the second connector 300, thereby helping to extend the service life of the connecting assembly 140.

[0099] In some embodiments, the second slot 330 has a second slot bottom 332 and a second slot opening 333 opposite to the second slot bottom 332. In the width direction of the second slot 330, the second slot 330 also has two second slot sidewalls 331 disposed opposite to each other. In the direction of the second slot opening 333 near the second slot bottom 332, the distance between the two second slot sidewalls 331 gradually decreases.

[0100] At the second slot 333, the two second slot sidewalls 331 are far apart, providing a larger entry tolerance space for the insertion end of the first connector 200. Even if there is a slight angular deviation of the first connector 200 during insertion, it can be smoothly guided through the wider second slot 333. As the insertion depth increases, the distance between the two second slot sidewalls 331 gradually decreases, which naturally guides the first connector 200 to slide along the preset path of the slot, ultimately completing the insertion of the first connector 200 and the second slot 330, reducing the number of manual adjustments.

[0101] Furthermore, when the first connector 200 is inserted into the second slot 330, the two side walls 331 of the second slot will compress the first connector 200. This wedge-shaped fit generates a pre-tightening force between the first connector 200 and the second connector 300, reducing the possibility of the first connector 200 loosening or shifting within the second slot 330.

[0102] In some embodiments, the included angle C formed by the two second groove sidewalls 331 satisfies the following relationship: 30°≤C≤60°.

[0103] When the included angle is less than 30 degrees, a large thrust needs to be applied when the first connector 200 is inserted into the second slot 330 (which may even cause plastic deformation of the first connector 200 or the side wall 331 of the second slot), significantly increasing the assembly difficulty.

[0104] When the included angle is greater than 60 degrees, the compressive force of the two second slot sidewalls 331 on the first connector 200 is small, which makes the first connector 200 easier to loosen in the second slot 330.

[0105] Thus, when the included angle is between 30 and 60 degrees, the pressure exerted by the two second groove sidewalls 331 on the first connector 200 is greater, making it less likely for the first connector 200 to loosen in the second slot 330, while also reducing the thrust required for the first connector 200 to be inserted into the second slot 330.

[0106] In one example, the included angle between the two second groove sidewalls 331 may be, but is not limited to, 30 degrees, 31.4 degrees, 32.5 degrees, 33.2 degrees, 34.1 degrees, 35.2 degrees, 35.4 degrees, 36.6 degrees, 38.2 degrees, 38.3 degrees, 39.4 degrees, 40 degrees, 40.4 degrees, 40.6 degrees, 40.7 degrees, 41.3 degrees, 41.4 degrees, 42.3 degrees, 44.6 degrees, 45 degrees, 48.6 degrees, 48.8 degrees, 49.5 degrees, 49.9 degrees, 50.1 degrees, 57.5 degrees, 58.6 degrees, 59.7 degrees, 59.8 degrees, or 60 degrees.

[0107] In some embodiments, the first connector 200 includes a second connecting body 210 and a second insertion protrusion 220. The second connecting body 210 has a first end side 211, and the second insertion protrusion 220 is used to insert into a second slot 330. The second insertion protrusion 220 has a second connecting surface 222 and two second contact surfaces 221. One second contact surface 221 is in contact with a corresponding second slot sidewall 331. The second connecting surface 222 is connected to the two second contact surfaces 221 at an angle. The second connecting surface 222 is disposed opposite to the bottom of the second slot 332. The angle between the second connecting surface 222 and any of the second contact surfaces 221 is greater than the angle between the two second contact surfaces 221.

[0108] Thus, in the insertion direction of the second insertion protrusion 220, the second connecting surface 222 prevents the second insertion protrusion 220 from being too sharp, which helps to reduce the risk of the second insertion protrusion 220 scratching people during the process of the second insertion protrusion 220 being inserted into the second slot 330.

[0109] In some embodiments, two first fasteners 410 are provided, and in the circumferential direction of the connecting assembly 140, the opposite sides of the first insertion protrusion 320 are respectively connected to a first fastener 410.

[0110] Thus, the first joint 110 can transmit torque to the second joint 120 through the first fastener 410. In addition, the first insertion protrusion 320 not only serves as a structure for insertion into the first slot 250, but also serves as a structure for connection of the first fastener 410, which makes the first insertion protrusion 320 more versatile.

[0111] In some embodiments, the first connector 200 includes a second connecting body 210 and a second insertion protrusion 220. The second connecting body 210 has a first end side 211. The second connecting body 210 and the second insertion protrusion 220 limit the first slot 250. The second insertion protrusion 220 is inserted into the second slot 330.

[0112] Thus, the second insertion protrusion 220 not only serves as a structure that restricts the first slot 250, but also as a structure that inserts into the second slot 330, which makes the second insertion protrusion 220 more versatile.

[0113] In some embodiments, the connection assembly 130 further includes a second fastener 420 disposed on the first connector 200, the second fastener 420 being used to connect the first connector 200 and the first joint 110 together. However, the design is not limited thereto; in some other embodiments, the first connector 200 is threaded, and the first connector 200 is connected to the first joint 110 by the thread.

[0114] Furthermore, it is understood that the second fastener 420 is a mechanical part that fastens the first connector 200 and the first joint 110 into a whole. The second fastener 420 may be configured as, but is not limited to, bolts, screws, studs, pins or rivets, etc., without limitation.

[0115] In some embodiments, in the width direction of the first slot 250, the first slot 250 also has two opposing first slot sidewalls 251, the first connector 200 has a countersunk hole 213 and a clearance channel 223, in the axial direction of the connecting assembly 140, the countersunk hole 213 and the clearance channel 223 are oppositely arranged, the countersunk hole 213 is at least partially opened in one first slot sidewall 251, the clearance channel 223 is opened in the other first slot sidewall 251, and the head of the second fastener 420 can be installed in the countersunk hole 213 along the axial direction of the connecting assembly 140 from the clearance channel 223.

[0116] It is understood that during the process of installing the head of the second fastener 420 into the countersunk hole 213, the head of the second fastener 420 will bypass the passage 223, pass through the first slot 250, and then enter the countersunk hole 213. This allows the first slot 250 to be reused as space for the installation of the second fastener 420, which makes the structure of the connecting assembly 140 more compact.

[0117] Furthermore, after the head of the second fastener 420 is inserted into the countersunk hole 213, the top surface of the head of the second fastener 420 can be flush with or recessed into the surface of the side wall 251 of the first groove, without protruding into the interior of the first slot 250. When the head of the second fastener 420 is inserted into the countersunk hole 213, the first insertion protrusion 320 can be inserted into the first slot 250, thereby completing the insertion of the second connector 300 into the first connector 200.

[0118] In some embodiments, the connection assembly 130 further includes a third fastener 430, which is disposed on the outer periphery of the connection component 140 to connect the first connector 200 and the second connector 300. In the circumferential direction of the connection component 140, the first slot 250 is spaced apart from the third fastener 430.

[0119] Thus, when the first joint 110 tends to tilt relative to the second joint 120, the third fastener 430 can share the bending moment on the insertion surfaces of the first connector 200 and the second connector 300, which is beneficial to extending the service life of the connecting assembly 140.

[0120] Furthermore, it is understood that the third fastener 430 is a mechanical part that fastens the first connector 200 and the second connector 300 into a whole. The third fastener 430 may be configured as, but is not limited to, bolts, screws, studs, pins or rivets, etc., without limitation.

[0121] In some embodiments, the first connector 200 is provided with a first positioning part 240, the first positioning part 240 is provided with a positioning groove 241, the second connector 300 is provided with a second positioning part 340, the second positioning part 340 is installed in the positioning groove 241, and the third fastener 430 passes through the groove wall of the positioning groove 241 and passes through the second positioning part 340.

[0122] Thus, the assembly of the positioning groove and the second positioning part helps to improve the assembly accuracy of the first and second connecting parts. In addition, the first and second positioning parts can also be reused as a structure for the third fastener to pass through, enriching the functions of the first and second positioning parts.

[0123] In some embodiments, the minimum angle between the extension direction of the first fastener 410 and the axial direction of the connecting assembly 140 is between 80 and 90 degrees.

[0124] The minimum angle between the extension direction of the first fastener 410 and the axial direction of the connecting assembly 140 is between 80 and 90 degrees, so that the extension direction of the first fastener 410 is close to the radial direction of the connecting assembly 140, thereby ensuring that the first fastener 410 does not occupy too much axial space of the connecting assembly 140, and making the joint assembly 100 more compact in axial dimensions of the connecting assembly 140.

[0125] The minimum angle between the extension direction of the first fastener 410 and the axial direction of the connecting assembly 140 is between 80 and 90 degrees, so that the extension direction of the first fastener 410 is close to the radial direction of the connecting assembly 140. This makes it easier for screwdrivers or wrenches and other disassembly tools to operate on the first fastener 410, and makes it less likely for the disassembly tools to be interfered with by the first joint 110 and the second joint 120 during the process of disassembling and assembling the first fastener 410 to the connecting assembly 140.

[0126] In one example, the minimum angle between the extension direction of the first fastener 410 and the axial direction of the connecting assembly 140 may be, but is not limited to, 80 degrees, 80.3 degrees, 81.4 degrees, 81.5 degrees, 82.7 degrees, 82.9 degrees, 83.1 degrees, 83.8 degrees, 84.9 degrees, 85.7 degrees, 86.6 degrees, 86.8 degrees, 89 degrees, or 90 degrees.

[0127] In some embodiments, in the axial direction of the connecting assembly 140, the projection of the head of the first fastener 410 at least partially coincides with the projection of the first connector 200. Thus, in the radial direction of the connecting assembly 140, the first fastener 410 does not extend or will not extend too far beyond the first connector 200, which is beneficial for making the structure of the connecting assembly 130 more compact.

[0128] For ease of understanding, an overall description of an example connection assembly 130 of this disclosure is provided below. The connection assembly 130 includes a connection component 140, a first fastener 410, a second fastener 420, and a third fastener 430. Axially, one end of the connection component 140 is connected to a first joint 110, and the other end is connected to a second joint 120. The connection component 140 includes a first connector 200 and a second connector 300.

[0129] The first connector 200 includes a second connector body 210, and the second connector 300 includes the first connector body 310.

[0130] In the axial direction of the connecting assembly 140, the second connecting body 210 and the first connecting body 310 are arranged opposite to each other. The side of the second connecting body 210 away from the first connecting body 310 is the first end side 211, which is connected to the first joint 110. The side of the first connecting body 310 away from the second connecting body 210 is the second end side 311, which is connected to the second joint 120.

[0131] In addition, the first connecting body 310 is also provided with a first mounting hole 212 and a countersunk hole 213. In the direction away from the second connecting body 210, the countersunk hole 213 and the first mounting hole 212 are arranged in sequence and connected. The second fastener 420 is configured as a bolt. The head of the second fastener 420 is located in the countersunk hole 213, and the screw of the second fastener 420 passes through the first mounting hole 212. The second fastener 420 is located in the countersunk hole 213 and the first mounting hole 212 to connect the first connector 200 and the first joint 110.

[0132] The first connector 200 also includes a second insertion protrusion 220. In the axial direction of the connector 140, the second insertion protrusion 220 is disposed on the side of the second connector 210 close to the first connector 310. The second insertion protrusion 220 and the second connector 210 limit the first slot 250.

[0133] The second connector 300 also includes a first insertion protrusion 320. In the axial direction of the connector 140, the first insertion protrusion 320 is disposed on the side of the first connector 310 close to the second connector 210. The first insertion protrusion 320 and the first connector 310 limit the second slot 330.

[0134] The second insertion protrusion 220 is used to insert into the second slot 330, and the first insertion protrusion 320 is used to insert into the first slot 250.

[0135] In addition, the second insertion protrusion 220 is also provided with a clearance channel 223. In the axial direction of the connecting assembly 140, the second insertion protrusion 220 can pass through the clearance channel 223 through the first slot 250 to be installed in the first mounting hole 212 and the countersunk hole 213.

[0136] The first connector 200 also includes two first limiting portions 230. In the axial direction of the connecting assembly 140, the first limiting portions 230 are located on the side of the second connecting body 210 near the first connecting body 310. In the circumferential direction of the connecting assembly 140, the two first limiting portions 230 have a first limiting surface 231 on the side near each other. In the circumferential direction of the connecting assembly 140, a second insertion protrusion 220 is located between the two first limiting portions 230. The first limiting portion 230 has a second mounting hole 232 at the first limiting surface 231, and the second mounting hole 232 penetrates the first limiting portion 230. The first fastener 410 is configured as a bolt, and the thread of the first fastener 410 passes through the second mounting hole 232. It can be understood that there are two first fasteners 410, with the thread of one first fastener 410 passing through a corresponding second mounting hole 232.

[0137] In the circumferential direction of the connecting assembly 140, third mounting holes 321 are respectively provided on opposite ends of the first insertion protrusion 320, and the third mounting holes 321 are configured as blind holes. A screw of a first fastener 410 is provided in a corresponding third mounting hole 321.

[0138] It is understood that the first fastener 410 is provided on the first limiting part 230 and the first insertion protrusion 320, thereby connecting the first connector 200 and the second connector 300 together.

[0139] The first connector 200 also includes a first positioning part 240, which is disposed on the side of the second connector 210 close to the first connector 310. In the circumferential direction of the connector 140, a second insertion protrusion 220, a first limiting part 230, a first positioning part 240, and another first limiting part 230 are sequentially arranged.

[0140] The first positioning part 240 has a positioning groove 241 on its inner peripheral surface. The first positioning part 240 also has a fourth mounting hole 242 that communicates with the bottom of the positioning groove 241. The third fastener 430 is configured as a positioning pin and is located in the fourth mounting hole 242.

[0141] The second connector 300 also includes a second positioning part 340, which is located on the side of the first connecting body 310 close to the second connecting body 210. The second positioning part 340 has a fifth mounting hole 341 and is located in the positioning groove 241. The third fastener 430 also passes through the fifth mounting hole 341.

[0142] The embodiments of this utility model have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A connection assembly, characterized in that, include: A connecting assembly includes a first connector and a second connector. In the axial direction of the connecting assembly, the connecting assembly has a first end side and a second end side located on different sides. The first end side is used to connect a first joint, and the second end side is used to connect a second joint. The first connector is provided with the first end side, and the second connector is provided with the second end side. as well as A first fastener is disposed on the outer periphery of the connecting assembly and connects the first connector and the second connector in the radial direction of the connecting assembly; In the axial direction of the connecting assembly, there is no gap between the first connector and the second connector; or, in the axial direction of the connecting assembly, there is a gap between the first connector and the second connector and the height of the gap is less than or equal to 1 mm.

2. The connection assembly according to claim 1, characterized in that, The first fastener has multiple components.

3. The connection assembly according to claim 2, characterized in that, In the circumferential direction of the connecting component, a plurality of the first fasteners are spaced apart.

4. The connection assembly according to claim 3, characterized in that, The first connector is provided with a first limiting surface, which is parallel to the axis of the connecting component. In the circumferential direction of the connecting component, the first limiting surface is disposed opposite to the second connector. The first fastener passes through the first limiting surface. There are multiple first limiting surfaces, and one first fastener corresponds to one first limiting surface. The plane containing one of the first limiting surfaces intersects with the plane containing the other first limiting surface and forms an angle, wherein the angle A satisfies the following relationship: 160°≤A<180°; Alternatively, the plane containing one of the first limiting surfaces is coplanar with the plane containing the other first limiting surface.

5. The connection assembly according to claim 1, characterized in that, The first connector is also plugged into the second connector.

6. The connection assembly according to claim 5, characterized in that, The first connector and the second connector are inserted radially into the connecting assembly.

7. The connection assembly according to claim 6, characterized in that, The first connector has a first slot, and the second connector is inserted into the first slot, the first slot extending along the circumferential direction of the connecting assembly.

8. The connection assembly according to claim 7, characterized in that, The first slot has a first slot bottom and a first slot opening opposite to the first slot bottom. In the width direction of the first slot, the first slot also has two first slot sidewalls disposed opposite to each other. In the direction of the first slot opening near the first slot bottom, the distance between the two first slot sidewalls gradually decreases.

9. The connection assembly according to claim 8, characterized in that, The included angle B between the two sidewalls of the first groove satisfies the following relationship: 30°≤B≤60°.

10. The connection assembly according to claim 8, characterized in that, The second connector includes a first connecting body and a first insertion protrusion. The first connecting body has a second end side. The first insertion protrusion is used to insert into the first slot. The first insertion protrusion has a first connecting surface and two first contact surfaces. One of the first contact surfaces is in contact with a corresponding sidewall of the first slot. The first connecting surface is connected to the two first contact surfaces at an angle. The first connecting surface is disposed opposite to the bottom of the first slot. The angle between the first connecting surface and any of the first contact surfaces is greater than the angle between the two first contact surfaces.

11. The connection assembly according to claim 7, characterized in that, The second connector includes a first connecting body and a first insertion protrusion. The first connecting body has a second end side. The first insertion protrusion is used to insert into the first slot. The first insertion protrusion and the first connecting body restrict the second slot. The first connector is inserted into the second slot.

12. The connection assembly according to claim 11, characterized in that, The second slot extends along the circumferential direction of the connecting assembly.

13. The connection assembly according to claim 12, characterized in that, The second slot has a second slot bottom and a second slot opening opposite to the second slot bottom. In the width direction of the second slot, the second slot also has two second slot sidewalls disposed opposite to each other. In the direction of the second slot opening near the second slot bottom, the distance between the two second slot sidewalls gradually decreases.

14. The connection assembly according to claim 13, characterized in that, The included angle C between the two sidewalls of the second groove satisfies the following relationship: 30°≤C≤60°.

15. The connection assembly according to claim 13, characterized in that, The first connector includes a second connecting body and a second insertion protrusion. The second connecting body has the first end side. The second insertion protrusion is used to insert into the second slot. The second insertion protrusion has a second connecting surface and two second contact surfaces. One of the second contact surfaces is in contact with a corresponding sidewall of the second slot. The second connecting surface is connected to the two second contact surfaces at an angle. The second connecting surface is opposite to the bottom of the second slot. The angle between the second connecting surface and any of the second contact surfaces is greater than the angle between the two second contact surfaces.

16. The connection assembly according to claim 12, characterized in that, The first fastener is provided in two parts, and in the circumferential direction of the connecting component, the opposite sides of the first insertion protrusion are respectively connected to one of the first fasteners.

17. The connection assembly according to claim 11, characterized in that, The first connector includes a second connecting body and a second insertion protrusion. The second connecting body is provided with the first end side. The second connecting body and the second insertion protrusion limit the first slot. The second insertion protrusion is inserted into the second slot.

18. The connection assembly according to claim 7, characterized in that, The connection assembly further includes a second fastener disposed on the first connector, the second fastener being used to connect the first connector and the first joint together.

19. The connection assembly according to claim 18, characterized in that, In the width direction of the first slot, the first slot also has two first slot sidewalls arranged opposite to each other. The first connector has a countersunk hole and a clearance channel. In the axial direction of the connecting assembly, the countersunk hole and the clearance channel are arranged opposite to each other. The countersunk hole is at least partially opened in one of the first slot sidewalls, and the clearance channel is opened in the other first slot sidewall. The head of the second fastener can be installed in the countersunk hole from the clearance channel along the axial direction of the connecting assembly.

20. The connection assembly according to claim 7, characterized in that, The connection assembly further includes a third fastener, which is disposed on the outer periphery of the connection component to connect the first connector and the second connector. In the circumferential direction of the connection component, the first slot is spaced apart from the third fastener.

21. The connection assembly according to claim 20, characterized in that, The first connector is provided with a first positioning part, and the first positioning part has a positioning groove. The second connector is provided with a second positioning part, and the second positioning part is installed in the positioning groove. The third fastener passes through the groove wall of the positioning groove and passes through the second positioning part.

22. The connection assembly according to claim 1, characterized in that, The minimum angle between the extension direction of the first fastener and the axial direction of the connecting assembly is between 80 and 90 degrees. And / or, in the axial direction of the connecting assembly, the projection of the head of the first fastener at least partially coincides with the projection of the first connector.

23. A joint assembly, characterized in that, include: First joint; Second joint; as well as The connection assembly as described in any one of claims 1 to 22 connects the first joint and the second joint.

24. A robot, characterized in that, Includes the joint assembly as described in claim 23.

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