CN218965456U - Joint connection mechanism and mechanical arm - Google Patents

Abstract

The utility model discloses a joint connecting mechanism and a mechanical arm, wherein the joint connecting mechanism comprises a joint shell, a flange and a plurality of connecting screws, the joint shell comprises a flange connecting end, an inner conical surface is arranged in the flange connecting end along the circumferential direction, and a first interlocking structure is arranged on the inner conical surface; the flange is provided with an outer conical surface matched with the inner conical surface, and a second interlocking structure matched with the first interlocking structure is arranged on the outer conical surface; the plurality of connecting screws are distributed along the periphery of the flange connecting end, and the connecting screws penetrate through the flange connecting end and the flange to provide pretightening force so that the inner conical surface and the outer conical surface are tightly matched with each other, and the first interlocking structure and the second interlocking structure are tightly matched with each other. The articulated mechanism of this scheme has the advantage of installation convenience, installation effectiveness height, can satisfy the demand of installation uniformity and bearing higher moment of torsion simultaneously.

Description

Joint connection mechanism and mechanical arm

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm and a joint connection mechanism thereof.

Background

The joint connecting mechanism is a part connected between the joints of the mechanical arm and between the body and the end effector, and is required to meet the connection requirements of strength and rigidity required by the mechanical arm, and meanwhile, smooth power and data connection between each joint and the end effector is ensured. The articulated mechanism is a necessary condition for ensuring maintainability of the mechanical arm, and can ensure long-term stable operation of the mechanical arm through lower cost.

At present, the joint connecting mechanism mainly adopts the following connecting modes:

(1) And (5) locking and attaching an axial connecting screw. Because the gap between joints is narrow, the external hexagonal connecting screw is required to be used for fixing, the installation is difficult, the external hexagonal is inconvenient and has low efficiency in terms of locking and torque, and once the external hexagonal sliding tooth is difficult to detach.

(2) And (5) locking and attaching radial connecting screws. Because joint torque is mainly provided by the shear force of the connecting screw, the strength is insufficient, the safety coefficient is low, the high torque cannot be born, and DH (Denavit-Hartenbergparameters) parameter changes easily occur to the robot once the robot encounters a similar collision or sudden stop condition.

(3) And locking and attaching the end teeth. The installation is more convenient, the end teeth are used for transmitting larger torque, but the end teeth are pressed tightly, additional fastening parts are needed to be added, the processing precision of the end teeth is higher, the process is more complex, and the end teeth cannot bear higher torque.

(4) And (5) locking and attaching the conical surface. The problems of easy sliding of the conical surface, uneven stress of the conical surface connecting screw and poor installation consistency of the axial position exist during assembly.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model aims to provide the mechanical arm and the joint connecting mechanism thereof, which are convenient to install and high in installation efficiency, and simultaneously meet the requirements of installation consistency and bearing higher torque.

An articulating mechanism comprising:

the joint shell comprises a flange connection end, an inner conical surface is arranged in the flange connection end along the circumferential direction, and a first interlocking structure is arranged on the inner conical surface;

the flange is provided with an outer conical surface matched with the inner conical surface, and a second interlocking structure matched with the first interlocking structure is arranged on the outer conical surface;

the connecting screws are distributed along the periphery of the flange connecting end, penetrate through the flange connecting end and the flange to provide pretightening force so that the inner conical surface and the outer conical surface and the first interlocking structure and the second interlocking structure are tightly matched.

Optionally, the first interlocking structure includes at least one groove disposed on the inner conical surface, the second interlocking structure includes at least one boss disposed on the outer conical surface, the boss corresponds to the groove one by one, and a side surface of the boss is tightly matched with a side surface of the groove.

Optionally, the first interlocking structure includes at least one boss disposed on the inner conical surface, the second interlocking structure includes at least one groove disposed on the outer conical surface, the grooves are in one-to-one correspondence with the bosses, and sides of the grooves are tightly matched with sides of the bosses.

Optionally, the first interlocking structure includes at least one boss and at least one recess that sets up on the internal cone, the second interlocking structure includes at least one recess and at least one boss that sets up on the external cone, recess on the internal cone with boss one-to-one on the external cone, boss on the internal cone with recess one-to-one on the external cone, and, the side of recess on the internal cone with the side of boss on the external cone is closely matched, the side of boss on the internal cone with the side of recess on the external cone is closely matched.

Optionally, countersunk holes matched with corresponding connecting screws are formed in the inner conical surface and/or the first interlocking structure, and threaded holes matched with corresponding connecting screws are formed in the outer conical surface and/or the second interlocking structure.

Optionally, the inside of flange joint end still is equipped with the direction counter bore, the direction counter bore is located the less end of interior conical surface, be equipped with on the flange with direction counter bore complex flange boss, the flange boss is connected the less end of outer conical surface, the flange boss with direction counter bore close fit.

Optionally, the joint housing further includes a body connection end, the body connection end is opposite to the flange connection end, a diameter of the hole formed by the inner cone is gradually reduced from an opening of the flange connection end to the body connection end, and the guiding counter bore is located between the inner cone and the body connection end.

Optionally, the width of the boss on the outer conical surface gradually decreases from the larger end of the outer conical surface to the smaller end of the outer conical surface, and the width of the groove on the inner conical surface gradually decreases from the larger end of the inner conical surface to the smaller end of the inner conical surface.

Optionally, the width of the groove on the outer conical surface gradually decreases from the larger end of the outer conical surface to the smaller end of the outer conical surface, and the width of the boss on the inner conical surface gradually decreases from the larger end of the inner conical surface to the smaller end of the inner conical surface.

A mechanical arm comprises the joint connecting mechanism.

By implementing the scheme, the method has the following beneficial effects:

by employing a taper fit, the first interlocking structure interengages with the second interlocking structure, and the connecting screw tightening, sufficient bending moment and torque can be provided. Specifically, after the connecting screw is diagonally locked, the outer conical surface of the flange is in close contact with the inner conical surface of the joint shell, and the side surface of the first interlocking structure is in close fit with the side surface of the second interlocking structure, so that the requirements of mounting consistency and bearing high bending moment can be met. When the joints are subjected to bending moment, the joint side conical surface locked by the connecting screw can bear larger bending moment; when the joints are subjected to torsional moment, the first interlocking structure on the joint side, which is locked by the connecting screw, is in interference fit or transition fit with the second interlocking structure on the flange side, and larger torque can be born in the circumferential direction. The problem that positioning and connecting screw that this scheme can avoid adopting radial connecting screw to connect to bring directly accepts the scissors and the difficult inefficiency of installation that brings by axial connecting screw connection and the complicated problem of processing technology that brings by end tooth connection.

The joint connecting mechanism of the scheme has the advantages that the number of required connecting screws is small, the electric mode lock attachment screw is easy to realize by adopting the fixing mode of the outer circle side of the joint, the assembly is convenient, and the production efficiency is high. The conical surface connection mode is adopted, the situation that the disassembly is difficult due to the fact that the common spigot is too tightly connected and matched can be avoided, the disassembly is convenient, and after-sales maintenance is convenient.

Drawings

Fig. 1 is a schematic structural view of an articulation mechanism according to an embodiment of the present utility model after disassembly;

fig. 2 is a schematic structural view of an articulation mechanism according to an embodiment of the present utility model after disassembly;

FIG. 3 is a schematic view of a joint enclosure according to an embodiment of the present utility model;

fig. 4 is a schematic structural view of a flange according to an embodiment of the present utility model.

In the figure: the joint comprises a joint shell 100, a body connecting end 101, a flange connecting end 102, an inner conical surface 103, an inner conical surface groove 104, a groove side 105, a counter bore 106, a guide counter bore 107, a flange 200, an outer conical surface 201, an outer conical surface boss 202, a boss side 203, a threaded hole 204, a flange boss 205, a connecting shaft 206 and a connecting screw 300.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

The present embodiment provides an articulation mechanism, referring to fig. 1 and 2, comprising an articulation housing 100, a flange 200, and a plurality of connection screws 300 connecting the articulation housing 100 and the flange 200. The joint housing 100 includes a flange connection end 102 and a body connection end 101, the flange connection end 102 is opposite to the body connection end 101, an inner conical surface 103 is provided in the flange connection end 102 along the circumferential direction, the inner conical surface 103 defines a hole in the flange connection end 102, and the diameter of the hole gradually decreases from the opening of the flange connection end 102 to the body connection end 101. The inner tapered surface 103 is provided with a first interlocking feature. The flange 200 has an outer tapered surface 201 that mates with the inner tapered surface 103 on the flange connection end 102, the outer tapered surface 201 having a second interlocking feature that mates with the first interlocking feature. A plurality of coupling screws 300 are distributed along the periphery of the flange connection end 102, each coupling screw 300 passing through the flange connection end 102 and the flange 200 to provide a pre-tightening force so as to provide a tight fit between the outer tapered surface 201 of the flange 200 and the inner tapered surface 103 of the joint housing 100 and between the first interlocking structure and the second interlocking structure.

In this embodiment, the joint housing 100 and the flange 200 are matched with each other by a conical surface, so that the flange 200 can easily enter and exit the joint housing 100, and the problem of difficult disassembly caused by too tight connection and matching of the common spigot can be avoided. The connecting screw 300 is locked diagonally, so that the outer conical surface 201 of the flange 200 is in close contact with the inner conical surface 103 of the joint housing 100, and when bending moment is applied between joints, the joint side conical surface locked by the connecting screw 300 can bear larger bending moment. Through the mutual interlock of first interlocking structure and second interlocking structure, when receiving torsional moment between the joint, the first interlocking structure of the joint side that connecting screw 300 lock attached and the second interlocking structure interference fit or the transition fit of flange 200 side, make joint coupling mechanism can bear great moment of torsion in the circumference to the assembly is counterpoint simple, the installation of being convenient for.

Wherein the first interlocking feature may be a groove and/or a boss provided on the inner cone 103 and the second interlocking feature may be a boss and/or a groove provided on the outer cone 201. The first interlocking structure and the second interlocking structure are engaged with each other to bear externally applied torsion force.

In one possible implementation, the first interlocking structure includes at least one groove provided on the inner conical surface 103, and the second interlocking structure includes at least one boss provided on the outer conical surface 201, the boss corresponds to the groove one to one, and a side surface of the boss is tightly matched with a side surface of the groove.

In a specific implementation, a plurality of grooves may be uniformly formed along the circumferential direction of the inner conical surface 103, a plurality of bosses may be uniformly formed along the circumferential direction of the outer conical surface 201, the shape of the bosses is adapted to the shape of the grooves, and the bosses are accommodated in the corresponding grooves and are in interference fit with the grooves in a state that the flange 200 is connected with the joint housing 100. Wherein, the height that the boss stands out of the outer conical surface 201 is not more than the recess depth of recess for the inner conical surface 103, ensures that can closely laminate between outer conical surface 201 and the inner conical surface 103 when the boss holds in the recess. Depending on the shape of the inner cone 103, the groove may be a conical depression provided along the height direction of the inner cone 103, the width of the groove gradually decreasing from the larger end of the inner cone 103 (near the opening of the flange connection end 102) to the smaller end of the inner cone 103 (near the body connection end 101). Depending on the shape of the outer cone 201, the boss may be a cone-shaped block arranged in the high direction of the outer cone 201, the width of the boss gradually decreasing from the larger end of the outer cone 201 to the smaller end of the outer cone 201. The larger end of the outer cone 201 engages the larger end of the inner cone 103 and the smaller end of the outer cone 201 engages the smaller end of the inner cone 103.

In one possible implementation, the first interlocking structure includes at least one boss provided on the inner conical surface 103, and the second interlocking structure includes at least one groove provided on the outer conical surface 201, the grooves and the bosses are in one-to-one correspondence, and sides of the grooves are tightly matched with sides of the bosses.

In a specific implementation, a plurality of bosses may be uniformly disposed along the circumferential direction of the inner conical surface 103, a plurality of grooves may be uniformly disposed along the circumferential direction of the outer conical surface 201, the shape of the bosses is adapted to the shape of the grooves, and the bosses are accommodated in the corresponding grooves and are in interference fit with the grooves in a state that the flange 200 is connected with the joint housing 100. Wherein, the protruding height of boss in interior conical surface 103 is not greater than the recess degree of depth of recess for outer conical surface 201, ensures that when the boss holds in the recess, can closely laminate between outer conical surface 201 and the interior conical surface 103. Wherein the boss may be a tapered block disposed along the height direction of the inner tapered surface 103, and the width of the boss gradually decreases from the larger end of the inner tapered surface 103 to the smaller end of the inner tapered surface 103. The groove may be a conical depression arranged in the height direction of the outer cone 201, the width of the groove gradually decreasing from the larger end of the outer cone 201 to the smaller end of the outer cone 201. The larger end of the outer cone 201 engages the larger end of the inner cone 103 and the smaller end of the outer cone 201 engages the smaller end of the inner cone 103.

In one possible implementation, the first interlocking structure includes at least one boss and at least one groove provided on the inner cone 103, the second interlocking structure includes at least one groove and at least one boss provided on the outer cone 201, the grooves on the inner cone 103 are in one-to-one correspondence with the bosses on the outer cone 201, the bosses on the inner cone 103 are in one-to-one correspondence with the grooves on the outer cone 201, and sides of the grooves on the inner cone 103 are in close fit with sides of the bosses on the outer cone 201, and sides of the bosses on the inner cone 103 are in close fit with sides of the grooves on the outer cone 201.

In specific implementation, a plurality of bosses and a plurality of grooves can be arranged along the circumference of the inner conical surface 103, the bosses and the grooves can be uniformly distributed at intervals, correspondingly, the bosses corresponding to the bosses of the inner conical surface 103 one by one and the bosses corresponding to the grooves of the inner conical surface 103 one by one can be arranged along the circumference of the outer conical surface 201, the shape and the size of the bosses on the inner conical surface 103 are matched with the shape and the size of the grooves on the outer conical surface 201, the shape and the size of the grooves on the inner conical surface 103 are matched with the shape and the size of the bosses on the outer conical surface 201, the shape and the size of the bosses on the inner conical surface 103 and the shape and the size of the grooves on the outer conical surface 201 can be the same or different. The boss on the inner cone 103 and the boss on the outer cone 201 may be tapered bosses, and the groove on the inner cone 103 and the groove on the outer cone 201 may be tapered recesses.

In one possible implementation, the inner conical surface 103 and/or the first interlocking structure are provided with countersunk holes 106 for cooperation with corresponding connecting screws 300, and the outer conical surface 201 and/or the second interlocking structure are provided with threaded holes 204 for cooperation with corresponding connecting screws 300. The coupling screw 300 passes through the screw hole 204 and the counter bore 106 to couple the flange 200 to the joint housing 100 as one body. The connecting screw 300 can be perpendicular to the bus direction of the outer conical surface 201, the pre-tightening force provided by the connecting screw 300 enables the outer conical surface 201 to press the inner conical surface 103, friction force required by torque transmission can be provided, shearing force applied to the connecting screw 300 is reduced, and conical surface connection is more reliable.

In a possible implementation manner, a guiding counter bore 107 is further provided in the flange connection end 102, the guiding counter bore 107 is located at the smaller end of the inner conical surface 103, a flange boss 205 matched with the guiding counter bore 107 is provided on the flange 200, the flange boss 205 is connected with the smaller end of the outer conical surface 201, and the flange boss 205 is tightly matched with the guiding counter bore 107. The flange boss 205 is tightly matched with the guide counter bore 107, so that the bending moment and the torque applied by the outside of a part can be shared, and the stability of joint connection is further improved.

Fig. 3 shows one configuration of the joint enclosure 100, and fig. 4 shows one configuration of a flange 200 that mates with the joint enclosure 100 of fig. 3. Referring to fig. 3, the joint housing 100 includes a flange connection end 102, a body connection end 101, and a reinforcing rib. The reinforcing rib is arranged between the body connecting end 101 and the flange connecting end 102 and is used for improving the strength of the joint housing 100. An inner conical surface 103 is arranged in the flange connection end 102 along the circumferential direction, a guide counter bore 107 is arranged between the inner conical surface 103 and the reinforcing rib, and the diameter of a hole formed by the inner conical surface 103 gradually decreases from the opening of the flange connection end 102 to the guide counter bore 107. The inner conical surface 103 is provided with a plurality of inner conical surface grooves 104, a plurality of countersunk holes 106 are formed along the periphery of the flange connection end 102, and the countersunk holes 106 penetrate through the outer wall of the flange connection end 102 and the inner conical surface 103.

Referring to fig. 4, the flange 200 includes a flange body, a connecting shaft 206 and a flange boss 205 coaxially disposed, the flange body connects the connecting shaft 206 with the flange boss 205, an outer conical surface 201 is formed on the periphery of the flange body, a larger end of the outer conical surface 201 is close to the connecting shaft 206, and a smaller end of the outer conical surface 201 is close to the flange boss 205. The outer conical surface 201 is provided with outer conical surface bosses 202 which are in one-to-one correspondence with the inner conical surface grooves 104 on the inner conical surface 103, and threaded holes 204 which are in one-to-one correspondence with the countersunk holes 106 on the turned connecting ends are arranged along the periphery of the flange body. When the flange 200 is aligned with the joint housing 100, the outer cone boss 202 on the outer cone 201 enters the corresponding inner cone groove 104 on the inner cone 103, the outer cone 201 abuts against the inner cone 103, the center line of the countersunk hole 106 coincides with the center line of the threaded hole 204, and the connecting screw 300 penetrates through the threaded hole 204 and the corresponding countersunk hole 106 to connect the flange 200 with the joint housing 100 into a whole. A ring of attachment screws 300 is provided around the flange connection end 102 and the outer periphery of the flange body to ensure a secure connection.

Wherein, a first angle is formed between the outer conical surface 201 and the end surface of the flange boss 205, and a second angle is formed between the boss side surface 203 of the outer conical surface boss 202 and the end surface of the flange boss 205; correspondingly, a third angle is formed between the inner conical surface 103 and the end surface of the flange connection end 102, and a fourth angle is formed between the groove side surface 105 of the inner conical surface groove 104 and the end surface of the flange connection end 102. In one possible implementation, the first angle is complementary to a third angle, which is equal to the fourth angle. Because the corner of the flange connection end 102 and the body connection end 101 is almost right angle, the connection difficulty of the connection screw 300 is high and the efficiency is low, and the connection screw 300 is not required to be arranged in the place in order to improve the convenience of assembly and disassembly.

Under the oblique locking force of the connecting screw, the outer conical surface of the flange is tightly attached to the inner conical surface of the joint shell, and meanwhile, the boss side surface of the boss of the outer conical surface is in transition/interference fit with the groove side surface of the groove of the inner conical surface at a certain angle, so that the high positioning requirement can be met, and enough torsion moment can be provided.

The assembly process of this embodiment is: the flange boss 205 of the flange 200 is aligned with the guide counter bore 107 of the flange connection end 102, the flange 200 is sent to the flange connection end 102, the flange 200 is rotated in the sending process, the outer conical boss 202 on the outer conical surface 201 enters the inner conical groove 104 on the inner conical surface 103, the groove side 105 of the inner conical groove 104 is in interference fit with the boss side 203 of the outer conical boss 202, the flange 200 is pushed into the flange connection end 102, the flange boss 205 enters the guide counter bore 107, the outer conical surface 201 of the flange 200 is attached to the inner conical surface 103 of the flange connection end 102, at the moment, the center line of the threaded hole 204 on the flange 200 coincides with the center line of the counter bore 106 on the flange connection end 102, and the connecting screw 300 is screwed into the threaded hole 204 and the corresponding counter bore 106, so that the flange 200 is tightly connected with the joint shell 100.

The embodiment provides a mechanical arm, the joint of the mechanical arm adopts the above joint connection mechanism, and the specific structure of the joint connection mechanism is referred to the above description, which is not repeated here.

Note that the above is only a preferred embodiment of the present utility model and the technical principle applied. It will be understood by those skilled in the art that the present utility model is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, while the utility model has been described in connection with the above embodiments, the utility model is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the utility model, which is set forth in the following claims.

Claims (10)

1. An articulating mechanism, comprising:

the joint shell (100) comprises a flange connection end (102), wherein an inner conical surface (103) is arranged in the flange connection end (102) along the circumferential direction, and a first interlocking structure is arranged on the inner conical surface (103);

a flange (200) having an outer conical surface (201) cooperating with the inner conical surface (103), the outer conical surface (201) being provided with a second interlocking structure cooperating with the first interlocking structure;

the plurality of connecting screws (300) are distributed along the periphery of the flange connecting end (102), and the connecting screws (300) penetrate through the flange connecting end (102) and the flange (200) to provide pretightening force so as to enable the inner conical surface (103) to be tightly matched with the outer conical surface (201) and enable the first interlocking structure to be tightly matched with the second interlocking structure.

2. The articulating mechanism of claim 1 wherein,

the first interlocking structure comprises at least one groove arranged on the inner conical surface (103), the second interlocking structure comprises at least one boss arranged on the outer conical surface (201), the bosses are in one-to-one correspondence with the grooves, and the side surfaces of the bosses are tightly matched with the side surfaces of the grooves.

3. The articulating mechanism of claim 1 wherein,

the first interlocking structure comprises at least one boss arranged on the inner conical surface (103), the second interlocking structure comprises at least one groove arranged on the outer conical surface (201), the grooves are in one-to-one correspondence with the bosses, and the side surfaces of the grooves are tightly matched with the side surfaces of the bosses.

4. The articulating mechanism of claim 1 wherein,

the first interlocking structure comprises at least one boss and at least one groove which are arranged on the inner conical surface (103), the second interlocking structure comprises at least one groove and at least one boss which are arranged on the outer conical surface (201), the grooves on the inner conical surface (103) are in one-to-one correspondence with the bosses on the outer conical surface (201), the bosses on the inner conical surface (103) are in one-to-one correspondence with the grooves on the outer conical surface (201), and the side surfaces of the grooves on the inner conical surface (103) are in tight fit with the side surfaces of the bosses on the outer conical surface (201), and the side surfaces of the bosses on the inner conical surface (103) are in tight fit with the side surfaces of the grooves on the outer conical surface (201).

5. The articulating mechanism of claim 1 wherein,

the inner conical surface (103) and/or the first interlocking structure are/is provided with countersunk holes (106) matched with corresponding connecting screws (300), and the outer conical surface (201) and/or the second interlocking structure are/is provided with threaded holes (204) matched with the corresponding connecting screws (300).

6. The articulating mechanism of claim 1 wherein,

the inside of flange joint end (102) still is equipped with direction counter bore (107), direction counter bore (107) are located the less end of interior conical surface (103), be equipped with on flange (200) with direction counter bore (107) complex flange boss (205), flange boss (205) connect the less end of outer conical surface (201), flange boss (205) with direction counter bore (107) close fit.

7. The articulating mechanism of claim 6 wherein,

the joint shell (100) further comprises a body connecting end (101), the body connecting end (101) is opposite to the flange connecting end (102), the diameter of a hole formed by the inner conical surface (103) is gradually reduced from the opening of the flange connecting end (102) to the body connecting end (101), and the guide counter bore (107) is positioned between the inner conical surface (103) and the body connecting end (101).

8. The articulating mechanism of claim 1 wherein,

the width of the boss on the outer conical surface (201) gradually decreases from the larger end of the outer conical surface (201) to the smaller end of the outer conical surface (201), and the width of the groove on the inner conical surface (103) gradually decreases from the larger end of the inner conical surface (103) to the smaller end of the inner conical surface (103).

9. The articulating mechanism of claim 1 wherein,

the width of the groove on the outer conical surface (201) gradually decreases from the larger end of the outer conical surface (201) to the smaller end of the outer conical surface (201), and the width of the boss on the inner conical surface (103) gradually decreases from the larger end of the inner conical surface (103) to the smaller end of the inner conical surface (103).

10. A robotic arm comprising an articulating mechanism as claimed in any one of claims 1 to 9.

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