CN217453994U

CN217453994U - Coupling assembling and arm

Info

Publication number: CN217453994U
Application number: CN202221184812.2U
Authority: CN
Inventors: 任少雄; 丁振; 叶磊; 王邵玉
Original assignee: KUKA Robot Manufacturing Shanghai Co Ltd; KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robot Manufacturing Shanghai Co Ltd; KUKA Robotics Guangdong Co Ltd
Priority date: 2022-05-17
Filing date: 2022-05-17
Publication date: 2022-09-20
Anticipated expiration: 2032-05-17

Abstract

The utility model provides a coupling assembling and arm, coupling assembling includes: a first connecting member including a connecting outer ring; the second connecting piece can be arranged in the connecting outer ring from the first side of the connecting outer ring, a clamping groove is formed in the second connecting piece, and a notch of the clamping groove faces the first side; the pressing block can be inserted into the clamping groove from the first side; and the locking piece is used for fixing the pressing block between the connecting outer ring and the second connecting piece. According to the scheme, locking is realized through the lateral pressing block and the locking piece on the outer surface, high pretightening force is achieved, and very high connection strength can be guaranteed regardless of axial pretightening force or radial pretightening force. This solution, due to the embedding of the parts inside, has little effect on the axial length. And although the part is added, the part is very simple, and the matching precision is not required to be ensured by the part, so that the high machining precision is not required, and the machining difficulty is avoided.

Description

Coupling assembling and arm

Technical Field

The utility model relates to a robot field particularly, relates to a coupling assembling and arm.

Background

In the field of robot arms, a mechanical arm is generally formed by connecting a plurality of joints and a plurality of connecting rods in series, and the connection precision of the connection of each joint can directly result in the performance of the movement of the robot and the service life of the robot.

In the field of cooperative robots, the robot joints are generally designed in an integrated manner and are modularized, and the mechanical arms are connected by splicing like building blocks. The output flange of a general modular joint is connected with the input flange of the next modular joint; or the output flange of the modular joint is connected with the fixed flange end of the next connecting rod; or the modularized joint is embedded in the shell, the input end of the modularized joint is fixed on the shell, and the output end of the modularized joint is connected with the integrated module joint included by the next shell. The connection modes of different joints and connecting rods are roughly divided into the following 3 types: the first is a universal screw axial connection, the second is a screw radial connection, and the third is a clamp type connection. However, there are problems with these approaches.

Therefore, how to design a connection structure for connecting two connecting members, which is different from the above connection method, becomes a problem to be solved.

SUMMERY OF THE UTILITY MODEL

The present invention aims at least solving one of the technical problems existing in the prior art or the related art.

Therefore, an object of the present invention is to provide a connecting assembly.

Another object of the utility model is to provide an arm including above-mentioned coupling assembling.

In order to achieve the above object, the present invention provides a connection assembly, including: a first connecting member including a connecting outer ring; the second connecting piece can be arranged in the connecting outer ring from the first side of the connecting outer ring, a clamping groove is formed in the second connecting piece, and a notch of the clamping groove faces the first side; the pressing block can be inserted into the clamping groove from the first side; and the locking piece is used for fixing the pressing block between the connecting outer ring and the second connecting piece.

According to the utility model provides a coupling assembling, including the first connecting piece and the second connecting piece of treating to connect. The first connecting piece comprises a connecting outer ring. The second connector is mountable within the connection outer race by the first side of the connection outer race. A clamping groove is formed in the second connecting piece, and a notch of the clamping groove faces towards the first side. A pressing block is formed between the clamping groove for connecting the outer ring and the second connecting piece. The pressing block can be inserted into the clamping groove from the first side. The pressing block is fixed after the connection outer ring and the second connecting piece are installed, and is locked and fixed by the locking piece. The scheme has higher pretightening force, and can ensure very high connection strength regardless of axial pretightening or radial pretightening. And this kind of scheme can be followed the surface of connecting the outer lane and locked for the locking process is good operation high-efficient more. And this kind of scheme, though increased the part, because the part is embedded inside, this scheme has little influence to axial length. And although the part is added, the part is very simple, and the matching precision is not required to be ensured by the part, so that the high machining precision is not required, and the machining difficulty is avoided. And the structures of the two connecting pieces are simpler, and the processing is very convenient.

Furthermore, the side wall of the connecting outer ring and the side walls of the pressing block and the second connecting piece are provided with mounting holes which are communicated with each other, one end of the locking piece can be inserted into the mounting holes from the outer side of the connecting outer ring and enables the pressing block to extrude the second connecting piece, and therefore the pressing block, the connecting outer ring and the second connecting piece are connected.

In the technical scheme, the locking piece is inserted from the outer side of the connecting outer ring so as to realize the fixed connection among the pressing block, the connecting outer ring and the second connecting piece. Simultaneously, the retaining member is inserted by the outside of connecting the outer lane and is realized the in-process of locking, can make the briquetting extrude the second connecting piece, also promptly the briquetting, connect outer lane and second connecting piece and not only rely on the retaining member to connect fixedly, simultaneously, can also make the briquetting to extruding the second connecting piece along radial direction and axial direction to this has also realized compressing tightly fixedly between briquetting and the second connecting piece.

Further, the locking member can deform the connection outer ring in a direction toward the second connection member to press the second connection member by the pressing block. According to the arrangement, pressure can be applied to the second connecting piece through the deformation of the connecting outer ring, so that the connecting outer ring, the pressing block and the second connecting piece can be tightly installed. For example, when the locking element such as a bolt is installed, the outer ring can be slightly deformed in the radial direction in order to be able to press the second connecting element by means of the pressure piece, i.e. the pressing force is generated by the pressure piece during the locking of the locking element and by the deformation of the pressure piece on the second connecting element.

Further, the locking member includes a threaded locking member that mates with the mounting hole.

In the technical scheme, the pressing block, the connecting outer ring and the second connecting piece are locked and fixed through the threaded locking piece. The threaded locking piece is firm in installation, low in cost and easy to disassemble and assemble, and therefore the installation cost of the internal parts of the mechanical arm can be simplified.

Further, the threaded connection comprises a bolt or a screw. For example, at least one of a rotary countersunk head bolt, a round head bolt, and a cylindrical head bolt, or at least one of a rotary countersunk head screw, a round head screw, and a cylindrical head screw.

In another aspect, the retaining member includes a pin. Or the locking member includes a connecting shaft.

In any one of the above technical scheme, the pressing block is clamped into the clamping groove and is fixed by the locking piece to generate an acting force so as to extrude the second connecting piece, the acting force and the axis direction of the connecting outer ring are arranged at a preset angle, and the preset angle is larger than 0 degrees and smaller than 90 degrees.

In this technical scheme, the briquetting card is gone into to the draw-in groove in the back, can form the extrusion to the second connecting piece. The acting force and the axis direction of the connecting outer ring are arranged at a preset angle, and the preset angle is larger than 0 degree and smaller than 90 degrees. I.e. the pressure is not parallel and perpendicular to the second coupling member, whereby the force can be split in the radial and axial direction of the second coupling member to the end surface and the circumferential surface, thereby forming an axial pressure for the end surfaces of the two coupling members to cooperate with each other and a radial pressure for the circumferential direction of the two coupling members to cooperate with each other. Thereby forming an axial and radial pretension between the two connections. The second connecting piece can be simultaneously pressed and fixed in the radial direction and the axial direction, so that the connection reliability of the second connecting piece and the first connecting piece can be ensured.

Further, the preset angle is 10 ° or more and 80 ° or less. Further, the preset angle is equal to or greater than 20 ° and equal to or less than 70 °. Further, the preset angle is 45 ° or more and 60 ° or less

In any one of the above technical solutions, the bottom wall surface of the clamping groove is a first inclined surface, and the first inclined surface gradually extends in a direction away from the first side along the direction from the outer side to the inner side of the connecting outer ring. The pressing block is provided with a second inclined surface matched with the first inclined surface. The shape of the pressing block is matched with that of the clamping groove.

In the technical scheme, the bottom wall surface of the clamping groove is an inclined surface. The inclined surface extends in a direction away from the first side gradually along the direction from the outer side to the inner side of the connecting outer ring. And the pressing block is provided with a matched inclined surface. The two inclined surfaces are matched to form an acting force acting on the second connecting piece, the acting force can be decomposed into a radial pressing force along the radial direction of the second connecting piece inwards, and meanwhile, the acting force can be decomposed into an axial component force along the axial direction towards the second side, so that the radial direction and the axial direction of the second connecting piece can be simultaneously extruded and fixed, and the connection reliability of the second connecting piece and the first connecting piece can be ensured. Also, in the scheme, the acting force is formed by the matching of the pressing block and the clamping groove in the locking process. Wherein, radial pressure can make the second connecting piece outwards warp to realize the second connecting piece and connect the tensioning installation between the outer lane, also the lateral wall deformation inflation that the power that the briquetting produced also can make the draw-in groove, with this realized the second connecting piece and connected the tight installation of expanding between the outer lane.

Further, the force is perpendicular to the first inclined surface, and the force can be decomposed into a radial component and an axial component, so that the connection reliability between the connection outer ring and the second connection member is ensured. Further, the first inclined surface includes one or a combination of a tapered surface, an arc surface, and a stepped surface. There is no particular requirement for the shape of the first inclined surface as long as it can create the required force.

In any one of the above technical solutions, the clamping groove is surrounded by the second connecting piece and the connecting outer ring, that is, the clamping groove is arranged at the edge of the second connecting piece, and the pressing block can be in direct contact with the connecting outer ring after being installed in the clamping groove. This kind of setting for connect the outer lane can with the briquetting contact, through the deformation of connecting the outer lane alright exert pressure to the second connecting piece like this, so that can compress tightly the second connecting piece. For example, the connection collar may be slightly deformed during installation of the bolt to enable compression of the second connection member.

In any one of the above technical schemes, the clamping groove is an annular groove which is formed in a circle along the circumferential direction of the second connecting piece, and the number of the pressing blocks is at least two and the pressing blocks can be clamped into the annular groove.

In the technical scheme, the clamping groove is an annular groove which is formed in a circle along the circumferential direction of the second connecting piece. Also be provided with the draw-in groove in the whole circumference of second connecting piece, also can regard as a plurality of grooves that second connecting piece circumference set up to communicate each other. And the number of briquettes may be two or more. During installation, the pressing block can be clamped in the clamping groove and then locked by bolts and the like. And the number of the locking pieces is consistent with that of the pressing blocks. Of course, the number of the locking members can be more than that of the pressing blocks, and for example, one buckle can be used for striking two screws.

In any one of the above technical schemes, the number of the clamping grooves is multiple, the plurality of clamping grooves are arranged at intervals along the circumferential direction of the second connecting piece, and the number of the pressing blocks, the number of the locking pieces and the number of the clamping grooves are consistent.

In the technical scheme, the number of the card slots is multiple. The plurality of clamping grooves are arranged at intervals along the circumferential direction of the second connecting piece. The number of the pressing blocks, the number of the locking pieces and the number of the clamping grooves are consistent. Therefore, the locking connection of the inner and outer connecting pieces is realized through the clamping grooves, the pressing blocks and the locking pieces which are arranged at intervals.

Further, the number of the card slots is 6 to 15. Specifically, the number of card slots is 12.

In any one of the above technical solutions, the mounting hole includes a first mounting hole disposed on the connection outer ring, a second mounting hole disposed on the pressing block, and a third mounting hole disposed on the second connecting piece. The second mounting hole and the third mounting hole are threaded holes. The first mounting hole is a non-threaded hole and can be a counter bore and the like. The shape of the first mounting hole may be set according to the shape of the locker.

Furthermore, one end, close to the connecting outer ring, of the locking piece is located in the first mounting hole of the connecting outer ring, so that hidden mounting of the locking piece in the connecting outer ring is achieved.

In any of the above technical solutions, the first connecting member further includes an end portion supporting structure disposed at the second side of the connection outer ring, and the end portion supporting structure extends from the connection outer ring to the inside of the connection outer ring; the second connecting piece is located and connects in the outer lane to with tip bearing structure looks butt, the draw-in groove sets up on the second connecting piece keeps away from tip bearing structure's one end.

In this solution, the first connecting member further includes an end support structure disposed on a second side of the connection outer race. The end support structure extends from the connection collar to an interior of the connection collar. The second connecting piece is located and connects in the outer lane to with tip bearing structure looks butt, the draw-in groove sets up on the second connecting piece keeps away from tip bearing structure's one end. The other side of the second connecting piece can be supported and protected by the end supporting structure.

The specific structures of the second connecting piece and the first connecting piece can be set according to actual needs.

The utility model discloses technical scheme of second aspect provides a mechanical arm, including the coupling assembling that any technical scheme of first aspect provided.

According to the utility model discloses a technical scheme provides a mechanical arm, including the coupling assembling that any one of one or more first aspect technical scheme provided. Since the robot arm comprises one or more connecting assemblies as provided in any of the above aspects, the robot arm has all the advantages of the connecting assembly as provided in any of the above aspects.

Further, the first connecting piece and the second connecting piece are two joints, or two connecting rods, or a joint and a shell, or a joint or a connecting rod which need to be connected with each other. That is, the coupling assembly may be embodied as an articulation assembly or a link coupling assembly or an articulation link coupling assembly, or a housing articulation assembly or a housing link coupling assembly.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of a connection assembly according to an embodiment of the present invention;

fig. 2 is a perspective view of a connection assembly provided by an embodiment of the present invention;

fig. 3 is another view of a connection assembly provided by an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a connection assembly according to another embodiment of the present invention;

fig. 5 is a schematic structural diagram of a second connecting member of the connecting assembly according to an embodiment of the present invention;

fig. 6 is another schematic structural diagram of the second connecting member of the connecting assembly according to the embodiment of the present invention;

fig. 7 is a third schematic structural diagram of the second connecting member of the connecting assembly according to the embodiment of the present invention;

FIG. 8 is a schematic cross-sectional view taken at A-A of FIG. 7;

fig. 9 is a fourth schematic structural view of the second connecting member of the connecting assembly according to the embodiment of the present invention;

fig. 10 is a schematic structural diagram of a pressing block of a connecting assembly provided in an embodiment of the present invention;

fig. 11 is another schematic structural diagram of a pressing block of a connecting assembly according to an embodiment of the present invention.

Fig. 12 is a further schematic structural diagram of a pressing block of the connecting assembly according to an embodiment of the present invention;

fig. 13 is a schematic structural view of a second connecting member according to another embodiment of the present invention;

fig. 14 is another schematic structural view of a second connecting member according to another embodiment of the present invention;

fig. 15 is a schematic sectional view at B-B in fig. 13.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 15 is:

the structure comprises a first connecting piece 1, a connecting outer ring 12, a first mounting hole 122, a supporting structure 14 at the end part, a second connecting piece 2, a clamping groove 3, a first inclined plane 32, a pressing block 4, a second mounting hole 42, a second inclined plane 44 and a locking piece 5.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

Connection assemblies provided in accordance with some embodiments of the present invention are described below with reference to fig. 1-15.

As shown in fig. 1 to 12, an embodiment of the first aspect of the present invention provides a connecting assembly, including: a first connecting member 1 including a connecting outer ring 12; the second connecting piece 2 can be installed in the connecting outer ring 12 from the first side of the connecting outer ring 12, a clamping groove 3 is formed in the second connecting piece 2, and a notch of the clamping groove 3 faces the first side; a pressing block 4 which can be inserted into the clamping groove 3 from the first side; and the locking piece 5 is used for fixing the pressing block 4 between the connecting outer ring 12 and the second connecting piece 2. Wherein, the first connecting piece 1 and the second connecting piece 2 are two joints.

According to the utility model provides a coupling assembling, including the first connecting piece 1 and the second connecting piece 2 of treating to connect. The first connecting part 1 comprises a connecting cup 12. The second coupling piece 2 can be mounted into the connection outer ring 12 from a first side of the connection outer ring 12. The second connecting piece 2 is provided with a clamping groove 3, and the notch of the clamping groove 3 faces to the first side. The arrangement of the card slot 3 is shown in fig. 5 and 6, and fig. 8 and 9. A pressing block 4 is formed between the connecting outer ring 12 and the clamping groove 3 of the second connecting piece 2 (the structure of the pressing block 4 is shown in fig. 10, 11 and 12). The pressure piece 4 can be inserted from a first side into the locking groove 3. The pressing block 4 is fixed on the connecting outer ring 12 and the second connecting piece 2 and then locked and fixed by the locking piece 5. The scheme has higher pretightening force, and can ensure very high connection strength regardless of axial pretightening or radial pretightening. And this kind of scheme can be followed the surface of connecting outer lane 12 and locked for the locking process is good operation more high-efficient. And this kind of scheme, though increased the part, because the part is embedded inside, this scheme has little influence to axial length. And although the part is added, the part is very simple, and the matching precision is not required to be ensured by the part, so that the high machining precision is not required, and the machining difficulty is avoided. And the structures of the two connecting pieces are simpler, and the processing is very convenient.

The structure of the second connector 2 is specifically shown in fig. 5 to 9. Further, as shown in fig. 6 and 7, the second connector 2 may further include a mounting hole for fixing the second connector 2 to other parts.

Further, as shown in fig. 1 to 4, mounting holes which are communicated with each other are provided on the side wall of the connection outer ring 12 and on the side walls of the pressing block 4 and the second connection member 2, and one end of the locking member can be inserted into the mounting hole from the outside of the connection outer ring 12 and make the pressing block 4 press the second connection member 2, so that the pressing block 4, the connection outer ring 12 and the second connection member 2 are connected.

Specifically, as shown in fig. 2, the mounting holes include a first mounting hole 122 provided on the connection outer ring 12 and a second mounting hole 42 (shown in fig. 10, 11, and 12) provided on the pressure block 4, and a third mounting hole provided on the second connection member 2.

In the technical scheme, the locking piece is inserted from the outer side of the connecting outer ring 12, so that the fixed connection among the pressing block 4, the connecting outer ring 12 and the second connecting piece 2 is realized. Meanwhile, the locking piece is inserted from the outer side of the connecting outer ring 12 to realize locking, the pressing block 4 can extrude the second connecting piece 2, namely the pressing block 4, the connecting outer ring 12 and the second connecting piece 2 are not only connected and fixed by the locking piece, and meanwhile, the pressing block 4 can extrude the second connecting piece 2 along the radial direction and the axial direction, so that the pressing block 4 and the second connecting piece 2 are also compressed and fixed.

Further, the locking member can deform the connection outer ring 12 in a direction toward the second connection member 2 to press the second connection member 2 by the pressing piece 4. With this arrangement, pressure can be applied to the second connector 2 by deformation of the connection outer ring 12, so that the connection outer ring 12, the pressing block 4 and the second connector 2 can be tightly fitted. For example, during the installation of locking elements such as bolts, the outer ring 12 can be slightly deformed in the radial direction in order to be able to press the second connecting part 2 by means of the pressure piece 4, i.e. the pressing force is generated by the pressure piece 4 during the locking of the locking elements and the deformation of the second connecting part 2 by the pressure piece 4.

Further, as shown in fig. 1 to 4, the locking member 5 is a threaded locking member, and the pressing block 4, the connecting outer ring 12 and the second connecting member 2 are provided with mounting holes into which the threaded locking member 5 is inserted. The pressing block 4, the connecting outer ring 12 and the second connecting piece 2 are connected through a threaded locking piece 5.

In the embodiment, the pressing block 4, the connecting outer ring 12 and the second connecting piece 2 are locked and fixed through the threaded locking piece 5. The threaded locking piece 5 is firm in installation, low in cost and easy to disassemble and assemble, so that the installation cost of internal parts of the mechanical arm can be simplified.

Further, the threaded connection includes a bolt, such as at least one of a rotary countersunk bolt, a round head bolt, and a cylindrical head bolt.

In another embodiment, retaining member 5 comprises a pin. Or the locking member 5 includes a connecting shaft.

In any of the above embodiments, as shown in fig. 4, after the pressing block 4 is snapped into the slot 3, an acting force F0 can be generated to squeeze the second connector 2, and the acting force F0 is set at a preset angle with respect to the axial direction of the connection outer ring 12, where the preset angle is greater than 0 ° and smaller than 90 °.

In this embodiment, after the pressing block 4 is snapped into the engaging groove 3, the second connecting member 2 can be pressed. As shown in fig. 4, the acting force F0 is set at a predetermined angle with respect to the axial direction of the coupling outer ring 12, the predetermined angle being greater than 0 ° and smaller than 90 °. That is, the force F0 is not parallel and perpendicular to the second connector 2, thereby enabling the force to be resolved into an end face and a circumferential face in the radial and axial directions of the second connector 2, thereby forming an axial pressing force F2 with which the end faces of the two connectors are engaged, and a radial pressing force F1 with which the circumferential directions of the two connectors are engaged. Thereby forming an axial and radial pretension between the two connections. This makes it possible to press-fix the second connecting part 2 in the radial direction and in the axial direction simultaneously, so that the reliability of the connection between the second connecting part 2 and the first connecting part 1 can be ensured.

Further, the force perpendicular to the first inclined surface 32 can be resolved into a radial component and an axial component, ensuring the reliability of the connection between the coupling outer race 12 and the second coupling member 2.

Specifically, as shown in fig. 4, the preload can be generated by a locking member 5 such as a screw. The pretightening force can be decomposed into a force to the inclined surface of the press block 4, so that the positive pressure of the second connecting piece 2, namely the acting forces F0 and F0 can be decomposed into the axial pressure F2 of the second connecting piece 2 and the radial pressure F1, F1 and F2 of the second connecting piece 2, and friction torque is formed by the friction coefficient and the radius from the rotation center to transmit the torque of the second connecting piece 2 such as a joint. At the same time, the pressure F2 of the axial force has two functions: the first is that guarantee can be abundant compress tightly the counterface of connecting outer lane 12 when second connecting piece 2 is installed, form higher cooperation precision, prevent that clearance etc. from appearing at the counterface. Secondly, the axial force F2 can ensure that the second connecting member 2 resists a certain external axial force or overturning moment, because the second connecting member 2 such as a joint needs to bear a certain axial force, overturning moment and the like in addition to transmitting a larger torque, at this time, if there is no axial force of F2, the second connecting member 2 may generate a gap with the connection outer ring 12, resulting in loose fit or screw breakage due to poor screw loading. The conventional radial connection mode has no axial pressure F2, and cannot have the advantages brought by the F2 axial force.

The radial pressure F1 can deform the second connector 2 outward, so that the second connector 2 and the connection outer ring 12 are tensioned and mounted, that is, the pressure block 4 generates a force that can deform and expand the side wall of the clamping groove, thereby achieving the expansion mounting between the second connector 2 and the connection outer ring 12.

Further, the preset angle is equal to or greater than 20 ° and equal to or less than 70 °. Further, the preset angle is 45 ° or more and 60 ° or less

In any of the above embodiments, as shown in fig. 1, 4, and 10 to 12, the bottom wall surface of the locking groove 3 is the first inclined surface 32, and the first inclined surface 32 gradually extends in a direction away from the first side along the direction from the outer side to the inner side of the outer ring 12. As shown in fig. 1, 4 and 12, the pressing block 4 is provided with a second inclined surface 44 that fits the first inclined surface 32.

In this embodiment, the bottom wall surface of the card slot 3 is an inclined surface. The inclined surface extends in a direction away from the first side gradually in the outer-to-inner direction of the joint outer ring 12. And the pressing block 4 is provided with a matched inclined surface. Thus, by the cooperation of the two inclined surfaces, a force (shown as F0 in fig. 4) acting on the second connecting member can be formed, which can be resolved into a radial pressing force F1 radially inward of the second connecting member 2 and into an axial force component F2 axially toward the second side, so that the second connecting member 2 can be simultaneously fixed by pressing in the radial direction and the axial direction, and the reliability of the connection between the second connecting member 2 and the first connecting member 1 can be ensured. That is, in the scheme, the acting force is formed by the matching of the pressing block 4 and the clamping groove 3 in the locking process.

Further, the first inclined surface 32 includes one or a combination of a tapered surface, an arc surface, and a stepped surface. There is no particular requirement for the shape of the first inclined surface 32 as long as it can form the required force.

In any of the above embodiments, the clamping groove 3 is defined by the second connecting piece 2 and the connecting outer ring 12, that is, the clamping groove 3 is arranged at the edge of the second connecting piece 2, and the pressing block 4 is installed in the clamping groove 3 and then can be in direct contact with the connecting outer ring 12. This arrangement enables the connection outer ring 12 to be in contact with the pressure piece 4, so that the second connection member 2 can be pressed by the deformation of the connection outer ring 12. For example, the connection collar may be slightly deformed during the installation of the bolt, so that the second connection element 2 can be pressed.

In any of the above embodiments, as shown in fig. 2, 3, 5 and 6, the number of the slots 3 is multiple, the multiple slots 3 are arranged at intervals along the circumferential direction of the second connecting member 2, and the number of the pressing pieces 4, the number of the locking members 5 and the number of the slots 3 are the same.

In this embodiment, the number of card slots 3 is plural. The plurality of catching grooves 3 are provided at intervals in the circumferential direction of the second connector 2. The number of the pressing blocks 4, the number of the locking pieces 5 and the number of the clamping grooves 3 are consistent. Therefore, the locking connection of the inner and outer connecting pieces is realized through the clamping grooves 3, the pressing blocks 4 and the locking pieces 5 which are arranged at intervals.

Further, the number of the card slots 3 is 6 to 15. Specifically, the number of card slots 3 is 12.

In any of the above embodiments, the mounting holes include the first mounting hole 122 provided on the connection outer ring 12, the second mounting hole 42 provided on the pressure block 4, and the third mounting hole provided on the second connection member 2. The second mounting hole 42 and the third mounting hole are threaded holes. The first mounting hole 122 is a non-threaded hole, and may be a counterbore or the like. The shape of the first mounting hole 122 may be set according to the shape of the locker 5.

Further, one end of the locking member 5 near the connecting outer ring 12 is located in the first mounting hole 122 of the connecting outer ring 12, thereby realizing the hidden mounting of the locking member 5 in the connecting outer ring 12.

In any of the above embodiments, as shown in fig. 1 to 4, the first connecting member 1 further includes an end support structure 14 disposed on the second side of the connection outer ring 12, the end support structure 14 extending from the connection outer ring 12 to the inside of the connection outer ring 12; the second connecting piece 2 is positioned in the connecting outer ring 12 and is abutted against the end supporting structure 14, and the clamping groove 3 is arranged at one end of the second connecting piece 2, which is far away from the end supporting structure 14.

In this embodiment, the first connection piece 1 further comprises an end support structure 14 arranged at the second side of the connection collar 12. The end support structure 14 extends from the connector outer race 12 to the interior of the connector outer race 12. The second connecting piece 2 is positioned in the connecting outer ring 12 and is abutted against the end supporting structure 14, and the clamping groove 3 is arranged at one end of the second connecting piece 2, which is far away from the end supporting structure 14. The other side of the second connecting part 2 can be supported and protected by the end support structure 14.

The specific structures of the second connecting piece 2 and the first connecting piece 1 can be set according to actual needs.

Example two

As shown in fig. 1 to 15, an embodiment of the first aspect of the present invention provides a connection assembly, including: a first connecting member 1 including a connecting outer ring 12; the second connecting piece 2 can be installed in the connecting outer ring 12 from the first side of the connecting outer ring 12, a clamping groove 3 is formed in the second connecting piece 2, and a notch of the clamping groove 3 faces the first side; a pressing block 4 which can be inserted into the clamping groove 3 from the first side; and the locking piece 5 is used for fixing the pressing block 4 between the connecting outer ring 12 and the second connecting piece 2. Wherein, one of the first connecting piece 1 and the second connecting piece 2 is a connecting rod, and the other is a joint.

According to the utility model provides a coupling assembling, including the first connecting piece 1 and the second connecting piece 2 of treating to connect. The first connecting part 1 comprises a connecting cup 12. The second connection piece 2 can be mounted into the connection outer ring 12 from a first side of the connection outer ring 12. The second connecting piece 2 is provided with a clamping groove 3, and the notch of the clamping groove 3 faces to the first side. A pressing block 4 is formed between the connecting outer ring 12 and the clamping groove 3 of the second connecting piece 2. The pressure piece 4 can be inserted from a first side into the locking groove 3. The pressing block 4 is fixed on the connecting outer ring 12 and the second connecting piece 2 and then locked and fixed by the locking piece 5. The scheme has higher pretightening force, and can ensure very high connection strength regardless of axial pretightening or radial pretightening. And this kind of scheme can be followed the surface of connecting outer lane 12 and locked for the locking process is good operation more high-efficient. And this kind of scheme, though increased the part, because the part is embedded inside, this scheme has little influence to axial length. And although the part is added, the part is very simple, and the matching precision is not required to be ensured by the part, so that the high machining precision is not required, and the machining difficulty is avoided. And the structures of the two connecting pieces are simpler, and the processing is very convenient.

Further, the threaded connection is a screw. Such as at least one of a rotary countersunk screw, a round head screw, and a socket head screw.

In this embodiment, the bottom wall surface of the card slot 3 is an inclined surface. The inclined surface extends in a direction away from the first side gradually in the outer-to-inner direction of the joint outer ring 12. And the pressing block 4 is provided with a matched inclined surface. The cooperation of the two inclined surfaces can form an acting force acting on the second connecting piece, the acting force can be decomposed into a radial pressure force along the radial direction of the second connecting piece 2 inwards, and simultaneously can be decomposed into an axial component force along the axial direction to the second side, so that the radial direction and the axial direction of the second connecting piece 2 can be simultaneously pressed and fixed, and the connection reliability of the second connecting piece 2 and the first connecting piece 1 can be ensured. That is, in the scheme, the acting force is formed by the matching of the pressing block 4 and the clamping groove 3 in the locking process.

The inclination angle of the first inclined surface 32 is 10 ° or more and 80 ° or less, and 20 ° or more and 70 ° or less. Further, the preset angle is 45 ° or more and 60 ° or less

Further, the first inclined surface 32 includes one of a tapered surface, an arc surface, and a step surface, or a combination thereof. There is no particular requirement for the shape of the first inclined surface 32 as long as it can form the required force.

In any of the above embodiments, as shown in fig. 13 to 15, the locking groove 3 is an annular groove provided with one circle along the circumferential direction of the second connection member 2 (as shown in fig. 14, the locking groove 3 is provided with 360 ° along the circumferential direction), and at least two pressing pieces 4 can be locked into the annular groove.

In this embodiment, the locking groove 3 is an annular groove that is provided with a circle along the circumferential direction of the second connector 2. That is, the whole circumference of the second connecting piece 2 is provided with the clamping groove 3, and a plurality of grooves circumferentially arranged on the second connecting piece 2 can be considered to be communicated with each other. And the number of the briquettes 4 may be two or more. When the device is installed, the pressing block 4 can be clamped in the clamping groove 3 and then locked by bolts and the like. And the number of the locking pieces 5 is the same as that of the pressing pieces 4. Of course, the number of the locking members 5 can be more than that of the pressing blocks 4, and for example, one snap-fit can also be used for striking two screws.

Further, one end of the locking member 5 near the coupling outer ring 12 is located in the first mounting hole 122 of the coupling outer ring 12, thereby realizing the hidden mounting of the locking member 5 in the coupling outer ring 12.

In this embodiment, the first connection piece 1 further comprises an end support structure 14 arranged at the second side of the connection collar 12. The end support structure 14 extends from the connector outer race 12 to the interior of the connector outer race 12. The second connecting piece 2 is positioned in the connecting outer ring 12 and is abutted against the end supporting structure 14, and the clamping groove 3 is arranged at one end of the second connecting piece 2, which is far away from the end supporting structure 14. The other side of the second connecting element 2 can be supported and protected by the end support structure 14.

EXAMPLE III

As shown in fig. 1 to 12, an embodiment of the first aspect of the present invention provides a connection assembly, including: a first connecting member 1 including a connecting outer ring 12; the second connecting piece 2 can be installed in the connecting outer ring 12 from the first side of the connecting outer ring 12, a clamping groove 3 is formed in the second connecting piece 2, and a notch of the clamping groove 3 faces the first side; a pressing block 4 which can be inserted into the clamping groove 3 from the first side; and the screw is used for fixing the pressing block 4 between the connecting outer ring 12 and the second connecting piece 2. The first connecting piece 1 and the second connecting piece 2 are two connecting rods, or one connecting rod and the other connecting rod are shells of the mechanical arm.

Further, the clamping groove 3 is enclosed by the second connecting piece 2 and the connecting outer ring 12, namely the clamping groove 3 is arranged at the edge of the second connecting piece 2, and the pressing block 4 is arranged in the clamping groove 3 and then can be in direct contact with the connecting outer ring 12. This arrangement enables the connection outer ring 12 to be in contact with the pressure piece 4, so that the second connection member 2 can be pressed by the deformation of the connection outer ring 12. For example, the connection collar may be slightly deformed during the installation of the bolt, so that the second connection element 2 can be pressed.

According to the utility model provides a coupling assembling, including the first connecting piece 1 and the second connecting piece 2 of treating to connect. The first connecting part 1 comprises a connecting cup 12. The second coupling piece 2 can be mounted into the connection outer ring 12 from a first side of the connection outer ring 12. The second connecting piece 2 is provided with a clamping groove 3, and the notch of the clamping groove 3 faces to the first side. A pressing block 4 is formed between the connecting outer ring 12 and the clamping groove 3 of the second connecting piece 2. The pressure piece 4 can be inserted from a first side into the locking groove 3. The pressing block 4 is fixed after the connecting outer ring 12 and the second connecting piece 2 are installed, and is locked and fixed by screws. The scheme has higher pretightening force, and can ensure very high connection strength regardless of axial pretightening or radial pretightening. And this kind of scheme can be followed the surface of connecting outer lane 12 and locked for the locking process is good operation more high-efficient. And this kind of scheme, though increased the part, because the part is embedded inside, this scheme has little influence to axial length. Although parts are added, the parts are very simple, and the matching precision is not required to be ensured by the parts, so that high machining precision is not required, and the machining difficulty is avoided. And the structures of the two connecting pieces are simpler, and the processing is very convenient.

In any of the above embodiments, as shown in fig. 1, 4, and 10 to 12, the bottom wall surface of the locking groove 3 is the first inclined surface 32, and the first inclined surface 32 gradually extends in a direction away from the first side along the direction from the outer side to the inner side of the outer ring 12. As shown in fig. 1, 4 and 12, the presser 4 is provided with a second inclined surface 44 that fits the first inclined surface 32.

In this embodiment, the bottom wall surface of the card slot 3 is an inclined surface. The inclined surface extends in a direction away from the first side gradually in the outside-to-inside direction of the joint outer race 12. And the pressing block 4 is provided with a matched inclined surface. The cooperation of the two inclined surfaces can form an acting force acting on the second connecting piece, the acting force can be decomposed into a radial pressure force along the radial direction of the second connecting piece 2 inwards, and simultaneously can be decomposed into an axial component force along the axial direction to the second side, so that the radial direction and the axial direction of the second connecting piece 2 can be simultaneously pressed and fixed, and the connection reliability of the second connecting piece 2 and the first connecting piece 1 can be ensured. That is, in the scheme, the acting force is formed by the matching of the pressing block 4 and the clamping groove 3 in the locking process.

In any of the above embodiments, as shown in fig. 1 to 12, the number of the slots 3 is 6 to 15, the 6 to 15 slots 3 are arranged at intervals along the circumferential direction of the second connecting member 2, and the number of the pressing blocks 4 and the number of the screws are 6 to 15, and are in one-to-one correspondence.

Further, one end of the screw close to the connection outer ring 12 is located in the first mounting hole 122 of the connection outer ring 12, so that the screw can be mounted in the connection outer ring 12 in a hidden mode.

Embodiments of the second aspect of the present invention provide a robot arm (not shown in the drawings), including a connection assembly provided in any one of the embodiments of the first aspect.

According to the utility model discloses a mechanical arm is provided, including the coupling assembling that any one of one or more first aspect embodiments provided. Since the robot arm comprises one or more connecting assemblies as provided in any of the embodiments of the first aspect, the robot arm has all the advantages of the connecting assembly as provided in any of the embodiments of the first aspect.

Further, the first connecting member 1 and the second connecting member 2 are two joints, or two links, or a joint and a housing, or a joint or a link, which are required to be connected with each other. That is, the coupling assembly may be embodied as an articulation assembly or a link coupling assembly or an articulation link coupling assembly, or a housing articulation assembly or a housing link coupling assembly.

In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood in a broad sense, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A coupling assembly for a robotic arm, the coupling assembly comprising:

a first connecting member including a connecting outer ring;

the second connecting piece can be installed in the connecting outer ring from the first side of the connecting outer ring, a clamping groove is formed in the second connecting piece, and a notch of the clamping groove faces the first side;

a pressing block capable of being inserted into the clamping groove from the first side;

and the locking piece is used for fixing the pressing block between the connecting outer ring and the second connecting piece.

2. The connection assembly according to claim 1,

on the lateral wall of connection outer lane the briquetting with be provided with the mounting hole of mutual intercommunication on the lateral wall of second connecting piece, the one end of retaining member can by the outside of connecting the outer lane is inserted and is installed in the mounting hole and make the briquetting extrudees the second connecting piece, so that the briquetting connect the outer lane with the second connecting piece is connected.

3. The connection assembly according to claim 2,

the locking piece comprises a threaded locking piece matched with the mounting hole;

the locking piece can enable the connection outer ring to deform towards the direction of the second connecting piece, so that the second connecting piece is extruded through the pressing block.

4. The connecting assembly according to claim 1, wherein the pressing block is clamped into the clamping groove and locked and fixed by the locking member to generate an acting force to press the second connecting member, the acting force and the axis direction of the connecting outer ring are arranged at a preset angle, and the preset angle is greater than 0 degree and smaller than 90 degrees.

5. The connection assembly according to claim 4, wherein the preset angle is 10 ° or more and 80 ° or less.

6. The connection assembly according to claim 1,

the bottom wall surface of the clamping groove is a first inclined surface, and the first inclined surface gradually extends towards the direction far away from the first side along the direction from the outer side to the inner side of the connecting outer ring;

and a second inclined plane matched with the first inclined plane is arranged on the pressing block.

7. The connection assembly according to claim 6,

the first inclined surface comprises one or a combination of a conical surface, an arc-shaped surface and a step surface.

8. The connection assembly according to any one of claims 1 to 7,

the clamping groove is defined by the second connecting piece and the connecting outer ring.

9. The connection assembly according to any one of claims 1 to 7,

the draw-in groove is for following the circumference of second connecting piece sets up the ring channel of round, the briquetting is at least two, and all can block into in the ring channel.

10. The connection assembly according to any one of claims 1 to 7,

the quantity of draw-in groove is a plurality of, and is a plurality of the draw-in groove is followed the circumference interval of second connecting piece sets up, the quantity of briquetting the quantity of retaining member with the quantity of draw-in groove is unanimous.

11. The connection assembly according to claim 10,

the number of the clamping grooves is 6-15.

12. The connection assembly according to any one of claims 1 to 7,

the first connecting piece further comprises an end supporting structure arranged on the second side of the connecting outer ring, and the end supporting structure extends from the connecting outer ring to the inside of the connecting outer ring;

the second connecting piece is positioned in the connecting outer ring and is abutted against the end part supporting structure, and the clamping groove is formed in one end, far away from the end part supporting structure, of the second connecting piece.

13. A robotic arm comprising at least one linkage assembly according to any one of claims 1 to 12.

14. A robotic arm as claimed in claim 13,

the first connecting piece and the second connecting piece are two joints, or two connecting rods, or a joint and a connecting rod, or a joint and a shell which need to be connected with each other.