CN117681244A - Lock catch piece, connecting structure, joint assembly and mechanical arm - Google Patents

Abstract

The invention discloses a locking piece, a connecting structure applying the locking piece and a mechanical arm. The locking piece comprises a main body, an insertion part capable of being matched with the insertion hole of the locked piece is arranged on one surface of the main body in a protruding mode, a stopping part capable of stopping the locked piece is further formed on the main body, and the locked piece is locked through the insertion part and the stopping part in a matching mode. The connecting structure comprises a first device and a second device, and the locking piece. The mechanical arm comprises the joint assembly. By adopting the connecting structure of the locking piece, the possibility of detachment between connected devices can be reduced.

Description

Lock catch piece, connecting structure, joint assembly and mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a locking piece, a connecting structure applying the locking piece, a joint assembly and a mechanical arm.

Background

The mechanical arm of the robot is a machine device capable of semi-autonomous or fully autonomous working, has the basic characteristics of sensing, decision making, execution and the like, and can assist or even replace human beings to complete dangerous, heavy and complex work. The robotic arm typically includes a plurality of joint assemblies, each joint assembly including a plurality of rotationally coupled joints.

In the mechanical arm joint assembly of the related art, when the motor output flange of one joint is connected with the shell of the other joint, the motor output flange is usually connected with the shell of the other joint by using screws. A hoist hole is formed in the motor output flange, a screw rod of the screw is connected with the shell, the screw rod passes through the large hole of the hoist hole from the screw head side and then is clamped into the small hole of the hoist hole, and finally the screw head is screwed to complete connection.

However, when the joint assembly of the robot arm is subjected to a large external impact, looseness may occur between the output flange and the screw. Under the condition that the output flange and the screw are loosened, if the mechanical arm joint assembly runs continuously, the screw rod of the screw can be transferred from the small hole part to the large hole part of the hoist hole, and then the possibility of disengaging between the motor and the shell under the inertia effect exists.

Disclosure of Invention

The main object of the present invention is to provide a locking element and a connecting structure, which can reduce the possibility of detachment between devices connected by the connecting structure.

In order to achieve the above-mentioned objective, an aspect of the present invention provides a latch, which includes a main body, wherein a surface of the main body is convexly provided with an insertion portion capable of being matched with an insertion hole of a latched piece, the main body is further formed with a stop portion capable of stopping the latched piece, and the latched piece is locked by the insertion portion and the stop portion.

In some embodiments, the insertion portion is disposed on a surface of the main body adjacent to one end of the main body, the stop portion is formed on the other end of the main body, and the stop portion is formed with a notch, and an inner wall of the notch abuts against the locked member.

In some embodiments, the mating portion is a pin that is rotatable within the receptacle.

In some embodiments, the mating portion is fixedly or rotatably coupled to the body.

Another aspect of the present invention provides a connection structure for connecting a first device and a second device, wherein one of the first device and the second device is provided with a gourd hole, the other of the first device and the second device is connected with a fastener, the gourd hole comprises a first hole and a second hole which are communicated, and the fastener is inserted into the first hole and protrudes out of the first hole to form a free end; the connecting structure further comprises the locking piece, the insertion part of the locking piece is inserted into the second hole, and the stop part of the locking piece is abutted to the fastening piece.

In some embodiments, the insertion portion of the locking element is disposed at one end of the main body, and the insertion portion of the locking element is a pin body matched with the second hole, and the pin body is rotatably connected in the second hole.

In some embodiments, after the pin body is rotatably connected in the second hole, the stop portion is pushed to enable the stop portion to abut against the fastener, and the pin body is fastened in the second hole.

In some embodiments, the first hole has a smaller diameter than the second hole, the fastener is a screw, the screw includes a shank and a head connected to each other, the free end of the fastener is the head of the screw, and the fastener slides into the first hole through the second hole such that the shank is positioned in the first hole.

In some embodiments, a spacer is further included, the spacer being sandwiched between the screw head and the stop.

In some embodiments, the stop portion is formed at one end of the main body, and the stop portion is formed with a notch, and an inner wall of the notch is buckled and abutted with the screw.

In yet another aspect, the present invention provides a joint assembly comprising a first device and a second device, and a connection structure as described above, the connection structure being provided in plurality, the plurality of connection structures being arranged at intervals.

In some embodiments, one of the first device and the second device is a driving mechanism, the other one of the first device and the second device is a shell, the driving mechanism is provided with a flange, a hoist hole is formed in the flange, a step is formed at one end of the shell, a connecting hole corresponding to the first hole of the hoist hole is formed on the step surface of the step, and a fastener is inserted into the connecting hole and the first hole.

In some embodiments, the flange is received within the step.

A further aspect of the invention proposes a robotic arm comprising a joint assembly as described above.

Adopt this application latch fitting's connection structure, even receive great external impact, lead to the fastener to take place not hard up, the backstop portion of inserting the joining in marriage the second hole in calabash hole and latch fitting can block the displacement of the fastener that is located the first hole in calabash hole to can prevent the breaking away from of fastener, and then reduce the possibility that takes place to break away from between the device that links to each other through this application connection structure.

Drawings

FIG. 1 is a schematic view of a latch according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a connection structure according to an embodiment of the present invention;

FIG. 3 is an exploded view of a connection structure according to an embodiment of the present invention;

FIG. 4 is a schematic view of a joint assembly according to an embodiment of the present invention;

fig. 5 is an exploded view of a joint assembly according to an embodiment of the present invention.

Reference numerals illustrate:

a catch piece 100; a main body 110; a plug-in portion 120; a stopper 130; a notch 131; a driving mechanism 200; a flange 210; a gourd hole 220; a first hole 221; a second hole 222; a housing 300; a step 310; a connection hole 320; a screw 400; a screw 410; a screw head 420; a gasket 500; a first device A; a second device B; and a fastener C.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made more clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indications (such as up, down, left, right, front, back, top, bottom, side … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the drawings), and if the particular gesture changes, the directional indication changes accordingly.

It will also be understood that when an element is referred to as being "mounted" 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.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.

In view of the technical drawbacks of the related art, the present embodiment provides a latch member 100. As shown in fig. 1, the latch 100 provided in this embodiment includes a main body 110. Wherein, an insertion portion 120 is protruding on a surface of the main body 110, and a stop portion 130 is further formed on the main body 110. The locking member 100 of the present embodiment is used for locking a locked member, and in the present embodiment, the locked member may be a member having a jack. In this embodiment, the insertion portion 120 of the locking device 100 is configured to be inserted into the insertion hole of the locked device 100 to be in insertion fit with the locked device. After the plug-in portion 120 is plugged into the locked component, the stop portion 130 stops the locked component, so that the locked component is locked by matching with the plug-in portion 120.

As shown in fig. 1, in some embodiments, the body 110 is plate-shaped. The insertion portion 120 is protruded on a surface of the main body 110 adjacent to one end of the main body 110, and the stop portion 130 is formed on the other end of the main body 110. The stop portion 130 is formed with a notch 131, the notch 131 is arc-shaped, and the inner wall of the notch 131 is used for abutting against the locked piece.

After the insertion portion 120 is inserted into the insertion hole of the locked member, the main body 110 is pushed to rotate relative to the locked member about the insertion portion 120 until the inner wall of the notch 131 of the stop portion 130 is engaged with and abuts against the locked member.

In an example, the plug-in portion 120 is fixedly connected to the main body 110, for example, may be an integrally formed structure. The mating portion 120 may be configured as a pin for mating into a receptacle of a locked member, as desired. After the pin is inserted into the insertion hole, the main body 110 needs to rotate relative to the locked member with the pin as a rotation center in order to make the inner wall of the notch 131 of the stop portion 130 abut against the locked member. Thus, the pin is arranged to rotate within the socket, i.e. a gap may be reserved between the pin and the inner wall of the socket.

It will be appreciated that the pin may also be configured to engage closely with the inner wall of the socket to promote the tightness of the pin within the socket. In this example, the pin body needs to overcome the friction force between the pin body and the inner wall of the jack when rotating in the jack, and the outer surface of the pin body and the inner wall surface of the jack can be adaptively adjusted to reduce the friction force between the pin body and the inner wall surface of the jack.

In another example, the mating portion 120 may be provided in rotational connection with the body 110. Because the main body 110 is rotationally connected with the insertion portion 120, after the insertion portion 120 is inserted into the jack of the locked member, the degree of tightness of the fit between the insertion portion 120 and the jack will not affect the rotation of the main body 110 any more, and pushing the main body 110 can lock and abut the inner wall of the notch 131 of the stop portion 130 with the locked member. The rotational connection between the body 110 and the mating part 120 may be achieved by a rotational shaft, i.e. a rotational shaft is provided on the body 110, on which rotational shaft the mating part 120 is journalled.

As shown in fig. 2 and 3, some embodiments of the present application also disclose a connection structure for connecting the first device a and the second device B. The connection between the first device a and the second device B is achieved by the cooperation between the gourd hole 220 and the fastener C. Optionally, a gourd hole 220 is provided in the first device A, and a fastener C is connected to the second device B. Of course, the gourd hole 220 may be formed in the second device B, and the fastener C may be connected to the first device a. For convenience of explanation, the connection structure of the present embodiment will be described below by taking the example that the first device a is provided with the gourd hole 220 and the second device B is connected with the fastener C.

The gourd hole 220 formed on the first device A comprises a first hole 221 and a second hole 222 which are communicated, the fastener C is inserted into the first hole 221 and protrudes out of the first hole 221 to form a free end, and the connecting end of the fastener C is connected with the second device B. The connecting structure further includes the latch 100 according to the foregoing embodiment, where the insertion portion 120 of the latch 100 is inserted into the second hole 222, and the stop portion 130 of the latch 100 abuts against the fastener C.

In the present embodiment, since the insertion portion 120 of the locking element 100 is inserted into the second hole 222, the fastener C inserted into the first hole 221 can be blocked by the insertion portion 120 when the fastener C tends to move toward the second hole 222 due to the external force, and cannot move from the first hole 221 to the second hole 222. The stop portion 130 of the locking device 100 abuts against the fastener C, and can resist the impact of external force, so that the fastener C can be further matched with the insertion portion 120 to fix the fastener C in the first hole 221. Therefore, the locking member 100 of the present embodiment can stably lock the fastener C engaged with the gourd hole 220, thereby reducing the possibility that the fastener C is separated from the gourd hole 220, and further reducing the possibility of separation between the first device a and the second device B.

In an alternative example, the plug-in portion 120 of the latch 100 is fixedly connected to the main body 110, and the plug-in portion 120 is disposed at one end of the main body 110. In this embodiment, the mating portion 120 is configured as a pin that mates with the second bore 222 and is rotatably coupled within the second bore 222. After the pin body is rotatably connected in the second hole 222, the stopper 130 is pushed to make the stopper 130 abut against the fastener C, and the pin body is fastened in the second hole 222.

When the pin body is inserted into the second hole 222, a gap can be reserved between the pin body and the inner wall of the second hole 222, so that the pin body can freely rotate in the jack. Of course, to promote tightness of the fit between the pin and the second hole 222, the pin and the inner wall of the second hole 222 may also be tightly fitted to reduce the likelihood of the pin being separated from the socket. In this case, the pin body needs to overcome the friction between the pin body and the inner wall of the second hole 222 when rotating in the second hole 222.

When the pin body is rotatably connected to the second hole 222, pushing the stop portion 130 can rotate the main body 110 relative to the first device a with the pin body as a rotation center, so as to push the stop portion 130 toward the fastener C until the stop portion 130 abuts against the fastener C. At this time, the pin body is also secured within the second bore 222.

As described above, the pin body is rotatably connected to the main body 110, in this case, after the pin body is inserted into the second hole 222, the rotation of the main body 110 is not affected regardless of the tightness of the fit between the pin body and the inner wall of the second hole 222, so that the process of abutting the stopper 130 against the fastener C is easier.

The rotational connection between the body 110 and the pin may be achieved by a rotational shaft, i.e. a rotational shaft may be provided on the body 110, on which the pin is journalled.

In some embodiments, the aperture of the first hole 221 in the gourd hole 220 opened on the first device a is smaller than the aperture of the second hole 222. Wherein the fastener C is a screw 400, the screw 400 comprises a threaded rod 410 and a threaded head 420 which are connected, the threaded head 420 is a free end, and the threaded rod 410 is connected with the second device B. The manner of engagement between the screw 400 and the locking member 100 is illustrated below.

When the first device a is configured to allow the screw 410 to pass through the first hole 221 of the gourd hole 220, the screw 410 of the screw 400 is directly passed through the first hole 221 of the gourd hole 220, and is connected to the second device B. After the screw shaft 410 is connected to the second device B, the screw head 420 is first incompletely tightened, so that the screw head 420 of the screw 400 is spaced apart from the first hole 221. Then, the insertion portion 120 of the latch 100 is inserted into the second hole 222 of the gourd hole 220 and pushes the stop portion 130, so that the stop portion 130 moves toward the screw 400 and finally abuts against the screw 410. Finally, the screw head 420 is fully screwed down, so that the screw head 420 is pressed against the stop portion 130, that is, a part of the stop portion 130 is clamped between the screw head 420 and the hole wall periphery of the first hole 221.

When the first device a is configured to not allow the screw 410 to pass directly through the first hole 221 of the gourd hole 220, the second hole 222 of the gourd hole 220 should have a diameter greater than or equal to the diameter of the screw head 420. In this case, first the screw 410 is coupled with the second device B, and then the screw head 420 side of the screw 400 is passed through the second hole 222 of the gourd hole 220 such that the screw 410 is positioned at the second hole 222. The first device a and the second device B are then screwed such that the screw 410 moves from the second hole 222 to the first hole 221. The screw 400 is then properly screwed such that the head 420 of the screw 400 is spaced from the first hole 221. The insertion portion 120 of the latch 100 is then inserted into the second hole 222 of the gourd hole 220 and pushes the stopper 130, so that the stopper 130 moves toward the screw 400 and finally abuts against the screw 410. Finally, the screw head 420 is fully screwed so that the screw head 420 presses the stopper 130 even if a part of the stopper 130 is clamped between the screw head 420 and the hole wall periphery of the first hole 221.

After the above connection structure is adopted, in the subsequent use process, when the screw 400 is loosened or one of the first device a or the second device B is subjected to a large external impact, the shaft 410 of the screw 400 tends to move from the first hole 221 to the second hole 222 of the gourd hole 220. At this time, the moving trend of the screw 410 is blocked by the insertion portion 120, so that the screw 410 cannot move from the first hole 221 to the second hole 222. The stop portion 130 of the locking device 100 abuts against the screw 410, so as to further counteract the impact of the external force on the screw 410, so that the screw 410 is fixed in the first hole 221 and does not move towards the second hole 222, and the stop portion 130 can cooperate with the insertion portion 120 to fasten the screw 400 in the first hole 221. It can be seen that the locking member 100 of the present embodiment can stably lock the screw 400 engaged with the gourd hole 220, thereby reducing the possibility that the screw 400 is separated from the gourd hole 220, and further reducing the possibility of separation between the first device a and the second device B.

Optionally, in order to reduce the abrasion to the stop portion 130, so as to further improve the connection stability of the connection structure, the connection structure of the present embodiment further includes a spacer 500, where the spacer 500 is sandwiched between the screw head 420 and the stop portion 130, so that in the process of screwing the screw 400, the abrasion to the stop portion 130 is reduced, and the attachment among the stop portion 130, the spacer 500 and the screw head 420 is tighter, which is beneficial to improving the connection stability.

In some embodiments, the stop portion 130 is formed at one end of the main body 110, the stop portion 130 is formed with a notch 131, and an inner wall of the notch 131 is in snap-fit abutment with the screw 410. The notch 131 may be arc-shaped or shaped to match the outer circumference of the screw 410. Through the arrangement of the notch 131, the stop portion 130 can be buckled and abutted with the screw 410, so that the abutting area of the stop portion 130 and the screw 410 is increased, and the fastening effect of the stop portion 130 on the screw 410 is improved.

The embodiment of the application also provides a joint assembly. The joint assembly includes a first device a, a second device B, and a connecting structure as described in the above embodiments. The connecting structure can be provided with a plurality of connecting structures according to actual needs, and the plurality of connecting structures are arranged at intervals. Fig. 4 and 5 show the joint assembly of the present embodiment. Illustratively, the first device is a drive mechanism 200, such as a motor; the second device is a housing 300 of the robotic arm joint. Although the first device may be the housing 300 and the second device may be the driving mechanism 200, for convenience of explanation, the joint assembly of the present embodiment will be described by taking the first device as the driving mechanism 200 and the second device as the housing 300 as an example.

As shown in fig. 4 and 5, the driving mechanism 200 and the housing 300 are connected to each other by the connection structure of the foregoing embodiment. The torque generated by the drive mechanism 200 is sufficient to cause relative rotation between the drive mechanism 200 and the housing 300, thereby effecting articulation. Wherein, the driving mechanism 200 is provided with a flange 210, and the gourd hole 220 is formed on the flange 210. One end of the housing 300 is formed with a step 310, a step surface of the step 310 is provided with a connection hole 320 corresponding to the first hole 221 of the gourd hole 220, and a screw 410 of the screw 400 is inserted into the connection hole 320 and the first hole 221. The insertion portion 120 of the locking device 100 is inserted into the second hole 222 of the gourd hole 220, and the stop portion 130 is fastened to the screw 410 and abuts against the screw 400. Alternatively, in order to make the connection between the driving mechanism 200 and the housing 300 more stable, the flange 210 is accommodated in the step 310 as shown in fig. 4.

The embodiment of the application also provides a mechanical arm, which comprises the joint assembly of the embodiment, wherein the joint assembly is provided with the connecting structure of the embodiment. Because the joint component of the mechanical arm adopts all the technical schemes of all the embodiments of the connecting structure, at least the joint component has all the technical effects brought by the technical schemes of the embodiments, and the joint component is not described in detail herein.

The above description of the preferred embodiments of the present invention should not be taken as limiting the scope of the invention, but rather should be understood to cover all modifications, variations and adaptations of the present invention using its general principles and the following detailed description and the accompanying drawings, or the direct/indirect application of the present invention to other relevant arts and technologies.

Claims (14)

1. The locking piece is characterized by comprising a main body, wherein an insertion part capable of being matched with an insertion hole of the locked piece is convexly arranged on one surface of the main body, a stop part capable of stopping the locked piece is further formed on the main body, and the inserted part is matched with the stop part to lock the locked piece.

2. The locking piece of claim 1, wherein one end of the insertion part adjacent to the main body is convexly arranged on one surface of the main body, the stop part is formed at the other end of the main body, a notch is formed in the stop part, and the inner wall of the notch is abutted with the locked piece.

3. The catch piece of claim 1, wherein the mating portion is a pin that is rotatable within the receptacle.

4. The locking element of claim 1, wherein the mating portion is fixedly or rotatably coupled to the body.

5. A connecting structure for connecting a first device and a second device, which is characterized in that one of the first device and the second device is provided with a gourd hole, the other of the first device and the second device is connected with a fastener, the gourd hole comprises a first hole and a second hole which are communicated, and the fastener is inserted into the first hole and protrudes out of the first hole to form a free end;

the connecting structure further comprises a locking piece according to claim 1, wherein the insertion part of the locking piece is inserted into the second hole, and the stop part of the locking piece is abutted against the fastening piece.

6. The connecting structure according to claim 5, wherein the mating portion of the locking member is disposed at one end of the main body, and the mating portion of the locking member is a pin body that mates with the second hole, and the pin body is rotatably connected in the second hole.

7. The connection of claim 6, wherein after the pin body is rotatably coupled in the second hole, pushing the stop portion causes the stop portion to abut the fastener and the pin body to be fastened in the second hole.

8. The connection of claim 5, wherein the first hole has a smaller diameter than the second hole, the fastener is a screw, the screw includes a shaft and a head connected to each other, the free end of the fastener is the head of the screw, and the fastener slides into the first hole through the second hole so that the shaft is positioned in the first hole.

9. The connection of claim 8, further comprising a spacer interposed between the screw head and the stop.

10. The connection structure according to claim 8, wherein the stopper is formed at one end of the main body, the stopper is formed with a notch, and an inner wall of the notch is buckled and abutted with the screw.

11. A joint assembly comprising a first device and a second device, wherein the joint assembly comprises a connection structure according to any one of claims 5-10, wherein the connection structure is provided in a plurality of, spaced apart, arrangements.

12. The joint assembly according to claim 11, wherein one of the first device and the second device is a driving mechanism, the other one of the first device and the second device is a housing, the driving mechanism is provided with a flange, the hoist hole is formed in the flange, a step is formed at one end of the housing, a connecting hole corresponding to the first hole of the hoist hole is formed in a step surface of the step, and the fastening piece is inserted into the connecting hole and the first hole.

13. The joint assembly of claim 12, wherein the flange is received within the step.

14. A robotic arm comprising a joint assembly according to any one of claims 11-13.