CN113910199A - Easy dismouting flange coupling assembling and robot - Google Patents

Abstract

The invention relates to an easily assembled and disassembled flange connecting assembly and a robot, comprising: first part and second part, first part can cup joint in the second part, first part and second part include the loop configuration respectively and along the trompil of coupling assembling circumference distribution, coupling assembling includes locking module and orientation module, the locking module is used for connecting the first trompil of first part and the third trompil of second part, the orientation module is used for connecting the second trompil of first part and the fourth trompil of second part, above-mentioned first, second, third, four trompils are including the fitting surface and the non-contact surface that are located the different homonymies of locking module/orientation module axis of circumference or axial respectively, locking module or orientation module can rather than the fitting surface butt, and rather than the non-contact surface formation clearance in order to restrict the relative motion of first part and second part. The invention has the beneficial effects that: the first part and the second part are convenient to lock, the operation space is large, and the locking effect is stable.

Description

Easy dismouting flange coupling assembling and robot

Technical Field

The invention relates to a connecting structure between two components, in particular to an easily-disassembled flange connecting assembly and a robot comprising the same.

Background

With the development of society, robots are beginning to be widely used in various fields including home robots, industrial robots, and the like. Industrial robots generally require different parts to be connected by joints, which require a mechanism for positioning and locking the joints. The joint connecting structure in the prior art mainly connects the side surfaces of joints, and the connecting mode has small installation space and complex operation. The prior art also provides a mode of additionally installing a fixing ring on the outer side of the joint shaft and screwing the fixing ring through a screw, but the mode increases the processing and manufacturing difficulty, the attractiveness is not enough, and the screw head is exposed outside to limit the improvement of the protection grade of the robot.

Therefore, there is a need for a connection assembly and a robot using the same, which is easy to install, simple in structure and easy to operate.

Disclosure of Invention

In view of this, the present invention provides an easy-to-assemble and disassemble flange connection assembly with convenient installation, simple structure and convenient operation, and a robot using the same.

The invention can adopt the following technical scheme: a connection assembly, comprising: the first component and the second component are sleeved with the second component and respectively comprise annular structures; the first part comprises a first opening and a second opening which are distributed along the circumferential direction of the first part; the second part comprises a third opening and a fourth opening which are distributed along the circumferential direction of the second part; characterized in that, coupling assembling is including being used for connecting the locking module of first trompil and third trompil to and be used for connecting the orientation module of second trompil and fourth trompil, first trompil and third trompil include fitting surface and non-contact surface respectively, the fitting surface that first trompil and third open position are located axial or circumference is located the different sides of locking module axis, the locking module can with non-contact surface formation clearance, and with the fitting surface at least partly butt is in order to restrict the relative motion of first part and second part.

Further, second trompil and fourth trompil include fitting surface and non-contact surface respectively, the fitting surface that second trompil and fourth trompil are located axial or circumference is located the different sides of orientation module axis, orientation module can form the clearance with the non-contact surface of second trompil and fourth trompil to and the fitting surface with second trompil and fourth trompil at least partially butt in order to restrict the relative motion of first part and second part.

Further, at least one of the mating surface against which the locking module abuts and the mating surface against which the positioning module abuts includes an inclined surface.

Further, the angle of inclination formed by the abutting mating surface of the locking module relative to the central axis of the locking module is smaller than the angle of inclination formed by the non-contact surface and the non-contact surface, and/or the angle of inclination formed by the abutting mating surface of the positioning module relative to the central axis of the positioning module is smaller than the angle of inclination formed by the non-contact surface and the non-contact surface.

Further, the inclination angle of the matching surface is smaller than the friction angle of the connecting component, so that a self-locking function is realized.

Further, the first and third openings may include trapezoidal holes.

Further, the second opening and the fourth opening include at least one of a trapezoidal hole, a round hole, a polygonal hole, and an opposite-type hole.

Further, the locking module and/or the positioning module comprises a locking member and a limiting element, a through hole is formed in the limiting element for the locking member to pass through, and the limiting element can be matched with the openings of the first part and the second part to limit the relative movement of the first part and the second part.

Further, the retaining member is a threaded rod or a screw, and the third opening and/or the fourth opening include threads matched with the retaining member.

Further, the first opening and the second opening are arranged at two ends of the circumference of the first component, and the third opening and the fourth opening are arranged at two ends of the circumference of the second component.

Further, the fitting surface and the non-contact surface are respectively distributed along the circumferential direction and the axial direction of the connecting assembly, the locking module can be abutted with the fitting surface distributed along the circumferential direction to limit the circumferential relative movement of the first component and the second component, and the locking module can be contacted with the fitting surface distributed along the axial direction to limit the axial relative movement of the first component and the second component.

Further, the connecting assembly is used in the field of robots and is used for connecting adjacent joints of a robot.

The invention also provides the following technical scheme: a robot is characterized by comprising the connecting assembly.

Further, the robot includes an industrial robot and a cooperative robot.

Compared with the prior art, the specific implementation mode of the invention has the beneficial effects that: the first and second parts comprise circumferentially distributed openings so that the user can lock the first and second parts by manipulating the outer periphery of the parts in a manner that provides a large operating space and is convenient to operate. Simultaneously, set up locking module and orientation module and connect the corresponding trompil on first part and the second part respectively for locking simple structure, through the effort of fitting surface, make locking firm and locking effect relatively stable.

Drawings

The above objects, technical solutions and advantages of the present invention can be achieved by the following drawings:

FIG. 1 is a schematic view of a connection assembly according to one embodiment of the present invention

FIG. 2 is an exploded view of the connection assembly shown in FIG. 1

FIGS. 3 and 4 are schematic circumferential views of a coupling assembly according to an embodiment of the present invention, before and after locking

FIGS. 5 and 6 are schematic circumferential views of a positioning module before and after locking of a coupling assembly according to an embodiment of the invention

FIGS. 7 and 8 are schematic circumferential views of a locking module before and after locking of a coupling assembly in accordance with an embodiment of the present invention

FIGS. 9 and 10 are axial schematic views of a coupling assembly according to an embodiment of the invention before and after locking

FIGS. 11 and 12 are axial views of a positioning module before and after locking of a coupling assembly in accordance with an embodiment of the present invention

FIGS. 13 and 14 are axial views of a locking module before and after locking of a coupling assembly in accordance with an embodiment of the present invention

FIG. 15 is a further exploded view of the connection assembly shown in FIG. 1

FIG. 16 is a partial schematic view of a collaborative robot according to an embodiment of the present invention

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in detail and fully with reference to the accompanying drawings in the following embodiments of the present invention, and it is obvious that the described embodiments are some but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1-2 show an exemplary schematic view of a connecting assembly 100 according to an embodiment of the present invention, and fig. 2 shows an exploded view of the connecting assembly of fig. 1. The connecting assembly 100 comprises a first component 1 and a second component 2, wherein the first component 1 can be sleeved on the second component, and the first component 1 and the second component 2 respectively comprise annular structures. Specifically, the first component 1 and the second component 2 both have a certain thickness, that is, the inner diameter and the outer diameter of the first component 1 have a certain difference, and the inner diameter of the first component 1 is greater than or equal to the inner diameter of the second component 2, so that the first component 1 can be sleeved on the second component 2. Referring to fig. 2, the first member 1 includes a first opening 11 and a second opening 12 distributed along a circumferential direction of the first member, the second member 2 includes a third opening 21 and a fourth opening 22 distributed along the circumferential direction of the second member 2, the connection assembly 100 further includes a locking module for connecting the first opening 11 and the third opening 21, a positioning module 30 for connecting the second opening 12 and the fourth opening 22, the first opening 11 and the third opening 21 respectively include a plurality of faces, specifically, a mating face and a non-contact face, specifically, the first opening 11 and the third opening 21 respectively include a mating face and a non-contact face, that is, the first opening 11 includes a mating face and a non-contact face, the third opening 21 also includes a mating face and a non-contact face, specifically, the connection assembly 100 includes a circumferential direction and an axial direction, the circumferential direction and the axial direction not specifically described in the present invention generally refer to the circumferential direction and the axial direction of the connection assembly 100, and, the connecting assembly 100, not specifically illustrated in the present invention, generally refers to an assembly including a first member 1, a second member 2, a locking module and a positioning module 30, and the locking module and the positioning module 30 are integrally installed with the first member 1 and the second member 2. Referring to fig. 3-4, fig. 3 and 4 show circumferential cross-sectional views of the locking front and rear attachment assemblies 100, respectively. First trompil 11 and third trompil 21 are including fitting surface and non-contact surface respectively, first trompil 11 and third trompil 21 are located the different sides that lock the module axis respectively in the axial or the fitting surface of circumference, and are specific, first trompil 11 and third trompil 21 are including fitting surface and the non-contact surface that is located coupling assembling 100 circumference respectively, and, first trompil 11 and third trompil are including being located coupling assembling 100 axial fitting surface and non-contact surface respectively, and are specific, in coupling assembling 100's week, distribute the fitting surface and the non-contact surface that have both been separately for first trompil 11 and third trompil 21, in coupling assembling 100's axial, distribute the fitting surface and the non-contact surface that have both been separately for first trompil 11 and third trompil 21. Specifically, the first opening 11 and the third opening 21 are located at different sides of the central axis of the locking module, and when the locking module is at least partially connected to the first opening 11 and the third opening 21, the central axis of the locking module can pass through the first opening 11 and the third opening 21, in the circumferential direction of the connecting assembly 100, the first opening 11 and the third opening 21 have matching surfaces located at different sides of the central axis of the locking module, and in the axial direction of the connecting assembly 100, the first opening 11 and the third opening 21 have matching surfaces located at different sides of the central axis of the locking module. The locking module is capable of forming a gap with the non-contact surface and of at least partially abutting the mating surface to limit relative movement of the first and second components 1, 2. In this embodiment, first trompil 11 and third trompil 21 include respectively along fitting surface and the non-contact surface of coupling assembling 100 circumference distribution to and include along the fitting surface and the non-contact surface of coupling assembling 100 axial distribution, and in the circumference of coupling assembling 100, first trompil 11 and third trompil 21 include respectively the fitting surface that is located the different sides of locking module axis, the locking module can with the fitting surface butt of the different sides of locking module axis, in order to restrict first part 1 and the relative motion of second part 2 circumference. Similarly, in the axial direction of the connection assembly 100, the first opening 11 and the third opening 21 respectively include matching surfaces located on different sides of a central axis of the locking module, and the locking module can abut against the matching surfaces on different sides of the central axis of the locking module to limit the axial relative movement of the first component 1 and the second component. Specifically, the first component 1 includes the first opening 11, the second component 2 includes the third opening 21, the locking module can abut against the mating surfaces of the first opening 11 and the third opening 21 to limit the relative movement of the first component and the second component 2, that is, in the axial direction or the circumferential direction of the connection assembly 100, the locking module abuts against the mating surfaces located on different sides of the central axis of the locking module, that is, the locking module abuts against the mating surfaces located on different sides of the locking module of the first opening 11 and the third opening 21 to limit the relative movement of the first component and the second component 2. Similarly, in the axial direction of the connection assembly 100, the matching surface of the first opening 11 is located on one side of the central axis of the locking module, the matching surface of the third opening 21 is located on the other side of the central axis of the locking module, different sides of the locking module can be respectively abutted against the matching surface of the first opening 11 on one side of the central axis of the locking module and the matching surface of the third opening 21 on the other side of the central axis of the locking module so as to limit the relative movement of the first component and the second component 2, and the relative movement includes circumferential relative movement and axial relative movement. The circumferential direction of the first component 1 and the second component 2 is provided with the holes, and the locking module is connected with the positioning module 30 through the holes for locking, so that the first component 1 and the second component 2 can be operated from the outside when being locked, the operation space is large, and the operation is convenient. Through setting up fitting surface and non-contact surface for first trompil 11 and third trompil 21, the locking module can form the clearance with the fitting surface butt and non-contact surface to locking first part 1 and second part 2, restricting the relative motion of first part 1 and second part 2, this design simple structure easily realizes, and the butt of different sides produces opposite power, makes locking effect firm, reliable.

In this embodiment, a locking module connects the first opening 11 and the third opening 21, the locking module is used for limiting the relative movement of the first component 1 and the second component 2, and the locking module can abut against the matching surfaces of the first opening 11 and the third opening 21 to limit the relative movement of the first component 1 and the second component 2. As shown in fig. 4, when the locking module is connected to the first opening 11 and the third opening 21 and abuts against the mating surfaces of the first opening 11 and the third opening 21, respectively, the locking module generates opposite forces to the first component 1 and the second component 2 to assist locking of the first component and the second component 2. The connecting assembly 100 includes a positioning module 30, the positioning module 30 is used for connecting the second opening 12 and the fourth opening, the first component includes the second opening 12, the second component 2 includes the fourth opening 22, the second opening 12 is a through hole, and the positioning module 30 can pass through the second opening 12 and extend to the fourth opening 22. In one embodiment, the positioning module 30 is capable of cooperating with the second and fourth openings 12 and 22 to limit the relative movement of the first and second components 1 and 2, the positioning module 30 is configured to initially limit the relative movement of the first and second components 2, and the locking module is configured to lock the first and second components 2 to limit the relative movement of the first and second components 2. The positioning module 30 may have various forms as long as it can connect the second opening 12 and the fourth opening 22 and can primarily restrict the relative movement of the first member and the second member 2. This example provides a preferred embodiment, but not the only way. The present embodiment provides a preferable design scheme for the positioning module 30 and the second opening 12 and the fourth opening 22, referring to fig. 3-4, similar to the first opening 11 and the third opening 21, the second opening 12 and the fourth opening 22 respectively include a mating surface and a non-contact surface, the mating surfaces of the second opening 12 and the fourth opening 22 located in the axial direction or the circumferential direction are located on different sides of the central axis of the positioning module 30, similarly, in the circumferential direction of the connecting assembly 100, one of two sides of the central axis of the positioning module 30 is the mating surface of the second opening 12, the other side is the mating surface of the fourth opening 22, in the axial direction of the connecting assembly 100, one of two sides of the central axis of the positioning module 30 is the mating surface of the second opening 12, the other side is the mating surface of the fourth opening 22, from the perspective of the opening itself, the mating surfaces of the second opening 12 and the non-contact surface of the second opening 12 are located on two sides of the central axis of the positioning module 30, the fourth opening 22 works the same. The positioning module 30 is at least partially connected to the second opening 12 and the fourth opening 22, the central axis of the positioning module 30 can pass through the second opening 12 and the fourth opening 22, the positioning module 30 can form a gap with the non-contact surface of the second opening 12 and the fourth opening 22, and at least partially abut against the matching surface of the second opening 12 and the fourth opening 22 to limit the relative movement of the first component and the second component 2. Specifically, in the circumferential direction or the axial direction of the connecting assembly 100, the second opening 12 is located on one side of the central axis of the positioning module 30 and is a matching surface, and the other side is a non-contact surface, and the fourth opening 22 is located on one side of the central axis of the locking module and is a matching surface, and the other side is a non-contact surface. Through setting up location module 30 and respectively butt second trompil 12 and fourth trompil 22 circumference and axial fitting surface, form the clearance with the non-contact surface of second trompil 12 and fourth trompil 22 simultaneously, when locking module restriction first part and second part 2 relative motion, can exert reverse atress to this motion for the locking effect is more firm, the relative motion of better restriction first part and second part 2.

In this embodiment, the connection assembly 100 includes a positioning module 30 and a locking module, wherein the positioning module 30 is used for connecting the second opening 12 and the fourth opening 22 to preliminarily limit the relative movement of the first component 1 and the second component 2, and the locking module is used for connecting the first opening 11 and the third opening 21 to further limit the relative movement of the first component 2 and the second component. Referring to fig. 3 to 14, the connection assembly 100 includes a first component 1 and a second component 2, the first component 1 and the second component 2 include a ring-shaped structure, when the first component 1 is sleeved on the second component 2, circumferential and axial movement of the first component 1 and the second component 2 is possible, so that the first component 1 and the second component 2 cannot be locked, and the first component 1 and the second component 2 are respectively provided with a hole along the circumferential direction, preferably, the hole extends along the radial direction, and the hole is arranged so that the first component 1 and the second component 2 can be connected through a module with a connection function, so as to achieve the effect of locking the first component 1 and the second component 2. In particular, the apertures of the first and second components 1, 2 should be distributed approximately close to each other, so that when the first component 1 is sleeved on the second component 2, the apertures of the first and second components 1, 2 can be at least partially aligned, so that the apertures of the first and second components 1, 2 can be connected. Specifically, the first member 1 and the second member 2 each include two or more openings, for example, three openings, four openings, or more, the number of openings of the first member 1 and the number of openings of the second member 2 correspond, and the positions of the openings of the first member 1 and the second member 2 can substantially correspond. In this embodiment, the first member 1 and the second member 2 each include two openings, i.e., the first member 1 includes a first opening 11 and a second opening 12, the second member 2 includes a third opening 21 and a fourth opening 22, the positioning module 30 connects the second opening 12 and the fourth opening 22 to restrict the relative movement of the first member 1 and the second member 2, and the locking module connects the first opening 11 and the third opening 21 to further restrict the relative movement of the first member and the second member 2. When the first member is fitted to the second member 2, it is necessary to restrict the circumferential and axial movements of the first member and the second member 2, and a process of restricting the movements of the first member 1 and the second member 2 will be described with reference to the drawings. In the present embodiment, the first member 1 and the second member 2 will be described in the form of a circular ring. Referring to fig. 3, the first member 1 and the second member 2, i.e., the rings, are vertically placed on a horizontal plane, and the front view is expanded to describe the rings, and the following descriptions "up", "down", "left" and "right" are illustrated in the drawing and the orientation of the connecting assembly 100 placed in the current drawing for understanding, but it should be noted that the explanatory description is not to be construed as limiting the scope of the present invention. Referring to fig. 3-4, fig. 3 and 4 are circumferential cross-sectional views of a coupling assembly 100 according to an embodiment of the present invention, fig. 3 is a circumferential schematic view of a first member 1 and a second member 2 before locking, and fig. 4 is a circumferential schematic view of the first member 1 and the second member 2 after locking. The first component 1 comprises a first opening 11 and a second opening 12, the second component 2 comprises a third opening 21 and a fourth opening 22, when the first component 1 is sleeved on the second component 2, the positions of the first opening 11 and the third opening 21 approximately correspond, the positions of the second opening 12 and the fourth opening 22 approximately correspond, so that the locking module can be connected with the first opening 11 and the third opening 21, and the positioning module 30 can be connected with the second opening 12 and the fourth opening 22, the first opening 11 and the second opening 12 are through holes, the locking module can extend to the third opening 21 through the first opening 11, and the positioning module 30 can extend to the fourth opening 22 through the second opening 12. When the first component 1 is sleeved on the second component 2, the two components can move relatively due to the gap between the two components. The positioning module 30 is used to initially limit the relative movement of the first component 1 and the second component 2. When the first component 1 and the second component 2 are connected, the first component 1 is sleeved on the second component 2, the positioning module 30 is used for connecting the second opening 12 and the fourth opening 22, and then the locking module is used for connecting the first opening 11 and the third opening 21 so as to lock the connecting assembly 100. The locking process of the positioning module 30 will be explained below. Fig. 5 and 6 show schematic diagrams of the before-after-locking circumferential positioning module 30, the positioning module 30 connects the second opening 12 and the fourth opening 22, the second opening 12 and the fourth opening 22 respectively include a matching surface and a non-contact surface in the circumferential direction of the connecting assembly 100, as shown in fig. 5 and 6, the positioning module 30 is not in close contact with the matching surfaces of the second opening 12 and the fourth opening 22 before the first component 1 and the second component 2 are locked, and the positioning module 30 abuts against the matching surfaces of the second opening 12 and the fourth opening 22 after the first component 1 and the second component 2 are locked. The central axis of the positioning module 30 is used as a reference line, and it should be noted that the central axis of the positioning module 30 is a virtual line for conveniently describing the positional relationship of each component. Second trompil 12 and fourth trompil 22 all include fitting surface and non-contact surface in week, location module 30 can butt this fitting surface produces pressure and helps first part 1 and second part 2 to lock promptly, and, location module 30 can form the clearance with non-contact surface, as shown in fig. 6, the fitting surface of second trompil 12 and fourth trompil 22 is located location module 30 axis both sides, specifically, the fitting surface of second trompil 12 is located location module 30 axis left side in fig. 6, the fitting surface of fourth trompil 22 is located location module 30 axis right side, the left and right sides of location module 30 respectively with should be located the fitting surface of the left second trompil 12 of location module 30 and the fitting surface butt of the fourth trompil 22 that is located location module 30 right side, in order to restrict the relative motion of first part 1 and second part 2. The above specifically describes the locking process of positioning the module 30 in the circumferential direction of the coupling assembly 100, and the following describes the locking process of positioning the module 30 in the axial direction of the coupling assembly 100. Referring to fig. 11-12, similarly, in the axial direction of the connection assembly 100, the second opening 12 and the fourth opening 22 respectively include a matching surface and a non-contact surface, and the central axis of the positioning module 30 is used as a reference line, one side of the central axis of the positioning module 30 includes the matching surface of the second opening 12, and the other side includes the matching surface of the fourth opening 22, specifically in fig. 11-12, the left side of the central axis of the positioning module 30 includes the matching surface of the second opening 12, the right side of the positioning module 30 includes the matching surface of the fourth opening 22, the left side of the positioning module 30 abuts against the matching surface of the second opening 12, and the right side abuts against the matching surface of the fourth opening 22 to limit the relative movement of the first component 1 and the second component 2. It should be noted that the specific location of the upper mating surface on which side is located is only an exemplary illustration and is not a limitation of the invention itself. The positioning module 30 is arranged to be matched and abutted with the second hole 12 and the fourth hole 22 in the circumferential direction and the axial direction respectively so as to limit the relative movement of the first component 1 and the second component 2.

The connection assembly 100 includes a locking module for connecting the first and third apertures 11 and 21 to restrict relative movement of the first and second components 1 and 2. Next, a process of locking the first member 1 and the second member 2 by the locking module will be specifically described. First, a locking process in the circumferential direction of the connecting assembly 100 is described, referring to fig. 7 to 8, fig. 7 shows a schematic view before locking the locking module, the first opening 11 and the third opening 21 substantially correspond to each other, fig. 8 shows a schematic view after locking the locking module, taking a central axis of the locking module as a reference line, in an exemplary fig. 8, a left side of the central axis of the locking module is a mating surface of the first opening 11, a right side of the central axis of the locking module is a mating surface of the third opening 21, the left side of the locking module abuts against the mating surface of the first opening 11, and the right side of the locking module abuts against the mating surface of the third opening 21 to limit circumferential movement of the first component 1 and the second component 2. First trompil 11 and third trompil 21 still include the non-contact surface respectively, the fitting surface and the non-contact surface of first trompil 11 are located locking module axis both sides respectively, the fitting surface and the non-contact surface of third trompil 21 are located locking module axis both sides respectively, the both sides of locking module promptly respectively with the fitting surface butt of first trompil 11 and third trompil 21, simultaneously, the both sides of locking module again respectively with first trompil 11 and third trompil 21 formation clearance, the setting in clearance makes the locking module have certain motion space, make things convenient for the locking module to accomplish the butt with the fitting surface of both sides rather than the butt in order to lock first part 1 and second part 2. In the axial direction of the connecting assembly 100, referring to fig. 13-14, similarly, with the central axis of the locking module as a reference line, the mating surfaces of the first opening 11 and the third opening 21 are respectively located on different sides of the central axis of the locking module, and the locking module abuts against the mating surfaces on both sides thereof to limit the relative movement of the first component 1 and the second component 2. The arrangement of the locking module and the positioning module 30 enables the positioning module 30 to be connected with the second opening 12 and the fourth opening 22 firstly, the relative movement of the first component 1 and the second component 2 is limited preliminarily, then the locking module is connected with the first opening 11 and the third opening 21, and the matching surfaces of the first opening 11 and the third opening 21 are respectively abutted, so that the relative movement of the first component 1 and the second component 2 is further limited, the first component 1 and the second component 2 are locked, and the stability of the connecting assembly 100 is good.

Fig. 3-4 show circumferential schematic views of the coupling assembly 100 before and after locking, and fig. 9-10 show axial schematic views of the coupling assembly 100 before and after locking. Referring to fig. 3-4, after the positioning module 30 connects the second opening 12 and the fourth opening 22 in the circumferential direction of the connection assembly 100, the positioning module 30 has a certain clearance with the second opening 12 and the fourth opening 22, the first component 1 and the second component 2 have a certain degree of freedom in movement in the circumferential direction, and can be rotated slightly, the first opening 11 and the third opening 21 are connected by the locking module, and abut against the mating surfaces of the first opening 11 and the third opening 21 on two sides, for example, the left side of the locking module abuts against the mating surface of the first opening 11, the right side of the locking module abuts against the mating surface of the third opening 21, the first component 1 rotates counterclockwise relative to the second component due to the abutting cooperation of the left side of the locking module, the first component 1 is restricted from movement when contacting the positioning module 30 in a small-amplitude rotation manner, so as to complete the locking of the first component, and the right side of the locking module abuts against the matching surface of the third opening 21, so that the second component 2 generates clockwise rotation relative to the first component, and the second component 2 is limited to move when contacting the positioning module 30 in a small-amplitude rotation manner, so as to complete the locking of the second component 2. The relative movement of the above locking processes is performed simultaneously, and the locking directions of the first component 1 and the second component 2 are opposite, so that the locking is firmer. Referring to fig. 9-10, after the positioning module 30 is connected to the second opening 12 and the fourth opening 22 in the axial direction of the connecting assembly 100, similar to the locking in the circumferential direction of the connecting assembly 100, the positioning module 30 has a certain clearance from the second opening 12 and the fourth opening 22, so that the first member 1 and the second member 2 have a small movement in the axial direction of the coupling assembly 100, the first opening 11 and the third opening 21 are connected by the locking module, the right side of the locking module abuts against the mating surface of the first opening 11, the left side of the locking module abuts against the mating surface of the third opening 21, i.e. the left and right sides of the locking module are pressed, the first part 1 is moved to the right with respect to the second part 2, the second part 2 is moved to the left with respect to the first part 1, until it contacts the positioning module 30, locking of the first and second components 1, i.e. limiting relative axial movement of the first and second components, is thereby accomplished.

In this embodiment, the mating surface includes a chamfer. That is, the mating surfaces of the first opening 11 and the third opening 21 are inclined surfaces with which the lock module can abut to restrict the relative movement of the first member 1 and the second member 2, and the mating surfaces of the second opening 12 and the fourth opening 22 are inclined surfaces with which the positioning module 30 can abut to restrict the relative movement of the first member and the second member 2. Specifically, the mating surfaces of the first opening 11 and the third opening 21 are inclined surfaces, that is, the mating surface abutting against the locking module is an inclined surface; the mating surfaces of the second opening 12 and the fourth opening 22 are inclined surfaces, that is, the mating surfaces against which the positioning module 30 abuts are inclined surfaces. Specifically, one or both of the mating surface against which the lock module abuts and the mating surface against which the positioning module abuts are inclined surfaces. Through designing the fitting surface into the inclined plane, the locking module is when the fitting surface of the first trompil 11 of butt and third trompil 21, and the pressure distribution direction of production is suitable for strengthening the locking effect, and simultaneously, location module 30 can produce the effort of supplementary locking module locking first part and second part 2 when the fitting surface of butt second trompil 12 and fourth trompil 22, strengthens the locking effect for coupling assembling 100's locking effect is better, and locking is firm. In other embodiments, the mating surface may take other forms as well. For example, in an implementable embodiment, the matching surface includes a concave surface in the shape of an arc, and accordingly, if the matching surface against which the locking module abuts, that is, the matching surface of the first opening 11 and the third opening 21, is designed as a concave surface in the shape of an arc, the locking module correspondingly has a structure matching with the concave surface in the shape of an arc, so that the locking module can generate an acting force for locking the first component and the second component 2 when the matching surface abuts, it should be noted that the locking module generates a pressure with the matching surface and does not need to completely abut against the matching surface, and the locking module may abut against the matching surface at least partially as long as the acting force for locking the first component and the second component 2 can be generated. Specifically, in this embodiment, the matching surfaces are inclined surfaces, the locking module and the positioning module 30 respectively abut against different matching surfaces, the matching surfaces that the locking module and the positioning module 30 abut against may be both designed as inclined surfaces, or only one of them may be designed as an inclined surface, and the other implementation manner that is deformable according to the present invention may be adopted for the other. Specifically, the mating surfaces against which the locking module abuts include a mating surface along the circumferential direction of the connecting assembly 100 and a mating surface along the axial direction of the connecting assembly 100, wherein the mating surfaces along the circumferential direction of the connecting assembly 100 and the mating surfaces along the axial direction of the connecting assembly 100 may be identical in shape, such as both being inclined surfaces, or may not be identical in shape, such as one of the inclined surfaces, and the other of the inclined surfaces being in other shapes. The mating surfaces against which the positioning modules 30 abut, similar to the mating surfaces against which the locking modules abut, may or may not coincide in the circumferential and axial directions. Specifically, the matching surfaces of the locking module, which are abutted in the circumferential direction or the axial direction, respectively include a matching surface of the first opening 11 and a matching surface of the third opening 21, the matching surfaces of the first opening 11 and the third opening 21 are located on two sides of the central axis of the locking module, and the matching surfaces of the first opening 11 and the third opening 21 may be the same shape or different shapes, for example, one of the matching surfaces is an inclined surface, and the other is an arc-shaped concave surface.

The locking module abuts the mating surfaces of the first and third openings 11, 21, the first and third openings 11, 21 comprising mating surfaces distributed circumferentially and mating surfaces distributed axially. Specifically, in the circumferential direction of the connection assembly 100, referring to the embodiment of fig. 4, the locking module respectively abuts against the mating surface of the first opening 11 located on the left side of the central axis of the locking module and abuts against the mating surface of the third opening 21 located on the right side of the central axis of the locking module, that is, in the circumferential direction, the first opening 11 located on the left side of the central axis of the locking module is the mating surface, the first opening 11 located on the right side of the central axis of the locking module is the non-contact surface, and the angle of inclination formed by the mating surface located on the left side relative to the central axis of the locking module is smaller than the angle of inclination formed by the non-contact surface relative to the central axis of the locking module, so that the locking module can abut against the mating surface on the left side of the central axis, and form the clearance with the non-contact surface on right side, third trompil 21 principle is similar with this first trompil 11 in circumference, and the direction of third trompil 21 and the first trompil 11 fitting surface is located the different sides of locking module axis, and simultaneously, the non-contact surface of third trompil 21 and the non-contact surface of first trompil 11 are located the different sides of locking module axis. In the axial direction of the connecting assembly 100, referring to fig. 10, similarly to the circumferential direction, the mating surfaces of the first opening 11 and the third opening 21 form an inclination angle with the central axis of the locking module that is smaller than the inclination angle formed by the non-contact surfaces of the first opening 11 and the third opening 21 with the central axis of the locking module, and the mating surfaces of the first opening 11 and the third opening 21 are located on different sides of the central axis of the locking module. And, the positioning module 30 abuts the second and fourth apertures 12, 22, the second and fourth apertures 12, 22 including mating surfaces distributed circumferentially and mating surfaces distributed axially. The mating surface against which the positioning module 30 abuts forms an inclination angle with respect to the central axis of the positioning module 30 that is smaller than an inclination angle formed by the non-contact surface and the central axis of the positioning module 30. Specifically, in the axial direction or the circumferential direction of the connection assembly 100, an inclination angle formed by the mating surface of the second opening 12 and the central axis of the positioning module 30 is smaller than an inclination angle formed by the non-contact surface of the second opening 12 and the central axis of the positioning module 30, and an inclination angle formed by the mating surface of the fourth opening 22 and the central axis of the positioning module 30 is smaller than an inclination angle formed by the non-contact surface of the fourth opening 22 and the central axis of the positioning module 30. The distribution of the mating surfaces against which the positioning modules 30 abut in the circumferential and axial directions is similar to the distribution of the mating surfaces against which the locking modules abut, and will not be described in detail here. The inclination angle formed by the matching surface abutted to the locking module and the central axis of the locking module is small relative to the inclination angle formed by the non-abutted non-contact surface, so that the locking module can be abutted to the matching surface and a gap is reserved between the locking module and the non-contact surface, and meanwhile, the locking module has a certain moving range by a slightly larger angle of the non-contact surface, and the locking module can be conveniently locked on the first component 1 and the second component 2 from two different directions. The matching surface and the 30 axis angle of the positioning module 30 are smaller than the angle formed by the non-contact surface, so that the locking effect of the first component and the second component 2 is enhanced, and meanwhile, the locking module has a certain moving range when being locked, and the locking module is convenient to lock.

The locking module can with the fitting surface butt of first trompil 11 and third trompil 21, location module 30 can with the fitting surface butt of second trompil 12 and fourth trompil 22, the angle of inclination that first trompil 11 and third trompil 21 formed for the locking module axis is less than friction angle between the coupling assembling 100 fitting surface to realize self-locking function. Preferably, the inclination angle formed by the second opening 12 and the fourth opening 22 with respect to the central axis of the positioning module 30 is smaller than the friction angle between the mating surfaces of the connecting assembly 100, so as to achieve the self-locking function. Specifically, the friction angle is determined depending on the material of the connecting member, for example, the friction angle of a steel material and a steel material is about 8.5 degrees in the case of no lubrication.

As with the first and second members described above, each of the first and second members 1 and 2 may include a plurality of openings, the number of openings of the first and second members 1 and 2 corresponding, and the positions of the openings of the first and second members 2 corresponding substantially to facilitate connection of the positioning module 30 or the locking module 40. In particular, the positioning module 30 can cooperate with the openings of the first and second components 2 to initially limit the relative movement of the first and second components 2, in particular, the openings of the first and second components 1 and 2 cooperating with the positioning module 30 may comprise various conventional shapes, for example, by means of a pin connection, a key connection, a mortise and tenon connection, a threaded connection, etc., and preferably, the connection assembly 100 comprises one positioning module 30. Specifically, the locking module 40 can be matched with the open holes of the first component 1 and the second component 2 to further limit the relative movement of the first component 1 and the second component 2, specifically, the open holes of the first component 1 and the second component 2 matched with the locking module 40 include a matching surface and a non-contact surface, the locking module 40 can abut against the matching surface and form a gap with the non-contact surface, and the matching surfaces of the first component 1 and the second component 2 abutted against the locking module 40 are respectively located on different sides of a central axis of the locking module 40, preferably, the open holes of the first component 1 and the second component 2 matched with the locking module 40 are trapezoidal holes, and preferably, the open holes of the first component 1 and the second component 2 matched with the positioning module 30 are trapezoidal holes. Referring to fig. 4, 10, the trapezoidal hole, that is, the section of the hole in the front view direction is trapezoidal, and the section in the left view direction is trapezoidal, and the cross section of the hole may have various shapes such as a rectangle, a circle, and the like. In a preferred embodiment of the present invention, the first member 1 and the second member 2 each comprise two openings, i.e. the first member 1 comprises a first opening 11 and a second opening 12, the second member 2 comprises a third opening 21 and a fourth opening 22, the first opening 11 and the third opening 21 are trapezoidal shaped holes, and the second opening 12 and the fourth opening 22 are at least one of trapezoidal shaped holes, round holes, polygonal shaped holes, and opposite-shaped holes. Preferably, the second opening 12 and the fourth opening 22 are trapezoidal openings, and when each of the openings of the first component 1 and the second component 2 is a trapezoidal opening, the locking module 40 and the positioning module 30 are in a structure at least partially matching with the trapezoidal openings. In the present embodiment, the first opening 11 and the second opening 12 are disposed at two ends of the circumference of the first component 1, the third opening 21 and the fourth opening 22 are disposed at two ends of the circumference of the second component 2, that is, the first opening 11 and the second opening 12 are disposed on the annular component of the first component 1, and the third opening 21 and the fourth opening 22 are disposed on the annular component of the second component 2, preferably, the first opening 11 and the second opening 12 are disposed at two ends of the diameter of the first component 1, the third opening 21 and the fourth opening 22 are disposed at two ends of the diameter of the second component 2, that is, the annular component has a diameter passing through the center, a connection line of the first opening 11 and the second opening 12 can pass through the center of the annular component of the first component 1, and a connection line of the third opening 21 and the fourth opening 22 can pass through the center of the annular component of the second component 2. By arranging the first opening 11 and the second opening 12 at two ends of the diameter of the annular part of the first part 1 and arranging the third opening 21 and the fourth opening 22 at two ends of the diameter of the annular part of the second part 2, the first part and the second part are stressed uniformly, and locking is facilitated.

Locking module 40 is used to connect first opening 11 and third opening 21, positioning module 30 is used to connect second opening 12 and fourth opening 22, preferably, referring to fig. 15, locking module 40 includes retaining member 6 and stop element 4, a through hole is formed inside stop element 4 for retaining member 6 to pass through, and stop element 4 of locking module 40 is used to cooperate with first opening 11 and third opening 21 to limit the relative movement of first part 1 and second part 2. Preferably, the positioning module 30 comprises a locking member 5 and a limiting element 3, a through hole is formed inside the limiting element 3 for the locking member to pass through, and the limiting element 3 of the positioning module 30 is used for matching with the second opening 12 and the fourth opening 22 to limit the relative movement of the first part and the second part. Specifically, the locking member (5,6) is a screw or a bolt, and the third opening 21 and/or the fourth opening 22 include a thread engaged with the locking member, and the thread is located inside the third opening 21 and/or the fourth opening 22. Through with locking module 40 and/or orientation module 30 components of a whole that can function independently setting for convenient the change after locking module 40 and orientation module 30 wear out, only need to change the retaining member promptly, it is convenient to change on the one hand, and on the other hand has reduced the cost of changing the part. In another embodiment, the third opening and the fourth opening may not include threads, for example, the retaining member may pass through the stop member to extend to the third opening or the fourth opening, and the retaining member may pass through the third opening, or the retaining member may pass through the fourth opening, the retaining member end including threads, and a nut may be screwed from the retaining member front end to limit the position of the retaining member, thereby limiting the relative movement of the first and second members.

It should be noted that, in the embodiment described in the specification, the locking module 40 is used for connecting the first opening 11 and the third opening 21, and the number of the first opening 11 and the third opening 21 is not limited to one opening each, of course. Specifically, the locking module 40 can connect a group of openings formed by the first opening 11 and the third opening 21, the first opening 11 can include two or more openings, the third opening 21 can also include two or more openings correspondingly, the first opening 11 and the third opening 21 can respectively form two or more groups of openings, correspondingly, the number of the locking modules 40 is not limited to one, the two or more locking modules 40 can be used for connecting two or more groups of openings formed by the first opening 11 and the third opening 21 individually, and similarly, the number of the positioning modules is not limited to 1, and is greater than or equal to 1.

The beneficial effects of the above embodiment are as follows: the relative movement of the first component and the second component is limited by the locking module 40 and the positioning module 30 by providing the first component and the second component with circumferentially distributed openings, so that the manipulation and locking can be performed from the outer side of the connecting assembly 100, the operation is convenient, and the operation space is large; the locking module 40 and the positioning module 30 are abutted against the matching surface to form a gap with the non-contact surface, so that the locking effect is stable.

The present invention provides a connecting assembly 100, which is mainly used in the field of robots, such as modular robots, for connecting two adjacent parts thereof, and preferably, in the field of industrial robots, which have a plurality of joints, and two adjacent joints can be connected by the connecting assembly 100.

The invention also provides a robot comprising any of the above-described connection assemblies 100. The robot includes an industrial robot, a cooperative robot, etc., and the above-mentioned connecting assembly 100 can be used to connect two adjacent parts of the robot to limit the mutual movement thereof, so as to provide a stable robot structure and ensure the stability of the robot operation.

The present invention provides an embodiment of a collaborative robot, and referring to fig. 16, the collaborative robot comprises a base 200 for carrying the collaborative robot while facilitating mounting of the collaborative robot to a work platform; a robot arm including two or more link structures 400, the robot arm being capable of moving to assist the robot in performing work; a joint 300, which is used to connect adjacent link structures, or may also be used to connect adjacent joints 300. The cooperative robot further comprises the above-mentioned connection assembly 100, which comprises a first part and a second part, wherein the first part can be sleeved on the second part, and the first part and the second part respectively comprise a ring-shaped structure. In this embodiment, the connecting assembly can be used to connect the joint 300 and the joint 300, that is, the first component includes the joint 300, the second component includes another joint 300 adjacent to the first component, the connecting assembly can be used to connect two adjacent joints, so that the two adjacent joints can be connected from the periphery of the joint, and the connecting structure is stable. In this embodiment, the connecting assembly may also be used to connect the joint 300 and the connecting rod 400, that is, the first component includes the joint 300, and the second component includes the connecting rod 400, or the first component includes the connecting rod 400, and the second component includes the joint 300, and the first component is sleeved on the second component, that is, the joint 300 is sleeved on the connecting rod 400, or the connecting rod 400 is sleeved on the joint 300 to connect the joint 300 and the connecting rod 400. The cooperative robot comprises the connecting assembly, so that the joint of the cooperative robot is more conveniently connected with the joint or the joint is more conveniently connected with the connecting rod, the joint can be operated from the outer side of the cooperative robot to be connected and locked, and meanwhile, the connecting assembly designed by the invention has a better locking effect, so that the cooperative robot can also ensure a good locking effect when working with a larger load. The cooperative robot with the stable connection locking structure is provided, and the working stability and reliability of the cooperative robot are guaranteed.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (14)

1. A connection assembly, comprising:

the first component and the second component are sleeved with the second component and respectively comprise annular structures;

the first part comprises a first opening and a second opening which are distributed along the circumferential direction of the first part; the second part comprises a third opening and a fourth opening which are distributed along the circumferential direction of the second part;

characterized in that, coupling assembling is including being used for connecting the locking module of first trompil and third trompil to and be used for connecting the orientation module of second trompil and fourth trompil, first trompil and third trompil include fitting surface and non-contact surface respectively, the fitting surface that first trompil and third open position are located axial or circumference is located the different sides of locking module axis, the locking module can with non-contact surface formation clearance, and with the fitting surface at least partly butt is in order to restrict the relative motion of first part and second part.

2. The connection assembly of claim 1, wherein the second and fourth apertures each include a mating surface and a non-contact surface, the mating surfaces of the second and fourth apertures located axially or circumferentially on different sides of a central axis of the positioning module, the positioning module capable of forming a gap with the non-contact surfaces of the second and fourth apertures and at least partially abutting the mating surfaces of the second and fourth apertures to limit relative movement of the first and second components.

3. The connection assembly of claim 2, wherein at least one of the mating surfaces against which the locking module abuts and the mating surface against which the positioning module abuts includes a ramp.

4. A connection assembly according to claim 3, characterised in that the mating surface against which the locking module abuts forms an angle of inclination with respect to the locking module's centre axis which is smaller than the angle of inclination with which the non-contact surface is formed, and/or in that the mating surface against which the positioning module abuts forms an angle of inclination with respect to the positioning module's centre axis which is smaller than the angle of inclination with which the non-contact surface is formed.

5. The connection assembly according to claim 4, wherein the mating surface has an inclination angle smaller than a friction angle of the connection assembly to achieve a self-locking function.

6. The connection assembly according to claim 1, wherein the first and third openings comprise trapezoidal openings.

7. The connection assembly according to claim 1, wherein the second and fourth apertures comprise at least one of a trapezoidal aperture, a round aperture, a polygonal aperture, and a reversed-shaped aperture.

8. A connection assembly according to claim 2, characterised in that the locking and/or locating module comprises a retaining member and a restraining element, the restraining element having a through hole formed therein for the passage of the retaining member therethrough, the restraining element being capable of engaging with the apertures of the first and second parts to restrain relative movement of the first and second parts.

9. The connection assembly of claim 8, wherein the retaining member is a threaded rod or screw and the third and/or fourth apertures include threads that mate with the retaining member.

10. The connection assembly according to claim 1, wherein the first and second openings are disposed at circumferential ends of the first member and the third and fourth openings are disposed at circumferential ends of the second member.

11. The connection assembly according to claim 1, wherein the mating and non-contact surfaces are distributed circumferentially and axially along the connection assembly, respectively, the locking module being abuttable to the circumferentially distributed mating surfaces to limit circumferential relative movement of the first and second components, and the locking module being contactable to the axially distributed mating surfaces to limit axial relative movement of the first and second components.

12. A connecting assembly according to any of claims 1-11, for use in the field of robotics, for connecting adjacent joints of a robot.

13. A robot, characterized in that the robot comprises a connection assembly according to any of claims 1-11.

14. A robot according to claim 13, characterized in that the robot comprises an industrial robot, a cooperative robot.

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