Linkage structures and robots

Abstract

This invention provides a linkage structure and a robot. The linkage structure includes a linkage cylinder and a support component disposed within the cavity of the linkage cylinder. The support component has a first connecting portion and a second connecting portion, both of which are connected to the inner wall of the linkage cylinder to support the inner wall of the linkage cylinder. This reduces structural deformation of the linkage cylinder under the weight of the joint module and during movement, thereby mitigating the problem of linkage deformation in existing collaborative robots.

Description

Technical Field

[0001] This invention relates to the field of collaborative robots, and more specifically, to a linkage structure and a robot. Background Technology

[0002] Currently, collaborative robots are a new type of robot in existing technology, characterized by flexibility, safety, and efficiency. To accomplish complex tasks and perform flexible movements, collaborative robots typically require the use of links and joints. These links and joints are crucial components that enable the flexibility and diverse operational capabilities of collaborative robots.

[0003] Typically, collaborative robots have multiple joint modules, each connected to a pair of adjacent links. These links can move linearly or rotationally, and are connected by rotation, sliding, or movement. The links generally adopt a hollow, thin-walled structure to reduce the overall weight of the collaborative robot.

[0004] However, using a hollow, thin-walled connecting rod reduces the overall rigidity and bending resistance of the structure. Under the weight of the components in the joint module installed at the end of the connecting rod, the connecting rod is prone to large deformation and bending. Summary of the Invention

[0005] The main objective of this invention is to provide a linkage structure and robot to reduce the problem of easy deformation of linkages in existing collaborative robots.

[0006] To achieve the above objectives, according to a first aspect of the present invention, a connecting rod structure is provided, comprising a connecting rod cylinder and a support member disposed within a cavity of the connecting rod cylinder. The support member has a first connecting portion and a second connecting portion, both of which are connected to the inner wall of the connecting rod cylinder to support the inner wall of the connecting rod cylinder.

[0007] Furthermore, the support component is plate-shaped, and the two opposite side walls of the support component are respectively the first connecting part and the second connecting part, which are respectively connected to the opposite sides of the inner wall of the connecting rod cylinder.

[0008] Furthermore, the support component is plate-shaped, and the extension direction of the support component is the same as the extension direction of the connecting rod cylinder. The support component has a first support end and a second support end distributed along its extension direction, and the connecting rod cylinder has a first cylinder end and a second cylinder end distributed along its extension direction, wherein: the end face of the first support end is flush with the end face of the first cylinder end; and / or the end face of the second support end is flush with the end face of the second cylinder end.

[0009] Furthermore, there are multiple support components, which are distributed at intervals.

[0010] Furthermore, each support component includes multiple support sections, which are spaced apart along the axial direction of the connecting rod cylinder. The extension direction of each support component is perpendicular to the axial direction of the connecting rod cylinder, and the opposite ends of the multiple support sections are the first connecting part and the second connecting part, respectively.

[0011] Furthermore, each support segment is either a plate segment or a rod.

[0012] Furthermore, the linkage cylinder includes a cylinder body and first mounting portions located at both ends of the cylinder body. Each first mounting portion protrudes from the end face of the corresponding end of the cylinder body along the axial direction of the linkage cylinder body, so as to be connected to the two joint modules of the collaborative robot through the two first mounting portions respectively; wherein, the cylindrical surface of the outer peripheral surface of the first mounting portion is located inside the cylindrical surface of the outer peripheral surface of the cylinder body.

[0013] Furthermore, the first mounting part is provided with a plurality of first connecting holes, which are sequentially and spaced apart along the circumference of the first mounting part on the outer wall surface of the first mounting part, so that the connecting rod cylinder can be connected to the joint module of the collaborative robot through the plurality of first connecting holes; and / or the first mounting part also includes a first positioning hole, which is formed on the outer wall surface of the first mounting part, so as to cooperate with the second positioning hole on the corresponding joint module to position the connecting rod cylinder and the corresponding joint module.

[0014] Furthermore, transition protrusions are provided on the inner walls of both ends of the connecting rod cylinder. The transition protrusions are connected to the inner walls of the corresponding first mounting parts and the inner walls of the cylinder body, respectively, and the transition protrusions protrude from the inner wall surface of the cylinder body.

[0015] Furthermore, along the direction from the cylinder body to the corresponding first mounting part, the transitional raised surface gradually protrudes towards the direction close to the axis of the connecting rod cylinder body.

[0016] According to a second aspect of the present invention, a robot is provided, comprising interconnected joint modules and a linkage structure, wherein the linkage structure is the linkage structure described above.

[0017] By applying the technical solution of this invention, a support component is provided inside the cavity of the connecting rod cylinder. The first connecting part and the second connecting part of the support component are both connected to the inner wall of the connecting rod cylinder. This arrangement supports the inner wall of the connecting rod cylinder through the support component, thereby reducing the structural deformation of the connecting rod cylinder under the weight of the joint module and during movement. This improves the rigidity and bending resistance of the overall structure of the connecting rod cylinder by improving its structure, thus reducing the problem of easy deformation of the connecting rods in existing collaborative robots. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0019] Figure 1 A structural schematic diagram of an embodiment of the robot according to the present invention is shown;

[0020] Figure 2 A schematic diagram of an embodiment of the linkage structure according to the present invention is shown;

[0021] Figure 3 A cross-sectional schematic diagram of a first embodiment of a support member of a linkage structure according to the present invention is shown; and

[0022] Figure 4 A schematic diagram showing the distribution of multiple support segments on the cylindrical body according to a second embodiment of the support component of the linkage structure according to the present invention is provided.

[0023] The above figures include the following reference numerals:

[0024] 1. Connecting rod cylinder; 2. Transition protrusion; 3. Cylinder body; 10. Support component; 11. First connecting part; 12. Second connecting part; 13. Support section; 20. First mounting part; 21. First connecting hole; 22. First positioning hole; 30. Joint module. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] like Figures 1 to 4 As shown, the present invention provides a connecting rod structure, including a connecting rod cylinder 1 and a support component 10; the support component 10 is disposed in the cavity of the connecting rod cylinder 1, and the support component 10 has a first connecting part 11 and a second connecting part 12, both of which are connected to the inner wall of the connecting rod cylinder 1 to support the inner wall of the connecting rod cylinder 1.

[0027] By applying the technical solution of this invention, in order to reduce the deformation and bending of the linkage of a collaborative robot due to the structural weight of the joint module 30 installed at the end of the robot and during joint movement, a support member 10 is provided inside the cavity of the linkage cylinder 1. The first connecting part 11 and the second connecting part 12 of the support member 10 are both connected to the inner wall of the linkage cylinder 1 to support the inner wall of the linkage cylinder 1. This increases the rigidity and bending resistance of the overall structure of the linkage cylinder 1, preventing the linkage structure from easily deforming and bending during rotational movement of the linkage cylinder 1 and the joint module 30, thereby reducing the problem of easy deformation of the linkage structure in existing collaborative robots.

[0028] Specifically, the support member 10 is plate-shaped, and the two opposite side walls of the support member 10 are respectively the first connecting part 11 and the second connecting part 12. The first connecting part 11 and the second connecting part 12 are respectively connected to the opposite sides of the inner wall of the connecting rod cylinder 1. In order to improve the bending resistance of the connecting rod cylinder 1, a plate-shaped support member 10 is provided inside the connecting rod cylinder 1. The two opposite side walls of the plate-shaped support member 10 are respectively connected to the inner wall of the connecting rod cylinder 1 to increase the moment of inertia of the section of the connecting rod cylinder 1, so that the connecting rod cylinder 1 is not easily deformed and bent when it rotates under the weight of the joint module 30 installed at its end.

[0029] like Figure 3 As shown, in the first embodiment of the linkage structure of the present invention, the support member 10 is plate-shaped, and the extension direction of the support member 10 is the same as the extension direction of the linkage cylinder 1. The support member 10 has a first support end and a second support end distributed along its extension direction, and the linkage cylinder 1 has a first cylinder end and a second cylinder end distributed along its extension direction. With this arrangement, the plate-shaped support member 10 can be arranged along the first cylinder end to the second cylinder end of the linkage cylinder 1 to support the inner wall of the linkage cylinder 1, so that the inner wall structure of the linkage cylinder 1 along its extension direction remains consistent, thereby ensuring that the overall structure of the linkage cylinder 1 is not easily bent or deformed.

[0030] Optionally, the end face of the first support end is flush with the end face of the first cylinder end.

[0031] Optionally, the end face of the second support end is flush with the end face of the second cylinder end.

[0032] In the first embodiment, there are multiple support members 10, which are distributed at intervals. In this way, the multiple support members 10 are distributed at intervals along the radial direction of the connecting rod cylinder 1, so that the connecting rod cylinder 1 is supported by the multiple support members 10 at the same time, thereby realizing that the multiple support members 10 support the inner wall of the connecting rod cylinder 1 and increasing the bending resistance of the connecting rod cylinder 1.

[0033] like Figure 4 As shown, in the second embodiment of the connecting rod structure of the present invention, each supporting component 10 includes a plurality of supporting segments 13, which are spaced apart along the axial direction of the connecting rod cylinder 1. The extending direction of each supporting component 10 is perpendicular to the axial direction of the connecting rod cylinder 1, and the opposite ends of the plurality of supporting segments 13 are respectively the first connecting portion 11 and the second connecting portion 12. With this arrangement, the plurality of supporting segments 13 can be sequentially and spaced apart in the cavity of the connecting rod cylinder 1, thereby strengthening the rigidity and bending resistance of the overall structure of the connecting rod cylinder 1.

[0034] Optionally, each support segment 13 can be a plate segment or a rod.

[0035] To facilitate the connection between the connecting rod cylinder 1 and the joint module 30, the connecting rod cylinder 1 includes a cylinder body 3 and first mounting portions 20 located at both ends of the cylinder body 3. Each first mounting portion 20 protrudes from the end face of the corresponding end of the cylinder body 3 along the axial direction of the connecting rod cylinder 1, so as to connect to the two joint modules 30 of the collaborative robot through the two first mounting portions 20 respectively. The cylindrical surface of the outer peripheral surface of the first mounting portion 20 is located inside the cylindrical surface of the outer peripheral surface of the cylinder body 3. With this configuration, the first mounting portion 20 protruding from the cylinder body 3 can be connected to the joint module 30, and the outer peripheral surface of the first mounting portion 20 is located inside the outer peripheral surface of the cylinder body 3, so that the outer peripheral surface of the first mounting portion 20 contacts and connects with the joint module 30, thereby realizing the connection between the connecting rod cylinder 1 and the shutdown module.

[0036] like Figures 1 to 3 As shown, the first mounting part 20 is provided with a plurality of first connecting holes 21. The plurality of first connecting holes 21 are sequentially and spaced apart along the circumference of the first mounting part 20 on the outer wall surface of the first mounting part 20, so that the connecting rod cylinder 1 can be connected to the joint module 30 of the collaborative robot through the plurality of first connecting holes 21. With this arrangement, the first mounting part 20 of the connecting rod cylinder 1 can be engaged with the corresponding connecting holes on the joint module 30 through the plurality of first connecting holes 21. Then, connecting components are sequentially inserted into the first connecting holes 21 and the corresponding connecting holes of the joint module 30. The first connecting holes 21 can be threaded holes. Then, threaded rods or threaded pins are sequentially inserted into the first connecting holes 21 and the corresponding connecting holes of the joint module 30 to connect the connecting rod cylinder 1 and the joint module 30, thereby realizing the connection between the connecting rod cylinder 1 and the joint module 30.

[0037] Specifically, the first mounting part 20 also includes a first positioning hole 22, which is formed on the outer wall of the first mounting part 20. The first positioning hole 22 is engaged with the second positioning hole on the corresponding joint module 30 to position the connecting rod cylinder 1 and the corresponding joint module 30. With this arrangement, the first positioning hole 22 on the first mounting part 20 can be engaged with the positioning hole on the joint module 30. Then, a positioning component can be inserted into the first positioning hole 22 and the positioning hole on the joint module 30 in sequence. The first positioning hole 22 can be a positioning pin hole. By inserting the positioning pin into the first positioning hole 22 and the positioning hole on the joint module 30, the connecting rod cylinder 1 and the corresponding shutdown module can be positioned, and the installation position between the connecting rod cylinder 1 and the corresponding joint module 30 can be fixed. At the same time, the support component 10 inside the connecting rod cylinder 1 is perpendicular to the rotation axis of the joint module 30. At this time, the moment of inertia of the cross section of the connecting rod cylinder 1 and the rotation axis of the joint module 30 is the largest, the bending deformation of the connecting rod cylinder 1 when swinging around the rotation axis of the joint module 30 is the smallest, and the rigidity effect is the best.

[0038] To reduce stress concentration caused by the inconsistency between the outer diameter of the cylinder body 3 and the outer diameter of the first mounting part 20, the outer diameter of the cylinder body 3 is larger than the outer diameter of the first mounting part 20. Transition protrusions 2 are provided on the inner walls of both ends of the connecting rod cylinder 1. The transition protrusions 2 are connected to the inner walls of the corresponding first mounting parts 20 and the inner walls of the cylinder body 3, respectively. The transition protrusions 2 protrude from the inner wall surface of the cylinder body 3. This arrangement can reduce the stress at the connection between the cylinder body 3 and the first mounting part 20 of the connecting rod cylinder 1 through the transition protrusions 2, thereby preventing the problem of easy deformation of the connecting rod cylinder 1 caused by stress concentration.

[0039] As can be seen, in order to reduce the stress concentration between the cylinder body 3 and the first mounting part 20, the surface of the transition protrusion 2 gradually protrudes towards the direction close to the axis of the connecting rod cylinder 1 along the direction from the cylinder body 3 to the corresponding first mounting part 20. With this arrangement, the surface of the connection between the cylinder body 3 and the first mounting part 20 gradually increases in the direction from the cylinder body 3 to the corresponding first mounting part 20, so as to strengthen the rigidity of the connection structure and prevent the connection between the cylinder body 3 and the first mounting part 20 from easily deforming and bending.

[0040] The present invention also provides a robot, including interconnected joint modules 30 and linkage structures, wherein the linkage structures are those mentioned above. The robot has multiple linkage structures, each linkage structure being connected to two joint modules 30 respectively, and the multiple linkage structures and the multiple joint modules 30 are respectively combined and connected.

[0041] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0042] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0043] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0044] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0045] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A linkage structure, characterized in that, include: Connecting rod cylinder (1); A support component (10) is disposed in the cavity of the connecting rod cylinder (1). The support component (10) has a first connecting part (11) and a second connecting part (12). Both the first connecting part (11) and the second connecting part (12) are connected to the inner wall of the connecting rod cylinder (1) to support the inner wall of the connecting rod cylinder (1). The support component (10) is plate-shaped, and the two opposite side walls of the support component (10) are the first connecting part (11) and the second connecting part (12), respectively. The first connecting part (11) and the second connecting part (12) are respectively connected to the opposite sides of the inner wall of the connecting rod cylinder (1). The extension direction of the support member (10) is the same as the extension direction of the connecting rod cylinder (1). The support member (10) has a first support end and a second support end distributed along its extension direction. The connecting rod cylinder (1) has a first cylinder end and a second cylinder end distributed along its extension direction. The connecting rod cylinder (1) includes a cylinder body (3) and first mounting portions (20) located at both ends of the cylinder body (3). Each first mounting portion (20) protrudes from the end face of the corresponding end of the cylinder body (3) along the axial direction of the connecting rod cylinder (1) so as to be connected to the two joint modules (30) of the collaborative robot respectively through the two first mounting portions (20). The cylindrical surface of the outer peripheral surface of the first mounting portion (20) is located inside the cylindrical surface of the outer peripheral surface of the cylinder body (3). The first mounting portion (20) also includes a first positioning hole (22), which is opened on the outer wall surface of the first mounting portion (20) so as to cooperate with the second positioning hole (31) on the corresponding joint module (30) to position the connecting rod cylinder (1) and the corresponding joint module (30). The support member (10) inside the connecting rod cylinder (1) is perpendicular to the rotation axis of the joint module (30).

2. The linkage structure according to claim 1, characterized in that, The end face of the first support end is flush with the end face of the first cylindrical body end; and / or The end face of the second support end is flush with the end face of the second cylinder end.

3. The linkage structure according to claim 2, characterized in that, There are multiple support components (10), and the multiple support components (10) are distributed at intervals.

4. The linkage structure according to claim 1, characterized in that, The first mounting part (20) is provided with a plurality of first connecting holes (21). The plurality of first connecting holes (21) are sequentially and spaced apart on the outer wall surface of the first mounting part (20) along the circumference of the first mounting part (20) so that the connecting rod cylinder (1) can be connected to the joint module (30) of the collaborative robot through the plurality of first connecting holes (21).

5. The linkage structure according to claim 1, characterized in that, The inner walls at both ends of the connecting rod cylinder (1) are provided with transition protrusions (2), which are respectively connected to the inner walls of the corresponding first mounting part (20) and the inner walls of the cylinder body (3). The transition protrusions (2) protrude from the inner wall surface of the cylinder body (3).

6. The linkage structure according to claim 5, characterized in that, Along the direction from the cylinder body (3) to the corresponding first mounting part (20), the surface of the transition protrusion (2) gradually protrudes toward the direction close to the axis of the connecting rod cylinder body (1).

7. A robot comprising interconnected joint modules and linkage structures, characterized in that, The connecting rod structure is the connecting rod structure according to any one of claims 1 to 6.

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