CN116038750A - Connecting device for robot arm and joint module - Google Patents

Abstract

The invention relates to a connecting device of a robot arm and a joint module, which comprises the robot arm, a fastener and a connecting assembly. The robot arm is provided with a first installation part in a protruding mode along a first direction, wherein the first direction is the thickness direction of the robot arm; the first mounting part is provided with a first mounting groove with a first opening, and the first mounting groove is provided with a first inclined plane; the fastener is configured with a second mounting groove accommodating the first mounting part, and the fastener is configured with a first mounting hole opposite to the first opening; the connecting assembly comprises a slip ring and a connecting piece; the sliding ring is sleeved on the periphery of the fastening piece, slides along the first direction, is in butt joint with the sliding ring, and passes through the first mounting hole to slide relative to the hole wall of the first mounting hole; the slip ring has a first position and a second position when sliding along a first direction; in the first position, the connecting piece is separated from the first inclined surface; in the second position, the connecting piece is pressed on the first inclined plane. The robot arm and the joint module are convenient to assemble and disassemble.

Description

Connecting device for robot arm and joint module

Technical Field

The invention relates to the technical field of robots, in particular to a connecting device of a robot arm and a joint module.

Background

The collaborative robot generally consists of a plurality of joint modules and a robot arm, each joint module provides one or two degrees of rotational freedom, and is transferred to different joint modules through the robot arm, so that the collaborative robot with six or seven degrees of freedom is finally formed. The joint module of the cooperative robot is generally composed of a harmonic reducer directly connected with a motor, a flexible wheel is used as an input end, and a steel wheel is used as an output end to be connected with a robot arm. In the prior art, the joint module is connected with the robot arm in a connecting mode, the joint module is connected with the robot arm through a threaded hole of a crossed roller bearing of a harmonic reducer, and the threaded hole is parallel to the axis of the harmonic reducer in the connecting mode, so that the joint module is required to be additionally designed and installed in a mounting space, the joint module is extremely difficult to install and detach, and great inconvenience is brought to the installation, the detachment and the processing of a cooperative robot.

Disclosure of Invention

Based on this, it is necessary to provide a connection device for a robot arm and a joint module, which solves the technical problem that the installation and the disassembly of the robot arm and the joint module are difficult at present.

A connection device of a robot arm and a joint module, comprising:

the robot arm is provided with a first installation part in a protruding mode along a first direction, wherein the first direction is the axial direction of the robot arm; a first mounting groove with a first opening is formed in the first mounting part, and a first inclined surface which is obliquely arranged from the outer peripheral side of the robot arm to one side of a groove cavity of the first mounting groove along the first direction is formed on one side wall of the first mounting groove;

the fastener is used for being in transmission connection with the harmonic reducer, the fastener is provided with a second mounting groove with a second opening, the first mounting part is accommodated in the second mounting groove, the fastener is provided with a first mounting hole penetrating along the radial direction of the fastener, and the first mounting hole is opposite to the first opening;

the slip ring is sleeved on the periphery of the fastener and can slide along the first direction;

the connecting assembly is in butt joint with the slip ring on one side, and the other side of the connecting assembly penetrates through the first mounting hole and can slide relative to the hole wall of the first mounting hole;

the slip ring has a first position and a second position when sliding along the first direction; in the first position, the connection assembly is separated from the first ramp; in the second position, the connecting component is pressed against the first inclined surface.

In one embodiment, the slip ring comprises a first sliding part and a second sliding part connected to each other, wherein the first sliding part has a first sliding surface and the second sliding part has a second sliding surface; the first sliding surface is a second inclined surface obliquely arranged from bottom to top along the first direction; the second sliding surface is matched with the outer peripheral surface of the fastener;

in the first position, the first sliding surface is abutted with the connecting assembly, and the outer peripheral surface of the connecting assembly protrudes out of the outer peripheral surface of the fastener; in the second position, the second sliding surface is abutted with the connecting assembly, and the outer peripheral surface of the connecting assembly is flush with the outer peripheral surface of the fastener.

In one embodiment, when the slip ring slides from the first position to the second position along the first direction, one side of the connecting component, which faces away from the first inclined plane, can slide from the second sliding surface to the first sliding surface, so that the connecting component slides towards one side of the first inclined plane relative to the hole wall of the first mounting hole and is pressed against the first inclined plane;

when the slip ring slides from the second position to the first position along the first direction, one side of the connecting component, which is away from the first inclined plane, can slide from the first sliding surface to the second sliding surface, so that the connecting component slides towards one side, which is away from the first inclined plane, relative to the hole wall of the first mounting hole, and is separated from the first inclined plane.

In one embodiment, a third inclined surface which is obliquely arranged from top to bottom along the first direction is formed on one side, close to the first inclined surface, of the connecting component; in the second position, the third ramp mates with the first ramp.

In one embodiment, the connection assembly includes a connection member and a first resilient member;

the connecting piece is at least partially accommodated in the first mounting hole, one end of the connecting piece is abutted against the slip ring, and the other end of the connecting piece penetrates through the first mounting hole and can slide relative to the hole wall of the first mounting hole;

the connecting piece is provided with a clamping arm along the radial outward convex direction; the first elastic piece is sleeved on the periphery of the connecting piece and can be abutted between the clamping arm and the hole wall of the first mounting hole; the first elastic piece is in a compressed state and is used for applying pushing force to the connecting piece far away from the first inclined surface.

In one embodiment, the connector includes a mount and a sliding arm;

the mounting seat is abutted with the slip ring; the sliding arm is connected to one side, deviating from the sliding ring, of the mounting seat, the third inclined plane and the clamping arm are both constructed on the sliding arm, and the first elastic piece is sleeved on the periphery of the sliding arm.

In one embodiment, the mounting seat is provided with a limiting part along the radial outward convex direction, and the limiting part is in sliding connection with the hole wall of the first mounting hole;

the connecting assembly further comprises a limiting piece, and the limiting piece is installed in the first installation hole; the spacing piece with the cooperation of spacing portion can restrict the mount pad is followed the distance that the pore wall of first mounting hole slided.

In one embodiment, the mount is configured with a second mounting hole having a third opening,

the connecting assembly further comprises a second elastic piece, the second elastic piece is accommodated in the second mounting hole, the second elastic piece is abutted between the sliding arm and the bottom wall of the second mounting hole, and the second elastic piece is in a compressed state and is used for applying thrust to the sliding arm, which is close to the second inclined plane.

In one embodiment, the fastener is recessed radially inward along the fastener and formed with a fourth slide;

the slip ring further comprises a third sliding part, wherein the third sliding part is arranged on one side of the second sliding part far away from the first sliding part and is outwards protruded towards one side of the fastener along the radial direction of the second sliding part; the third sliding part is in sliding connection with the fourth sliding part.

In one embodiment, a third mounting hole is further formed in the groove wall of the second mounting groove along the first direction, and a fourth mounting hole is further formed in the outer wall of the first mounting part, which is close to one side of the second mounting groove;

the connecting device of the robot arm and the joint module further comprises a positioning piece, one end of the positioning piece is connected with the third mounting hole, and the other end of the positioning piece is connected with the fourth mounting hole.

The invention has the beneficial effects that:

according to the connecting device for the robot arm and the joint module, when the robot arm and the joint module are required to be installed, the first installation part of the robot arm is contained in the second installation groove of the fastener, the slip ring slides to the second position along the first direction, and the connecting assembly is pressed on the first inclined plane of the robot arm, so that the installation of the robot arm and the joint module is realized. When the robot arm and the joint module are required to be detached, the slip ring is made to slide along the first direction, and then slides to the first position from the second position, so that the connecting component slides along the hole wall of the first mounting hole towards one side deviating from the first inclined plane, and the connecting component is separated from the first inclined plane, and at the moment, the first mounting part is separated from the second mounting groove of the fastener, so that the robot arm and the joint module are very simple and convenient. The connecting device of the robot arm and the joint module is convenient to mount and dismount, and meanwhile, the fastener and the robot arm do not need to be additionally designed and processed in the mounting space of the robot arm and the joint module, so that the processing is simple, the whole cooperative robot is convenient to mount and dismount and high in speed, and the processing cost is low.

Drawings

FIG. 1 is a schematic view of a connection device for a robot arm and a joint module according to an embodiment of the present invention mounted with a harmonic reducer, with a slip ring in a second position;

FIG. 2 is an enlarged view of a portion at A shown in FIG. 1;

FIG. 3 is a schematic view of the slip ring in the connection of the robot arm and the joint module shown in FIG. 1 in a first position;

FIG. 4 is a partial enlarged view at B shown in FIG. 3;

FIG. 5 is a right side view of a fastener in the connection device of the robotic arm and the joint module shown in FIG. 1;

FIG. 6 is a cross-sectional view of the fastener of FIG. 5 taken along section C-C;

fig. 7 is a left side view of the robot arm of the connection device of the robot arm and the joint module shown in fig. 1.

Reference numerals: 100-robotic arms; 110-a first mounting portion; 111-a first bevel; 112-a first opening; 113-fourth mounting holes; 200-fasteners; 210-a second mounting slot; 211-a second opening; 212-a third mounting hole; 220-a first mounting hole; 221-a first stepped hole; 222-second stepped bore; 223-a third stepped hole; 230-fourth slide; 300-slip ring; 310-a first slide; 311-a first sliding surface; 320-a second slide; 321-a second sliding surface; 330-a third slide; 400-connecting assembly; 410-a connector; 411-sliding arms; 4111-third ramp; 4112-a snap arm; 412-a mount; 4121-a stopper; 4122-a second mounting hole; 41221-third opening; 41222-fourth stepped bore; 41223-fifth stepped bore; 420-limiting piece; 430-a first elastic member; 440-a second elastic member; 500-rigid wheels; 600-mount; 700-positioning piece.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1-4, fig. 1 is a schematic view illustrating a connection device of a robot arm and a joint module according to an embodiment of the invention and a harmonic reducer installed, and a slip ring 300 in a second position; FIG. 2 shows a partial enlarged view at A shown in FIG. 1; FIG. 3 shows a schematic view of a slip ring 300 in the connection of the robot arm and the joint module shown in FIG. 1 in a first position; fig. 4 shows a partial enlarged view at B shown in fig. 3.

An embodiment of the present invention provides a connection device for a robot arm and a joint module, which includes a robot arm 100, a fastener 200, a slip ring 300, and a connection assembly 400. The robot arm 100 is provided with a first mounting part 110 protruding outwards along a first direction, wherein the first direction is an axial direction of the robot arm 100, and specifically, the first direction is an xx' direction in fig. 2; the first mounting portion 110 is provided with a first mounting groove having a first opening 112, and one side wall of the first mounting groove is provided with a first inclined surface 111 which is inclined in a first direction from the outer peripheral side of the robot arm 100 toward one side of the groove cavity of the first mounting groove, specifically, the first inclined surface 111 is inclined in a direction x' in fig. 2 toward one side of the groove cavity of the first mounting groove from the outer peripheral side of the robot arm 100. The fastener 200 is used for being in driving connection with the harmonic reducer, the fastener 200 is configured with a second mounting groove 210 with a second opening 211, the first mounting part 110 is accommodated in the second mounting groove 210, the fastener 200 is configured with a first mounting hole 220 penetrating along the radial direction of the fastener, and the first mounting hole 220 is opposite to the first opening 112; the slip ring 300 is sleeved on the periphery of the fastener 200, the slip ring 300 can slide along the first direction, one side of the connecting assembly 400 is abutted with the slip ring 300, and the other side of the connecting assembly 400 passes through the first mounting hole 220 and can slide relative to the hole wall of the first mounting hole 220; slip ring 300 has a first position and a second position when slid in a first direction; in the first position, the connection assembly 400 is separated from the first incline 111; in the second position, the connection assembly 400 is pressed against the first inclined surface 111.

According to the connecting device for the robot arm and the joint module, when the robot arm 100 and the joint module are required to be installed, the first installation part 110 of the robot arm 100 is accommodated in the second installation groove 210 of the fastener 200, the slip ring 300 slides to the second position along the first direction, and the connecting assembly 400 is pressed on the first inclined plane 111 of the robot arm 100, so that the installation of the robot arm 100 and the joint module is realized. When the robot arm 100 is required to be detached from the joint module, the slip ring 300 is slid along the first direction and is slid from the second position to the first position, so that the connecting assembly 400 slides along the hole wall of the first mounting hole 220 towards the side away from the first inclined plane 111, and the connecting assembly 400 is separated from the first inclined plane 111, and at the moment, the first mounting portion 110 is separated from the second mounting groove 210 of the fastener 200, which is very simple and convenient. The connecting device of the robot arm and the joint module enables the installation and the disassembly of the robot arm 100 and the joint module to be convenient, meanwhile, the fastener 200 and the robot arm 100 do not need additional design and processing of installation space of the robot arm 100, so that the processing is simple, the installation and the disassembly of the whole cooperative robot are convenient and quick, and the processing cost is low.

Referring to fig. 1, the fastener 200 is fixedly connected with the rigid wheel 500 of the harmonic reducer through the mounting member 600, so that when the harmonic reducer rotates, the fastener 200 can be driven to rotate, and the fastener 200 drives the robot arm 100 to rotate, thereby realizing the multi-degree-of-freedom transmission of the cooperative robot. In one particular embodiment, the mount 600 is a threaded connection.

The following is a specific description of the junction of the robot arm and the connection means of the joint module. Referring to fig. 5-7, fig. 5 illustrates a right side view of a fastener 200 in the connection device of the robot arm and the joint module shown in fig. 1; FIG. 6 shows a cross-sectional view of the fastener 200 shown in FIG. 5, taken along section C-C; fig. 7 shows a left side view of the robot arm 100 of the connection device of the robot arm and the joint module shown in fig. 1.

Referring to fig. 2-4, a slip ring 300 of a connection device of a robot arm and a joint module according to an embodiment of the present invention includes a first sliding portion 310 and a second sliding portion 320 connected to each other, wherein the first sliding portion 310 has a first sliding surface 311, and the second sliding portion 320 has a second sliding surface 321; the first sliding surface 311 is a second inclined surface obliquely arranged from bottom to top along the first direction; the second sliding surface 321 is engaged with the outer peripheral surface of the fastener 200; in the first position, the first sliding surface 311 is abutted with the connecting assembly 400, and the outer peripheral surface of the connecting assembly 400 protrudes from the outer peripheral surface of the fastener 200; in the second position, the second sliding surface 321 abuts against the connection assembly 400, and the outer peripheral surface of the connection assembly 400 is flush with the outer peripheral surface of the fastener 200.

When it is desired to mount the robot arm 100 on the joint module, the slip ring 300 is slid in a first direction, i.e. left to right in the xx' direction in fig. 2, such that the slip ring 300 slides from the first position in fig. 4 to the second position in fig. 2. In this process, the connection assembly 400 slides along the hole wall of the second mounting hole 4122 and approaches the first inclined plane 111 under the pressure of the second inclined plane, so that the outer peripheral surface of the connection assembly 400 moves to be flush with the outer peripheral surface of the fastener 200, and at this time, the side of the connection assembly 400 facing away from the slip ring 300 abuts against the first inclined plane 111. When the robot arm 100 needs to be detached from the joint module, the slip ring 300 is slid from right to left in the xx' direction in fig. 2, so that the slip ring 300 slides from the second position in fig. 2 to the first position in fig. 4. In this process, the outer peripheral surface of the connection assembly 400 slides on the second inclined surface and protrudes from the outer peripheral surface of the fastener 200, and at this time, the side of the connection assembly 400 facing away from the slip ring 300 is separated from the first inclined surface 111.

Referring to fig. 2 and 4, when the slip ring 300 of the connection device of the robot arm and the joint module provided by the embodiment of the invention slides from the first position to the second position along the first direction, a side of the connection assembly 400 facing away from the first inclined plane 111 can slide from the second sliding surface 321 to the first sliding surface 311, so that the hole wall of the connection assembly 400 opposite to the first mounting hole 220 slides towards the side of the first inclined plane 111 and is pressed against the first inclined plane 111; when the slip ring 300 slides from the second position to the first position along the first direction, a side of the sliding arm 411 away from the first inclined surface 111 can slide from the first sliding surface 311 to the second sliding surface 321, so that the hole wall of the connecting assembly 400 opposite to the first mounting hole 220 slides towards a side away from the first inclined surface 111 and is separated from the first inclined surface 111.

When the robot arm 100 of the cooperative robot is mounted to the joint module, the connection assembly 400 slides from the second sliding surface 321 to the first sliding surface 311 on a side facing away from the first inclined surface 111, and the connection assembly 400 moves downward from top to bottom in the yy' direction in fig. 2 so as to be pressed against the first inclined surface 111; when the robot arm 100 of the collaborative robot is detached from the joint module, the side of the connection assembly 400 facing away from the first inclined plane 111 slides from the first sliding surface 311 onto the second sliding surface 321, and the connection assembly 400 moves from the lower to the upper in the yy' direction in fig. 2 to be separated from the first inclined plane 111.

Referring to fig. 2, a third inclined plane is configured at one side of the connecting assembly 400 of the connecting device of the robot arm and the joint module, which is close to the first inclined plane 111, and is inclined from top to bottom along the first direction; in the second position, the third ramp cooperates with the first ramp 111. Because the third inclined plane is constructed on one side of the connecting component 400, which is close to the first inclined plane 111, and the third inclined plane is matched with the first inclined plane 111, when the robot arm 100 is installed on the joint module, the abutting surface between the connecting component 400 and the robot arm 100 is larger, and the connection between the connecting component 400 and the robot arm 100 is more stable, so that the joint module is more stable in transmission process when the robot arm 100 is transmitted.

Referring to fig. 2 and 4, a connection assembly 400 of a connection device of a robot arm and a joint module according to an embodiment of the invention includes a connection member 410 and a first elastic member 430, wherein the connection member 410 is at least partially accommodated in the first mounting hole 220, one end of the connection member 410 is abutted to the slip ring 300, and the other end of the connection member 410 passes through the first mounting hole 220 and can slide relative to a wall of the first mounting hole 220; the connecting piece 410 is provided with a clamping arm 4112 along the radial outward convex direction; the first elastic member 430 is sleeved on the outer periphery of the connecting member 410 and can be abutted between the clamping arm 4112 and the hole wall of the first mounting hole 220; the first elastic member 430 is in a compressed state and serves to apply a pushing force to the connection member 410 away from the first inclined surface 111.

By providing the clamping arm 4112 on the connecting member 410 and sleeving the first elastic member 430 on the outer periphery of the sliding arm 411, and the first elastic member 430 is abutted between the clamping arm 4112 and the bottom wall of the first stepped hole 221, the first elastic member 430 applies a pushing force to the connecting member 410 away from the first inclined surface 111, so that when the sliding ring 300 slides from the first position to the second position, the connecting member 410 can move from bottom to top more easily along the yy' direction in fig. 2 to be separated from the first inclined surface 111. In one specific embodiment, the first elastic member 430 is a compression spring, however, in other embodiments, the first elastic member 430 may be another elastic member made of an elastic material, such as rubber, etc.

Referring to fig. 2 and 4, a connector 410 of a connection device of a robot arm and a joint module according to an embodiment of the present invention includes a mounting base 412 and a sliding arm 411; the mounting base 412 abuts the slip ring 300; the sliding arm 411 is connected to a side of the mounting base 412 away from the slip ring 300, the third inclined surface 4111 and the clamping arm 4112 are both configured on the sliding arm 411, and the first elastic member 430 is sleeved on the outer periphery of the sliding arm 411. By arranging the connecting piece 410 as the mounting seat 412 and the sliding arm 411 which are in split design, the connecting piece 410 can be split during processing, and the third inclined surface 4111 and the clamping arm 4112 can be easily processed on the sliding arm 411.

Specifically, referring to fig. 2 and 4, the first mounting hole 220 includes a first stepped hole 221 and a second stepped hole 222 that are communicated with each other, and the second stepped hole 222 has a smaller aperture than the first stepped hole 221. The mounting seat 412 is at least partially accommodated in the first stepped hole 221, the mounting seat 412 is configured with a second mounting hole 4122 having a third opening 41221, one side of the sliding arm 411 is accommodated in the second mounting hole 4122, and the other side of the sliding arm 411 passes through the third opening 41221 and passes through the second stepped hole 222.

Referring to fig. 2-4, in an embodiment of the invention, a positioning portion 4121 is disposed on a mounting base 412 of the connection device of the robot arm and the joint module along a radial direction thereof, and the positioning portion 4121 is slidably connected with a wall of the first mounting hole 220. The connection assembly 400 further includes a limiting member 420, and the limiting member 420 is installed in the first installation hole 220; the cooperation of the stopper 420 and the stopper 4121 can limit the sliding distance of the mounting seat 412 along the hole wall of the first mounting hole 220.

By providing the mounting base 412 and providing the limiting portion 4121 on the mounting base 412, the limiting portion 4121 and the limiting member 420 cooperate to limit the sliding distance of the mounting base 412 along the hole wall of the first mounting hole 220. Further, the slide arm 411 is not easily separated from the first mounting hole 220 when sliding in the first mounting hole 220.

Referring to fig. 2 and 4, the first mounting hole 220 of the connection device for a robot arm and a joint module according to an embodiment of the invention further includes a third stepped hole 223, the third stepped hole 223 is formed by protruding the hole wall of the first stepped hole 221 towards a side facing away from the hole cavity, the hole diameter of the third stepped hole 223 is larger than that of the first stepped hole 221, the third stepped hole 223 is disposed at a side of the first stepped hole 221 away from the second stepped hole 222, and the limiting member 420 is mounted in the third stepped hole 223 to limit the sliding stroke of the mounting seat 412.

Referring to fig. 2 and 4, the mounting base 412 of the connection device of the robot arm and the joint module according to an embodiment of the invention is configured with a second mounting hole 4122 having a third opening 41221, the connection assembly 400 further includes a second elastic member 440, the second elastic member 440 is accommodated in the second mounting hole 4122, and the second elastic member 440 is abutted between the sliding arm 411 and the bottom wall of the second mounting hole 4122, and the second elastic member 440 is in a compressed state and is used for applying a pushing force to the sliding arm 411 close to the second inclined plane.

By providing the second elastic member 440 such that the second elastic member 440 applies a pushing force to the slide arm 411 near the second inclined surface, the slide arm 411 can be more easily moved downward from above in the yy' direction in fig. 2 to abut against the first inclined surface 111 when the slide ring 300 slides from the second position to the first position. In one specific embodiment, the second elastic member 440 is a compression spring, and of course, in other embodiments, the second elastic member 440 may be another elastic member made of an elastic material, such as rubber, etc.

By providing the first elastic member 430 and the second elastic member 440, the second elastic member 440 applies a pushing force to the sliding arm 411, which is close to the first inclined plane 111, and the first elastic member 430 applies a pushing force to the sliding arm 411, which is far away from the first inclined plane 111, so that the sliding arm 411 can maintain a relatively good stable state no matter in contact with the first inclined plane 111 or in separation from the first inclined plane 111, and is not easy to slide along the wall of the first mounting hole 220. It should be noted that, when the slip ring 300 is in the second position shown in fig. 4, the thrust exerted by the first elastic member 430 on the sliding arm 411 away from the first inclined surface 111 is greater than the thrust exerted by the second elastic member 440 on the sliding arm 411 close to the first inclined surface 111, so that in the second state, the sliding arm 411 is better and more thoroughly separated from the first inclined surface 111.

Referring to fig. 2 and 4, in an embodiment of the present invention, the second mounting hole 4122 of the connection device for the robot arm and the joint module is also a stepped hole, which includes a fourth stepped hole 41222 and a fifth stepped hole 41223. The fifth stepped hole 41223 has a smaller aperture than the fourth stepped hole 41222 and is provided at a side of the second mounting hole 4122 remote from the third opening 41221. The second elastic member 440 is at least partially accommodated in the fifth stepped hole 41223, and the second elastic member 440 is not easy to bend due to the clamping effect of the hole wall of the fifth stepped hole 41223 and the outer periphery of the second elastic member 440.

Referring to fig. 2 and 3, a fastener 200 of the connection device of the robot arm and the joint module according to an embodiment of the present invention is recessed inward along a radial direction thereof and formed with a fourth sliding portion 230; the slip ring 300 further includes a third sliding portion 330, where the third sliding portion 330 is disposed on a side of the second sliding portion 320 away from the first sliding portion 310, and is protruded outwards along a radial direction of the second sliding portion 320 toward a side of the fastener 200; the third sliding portion 330 is slidably connected to the fourth sliding portion 230.

Since the fastener 200 is recessed radially inward thereof and the fourth sliding portion 230 is formed, the fourth sliding portion 230 is located inside the second sliding portion 320 in the radial direction of the fastener 200, so that the maximum sliding stroke of the sliding ring 300 can be defined by the cooperation of the fourth sliding portion 230 and the third sliding portion 330 when the sliding ring 300 slides from the first position to the second position, avoiding the sliding ring 300 from being separated from the outer circumference of the fastener 200. That is, by the length of the fourth sliding portion 230, the sliding stroke of the third sliding portion 330 may be limited, and thus the sliding stroke of the entire slip ring 300 in the first direction may be limited.

Referring to fig. 6 in combination with fig. 7, a third mounting hole 212 is further formed in a groove wall of the second mounting groove 210 of the connection device for a robot arm and a joint module according to an embodiment of the present invention along the first direction, and a fourth mounting hole 113 is further formed in an outer wall of the first mounting portion 110, which is close to one side of the second mounting groove 210; the connection device of the robot arm and the joint module further includes a positioning member 700, one end of the positioning member 700 is connected with the third mounting hole 212, and the other end of the positioning member 700 is connected with the fourth mounting hole 113.

By constructing the third mounting hole 212 on the groove wall of the second mounting groove 210, and constructing the fourth mounting hole 113 on the outer wall of the first mounting portion 110 near the side of the second mounting groove 210, the positioning member 700 is respectively connected to the third mounting hole 212 and the fourth mounting hole 113, so that when the robot arm 100 rotates under the driving of the joint module, the robot arm 100 is not easy to slide relatively to the fastener 200. In one embodiment, the positioning member 700 is a positioning pin, and thus two ends thereof are inserted into the third mounting hole 212 and the fourth mounting hole 113, respectively. In still other embodiments, the positioning member 700 may be threaded at one end and polished at the other end, which is convenient for installation and also effective to prevent relative sliding of the fastener 200 with respect to the robotic arm 100.

In one embodiment, the number of the first mounting holes 220 is plural, and the plural first mounting holes 220 are spaced apart along the circumference of the fastener 200; the number of the connection assemblies 400 matches the number of the first mounting holes 220. Through setting up a plurality of first mounting holes 220, and the quantity of coupling assembling 400 and the quantity assorted of first mounting hole 220, and then make the area of the butt face that robot arm 100 can be connected with fastener 200 bigger, the two is more stable in the transmission in-process.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (10)

1. A connection device of a robot arm and a joint module, characterized in that the connection device of a robot arm and a joint module comprises:

a robot arm (100) with a first mounting part (110) protruding outwards along a first direction, wherein the first direction is the axial direction of the robot arm (100); a first mounting groove having a first opening (112) is formed in the first mounting portion (110), and a first inclined surface (111) which is provided in the first direction and which is inclined from the outer peripheral side of the robot arm (100) toward the side of the groove cavity of the first mounting groove is formed in one side wall of the first mounting groove;

a fastener (200) for driving connection with a harmonic reducer, the fastener (200) being configured with a second mounting groove (210) having a second opening (211), the first mounting portion (110) being received within the second mounting groove (210), and the fastener (200) being configured with a first mounting hole (220) extending radially therethrough, the first mounting hole (220) being opposite the first opening (112);

a slip ring (300), wherein the slip ring (300) is sleeved on the periphery of the fastener (200), and the slip ring (300) can slide along the first direction;

a connecting assembly (400), wherein one side of the connecting assembly (400) is abutted with the slip ring (300), and the other side of the connecting assembly (400) passes through the first mounting hole (220) and can slide relative to the hole wall of the first mounting hole (220);

the slip ring (300) has a first position and a second position when slid in the first direction; in the first position, the connection assembly (400) is separated from the first ramp (111); in the second position, the connecting assembly (400) is pressed against the first inclined surface (111).

2. The connection device of a robot arm and a joint module according to claim 1, characterized in that the slip ring (300) comprises a first sliding part (310) and a second sliding part (320) connected to each other, wherein the first sliding part (310) has a first sliding surface (311) and the second sliding part (320) has a second sliding surface (321); the first sliding surface (311) is a second inclined surface which is obliquely arranged from bottom to top along the first direction; the second sliding surface (321) is matched with the outer peripheral surface of the fastener (200);

in the first position, the first sliding surface (311) is in contact with the connecting assembly (400), and the outer peripheral surface of the connecting assembly (400) protrudes from the outer peripheral surface of the fastener (200); in the second position, the second sliding surface (321) is abutted against the connecting assembly (400), and the outer peripheral surface of the connecting assembly (400) is flush with the outer peripheral surface of the fastener (200).

3. The connection device of a robot arm and a joint module according to claim 2, characterized in that, when the slip ring (300) slides in the first direction from the first position to the second position, a side of the connection assembly (400) facing away from the first inclined surface (111) can slide from the second sliding surface (321) onto the first sliding surface (311) so that the connection assembly (400) slides relative to a wall of the first mounting hole (220) towards a side of the first inclined surface (111) and is pressed against the first inclined surface (111);

when the slip ring (300) slides from the second position to the first position along the first direction, one side of the connecting component (400) away from the first inclined surface (111) can slide from the first sliding surface (311) to the second sliding surface (321), so that the connecting component (400) slides towards one side away from the first inclined surface (111) relative to the hole wall of the first mounting hole (220) and is separated from the first inclined surface (111).

4. The connection device of the robot arm and the joint module according to claim 2, wherein a side of the connection assembly (400) close to the first inclined surface (111) is configured with a third inclined surface (321) which is inclined from top to bottom along the first direction; in the second position, the third ramp (321) mates with the first ramp (111).

5. The connection arrangement of a robotic arm and a joint module according to claim 4, wherein the connection assembly (400) comprises a connection member (410) and a first elastic member (430);

the connecting piece (410) is at least partially accommodated in the first mounting hole (220), one end of the connecting piece (410) is abutted against the slip ring (300), and the other end of the connecting piece (410) penetrates through the first mounting hole (220) and can slide relative to the hole wall of the first mounting hole (220);

the connecting piece (410) is provided with a clamping arm (4112) along the radial outward convex direction; the first elastic piece (430) is sleeved on the periphery of the connecting piece (410) and can be abutted between the clamping arm (4112) and the hole wall of the first mounting hole (220); the first resilient member (430) is in a compressed state and is configured to apply a pushing force to the connecting member (410) away from the first inclined surface (111).

6. The connection device of a robotic arm and a joint module according to claim 5, wherein the connection (410) comprises a mount (412) and a sliding arm (411);

the mounting seat (412) is abutted with the slip ring (300); the sliding arm (411) is connected to one side, deviating from the slip ring (300), of the mounting base (412), the third inclined surface (4111) and the clamping arm (4112) are both configured on the sliding arm (411), and the first elastic piece (430) is sleeved on the periphery of the sliding arm (411).

7. The connection device of a robot arm and a joint module according to claim 6, wherein the mounting base (412) is provided with a limiting part (4121) protruding outwards along the radial direction thereof, and the limiting part (4121) is slidably connected with the hole wall of the first mounting hole (220);

the connecting assembly (400) further comprises a limiting piece (420), and the limiting piece (420) is installed in the first installation hole (220); the cooperation of the limiting piece (420) and the limiting part (4121) can limit the sliding distance of the mounting seat (412) along the hole wall of the first mounting hole (220).

8. The connection device of a robotic arm and joint module according to claim 7, wherein the mounting base (412) is configured with a second mounting hole (4122) having a third opening (41221),

the connecting assembly (400) further comprises a second elastic piece (440), the second elastic piece (440) is accommodated in the second mounting hole (4122), the second elastic piece (440) is abutted between the sliding arm (411) and the bottom wall of the second mounting hole (4122), and the second elastic piece (440) is in a compressed state and is used for applying thrust to the sliding arm (411) close to the second inclined plane.

9. The connection device of a robot arm and a joint module according to claim 7, wherein the fastener (200) is recessed radially inward thereof and formed with a fourth sliding portion (230);

the slip ring (300) further comprises a third sliding part (330), wherein the third sliding part (330) is arranged on one side of the second sliding part (320) away from the first sliding part (310) and is outwards protruded towards one side of the fastener (200) along the radial direction of the second sliding part (320); the third sliding part (330) is slidably connected to the fourth sliding part (230).

10. The connection device of a robot arm and a joint module according to any one of claims 1 to 9, wherein a third mounting hole (212) is further formed in the groove wall of the second mounting groove (210) along the first direction, and a fourth mounting hole (113) is further formed in the outer wall of the first mounting portion (110) on the side close to the second mounting groove (210);

the connecting device of the robot arm and the joint module further comprises a positioning piece (400), one end of the positioning piece (400) is connected with the third mounting hole (212), and the other end of the positioning piece (400) is connected with the fourth mounting hole (113).

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