Connecting rod mechanism and robot

Abstract

The invention provides a connecting rod mechanism and a robot, and relates to the field of robots. The link mechanism comprises a rotating shaft, a first link, a second link and a third link; the rotating shaft is sleeved with a first shaft sleeve and a bearing, and the first shaft sleeve is rotatably sleeved with a second shaft sleeve; the first connecting rod sleeves the first shaft sleeve, the second connecting rod sleeves the second shaft sleeve, and the third connecting rod is connected with the bearing. According to the connecting rod mechanism, relative rotation among the first connecting rod, the second connecting rod and the third connecting rod is achieved through sliding friction between the first shaft sleeve and the second shaft sleeve and the bearings, and compared with an existing joint, the use of the bearings is reduced, so that the structure of the joint position can be simplified, the mass of the joint position is reduced, and assembling is easy.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a connecting rod mechanism and a robot. Background Art

[0002] Joint connection is essential in the linkage mechanism. In the prior art, the rotation is mostly completed by bearing connection, which results in a bloated joint position. Especially for the case of three or more connecting rods, the joint position has a large mass and is complicated to assemble, or even difficult to assemble. Summary of the invention

[0003] In order to solve the problems existing in the prior art, one of the objectives of the present invention is to provide a connecting rod mechanism.

[0004] The present invention provides the following technical solutions:

[0005] A connecting rod mechanism comprises a rotating shaft, a first connecting rod, a second connecting rod and a third connecting rod;

[0006] The rotating shaft is sleeved with a first sleeve and a bearing, and the first sleeve is rotatably sleeved with a second sleeve;

[0007] The first connecting rod is sleeved on the first shaft sleeve, the second connecting rod is sleeved on the second shaft sleeve, and the third connecting rod is connected to the bearing.

[0008] As a further optional solution for the connecting rod mechanism, the first sleeve includes a first connecting portion and a second connecting portion connected to each other, the first connecting portion and the second connecting portion are arranged along the axial direction of the rotating shaft, and the second connecting portion is located on a side of the first connecting portion facing the bearing;

[0009] The first connecting rod is sleeved on the first connecting portion, and the second shaft sleeve is rotatably sleeved on the second connecting portion.

[0010] As a further optional solution for the connecting rod mechanism, one end of the second sleeve along the axial direction of the rotating shaft abuts against the first connecting rod, and the other end is provided with a stopper, and the stopper abuts against the bearing.

[0011] As a further optional solution for the connecting rod mechanism, the first sleeve and the second sleeve are both arranged in pairs on both sides of the bearing;

[0012] The first connecting rod has two first lever arms, and the two first lever arms are respectively sleeved on the two first shaft sleeves;

[0013] The second connecting rod has two second lever arms, and the two second lever arms are respectively sleeved on the two second shaft sleeves.

[0014] As a further optional solution for the connecting rod mechanism, a first limiting portion is provided at one end of the first sleeve along the axial direction of the rotating shaft, and the first limiting portion abuts against the first connecting rod along the axial direction of the rotating shaft.

[0015] As a further optional solution for the connecting rod mechanism, a first limiting groove is provided on the first connecting rod, and the first limiting portion is embedded in the first limiting groove and abuts against the bottom of the first limiting groove;

[0016] A first positioning edge is disposed on the outer side of the first limiting portion, and the first positioning edge is in contact with the side wall of the first limiting groove.

[0017] As a further optional solution for the connecting rod mechanism, a second limiting portion is provided at one end of the second sleeve along the axial direction of the rotating shaft, and the second limiting portion abuts against the second connecting rod along the axial direction of the rotating shaft.

[0018] As a further optional solution for the connecting rod mechanism, a second limiting groove is provided on the second connecting rod, and the second limiting portion is embedded in the second limiting groove and abuts against the groove bottom of the second limiting groove;

[0019] A second positioning cut edge is disposed on the outer side of the second limiting portion, and the second positioning cut edge is in contact with the side wall of the second limiting groove.

[0020] As a further optional solution for the connecting rod mechanism, a positioning portion is provided on the rotating shaft, a third positioning cut edge is provided on the outer side of the positioning portion, a positioning groove is provided on the first sleeve, and the third positioning cut edge is in contact with the side wall of the positioning groove.

[0021] Another object of the present invention is to provide a robot.

[0022] The present invention provides the following technical solutions:

[0023] A robot comprises the above-mentioned connecting rod mechanism.

[0024] The embodiments of the present invention have the following beneficial effects:

[0025] In the above-mentioned connecting rod mechanism, the first connecting rod is sleeved on the first sleeve and then connected to the rotating shaft through the first sleeve. On this basis, the second sleeve is rotatably sleeved on the first sleeve, so that the second connecting rod sleeved on the second sleeve can rotate around the first sleeve, that is, the second connecting rod can rotate around the axis of the rotating shaft relative to the first connecting rod. At the same time, the third connecting rod is connected to the rotating shaft through a bearing and can also rotate around the axis of the rotating shaft relative to the first connecting rod. Therefore, the above-mentioned connecting rod mechanism realizes the relative rotation between the first connecting rod, the second connecting rod and the third connecting rod through the sliding friction between the first sleeve and the second sleeve and the bearing, which reduces the use of bearings compared with the existing joints, thereby simplifying the structure of the joint position, reducing the mass of the joint position, and facilitating assembly.

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A schematic diagram of the overall structure of a connecting rod mechanism provided by an embodiment of the present invention is shown;

[0029] Figure 2 A schematic diagram of the internal structure of a connecting rod mechanism provided by an embodiment of the present invention is shown;

[0030] Figure 3 A partial cross-sectional schematic diagram of a connecting rod mechanism provided by an embodiment of the present invention is shown;

[0031] Figure 4 A schematic diagram showing the matching relationship between a rotating shaft, a first sleeve and a bearing in a connecting rod mechanism provided by an embodiment of the present invention is shown;

[0032] Figure 5 A schematic diagram showing the matching relationship between a rotating shaft, a first sleeve and a bearing in a connecting rod mechanism provided by an embodiment of the present invention from another perspective;

[0033] Figure 6 A schematic diagram showing the matching relationship between a first sleeve and a first connecting rod in a connecting rod mechanism provided by an embodiment of the present invention is shown;

[0034] Figure 7A schematic diagram showing the matching relationship between a second sleeve and a second connecting rod in a connecting rod mechanism provided by an embodiment of the present invention is shown.

[0035] Description of main component symbols:

[0036] 100-rotating shaft; 110-boss; 120-gasket; 130-screw; 140-positioning part; 141-third positioning cutting edge; 200-first connecting rod; 210-first lever arm; 220-first limiting groove; 300-second connecting rod; 310-second lever arm; 320-second limiting groove; 400-third connecting rod; 500-first sleeve; 510-first connecting part; 520-second connecting part; 530-positioning groove; 540-first limiting part; 541-first positioning cutting edge; 600-bearing; 610-inner ring; 620-rolling element; 630-outer ring; 700-second sleeve; 710-stop part; 720-second limiting part; 721-second positioning cutting edge. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0038] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of the template are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0042] Example

[0043] Please also read Figure 1 and Figure 2 This embodiment provides a connecting rod mechanism, including a rotating shaft 100, a first connecting rod 200, a second connecting rod 300 and a third connecting rod 400.

[0044] The rotating shaft 100 is sleeved with a first sleeve 500 and a bearing 600 , and the first sleeve 500 is rotatably sleeved with a second sleeve 700 .

[0045] Correspondingly, the first connecting rod 200 is sleeved on the first shaft sleeve 500 , the second connecting rod 300 is sleeved on the second shaft sleeve 700 , and the third connecting rod 400 is connected to the bearing 600 .

[0046] In the above-mentioned connecting rod mechanism, the first connecting rod 200 is sleeved on the first sleeve 500, and then connected to the rotating shaft 100 through the first sleeve 500. On this basis, the second sleeve 700 is rotatably sleeved on the first sleeve 500, so that the second connecting rod 300 sleeved on the second sleeve 700 can rotate around the first sleeve 500, that is, the second connecting rod 300 can rotate around the axis of the rotating shaft 100 relative to the first connecting rod 200. At the same time, the third connecting rod 400 is connected to the rotating shaft 100 through the bearing 600, and can also rotate around the axis of the rotating shaft 100 relative to the first connecting rod 200.

[0047] Therefore, the above-mentioned connecting rod mechanism realizes the relative rotation between the first connecting rod 200, the second connecting rod 300 and the third connecting rod 400 through the sliding friction between the first sleeve 500 and the second sleeve 700 and the bearing 600. Compared with the existing joints, the use of bearings 600 is reduced, thereby simplifying the structure of the joint position, reducing the mass of the joint position, and facilitating assembly.

[0048] It can be understood that in the above-mentioned connecting rod mechanism, the number of connecting rods is not limited to three, and may also be four, five or more.

[0049] For example, when the number of connecting rods is greater than three, a third sleeve is rotatably mounted on the second sleeve 700, and then a fourth connecting rod is mounted on the third sleeve, so that relative rotation among the four connecting rods can be achieved.

[0050] By analogy, a fifth connecting rod, a sixth connecting rod, etc. may also be arranged in the above-mentioned connecting rod mechanism.

[0051] This embodiment is described by taking a three-link mechanism as an example.

[0052] See also Figure 3 In some embodiments, the first sleeve 500 includes a first connecting portion 510 and a second connecting portion 520 connected to each other. The first connecting portion 510 and the second connecting portion 520 are arranged along the axis direction of the rotating shaft 100, which is indicated by the X direction in the figure, and the second connecting portion 520 is located on the side of the first connecting portion 510 facing the bearing 600.

[0053] In addition, the first connecting rod 200 is sleeved on the first connecting portion 510 , and the second sleeve 700 is rotatably sleeved on the second connecting portion 520 .

[0054] Specifically, the first connection part 510 and the second connection part 520 are both cylindrical, and the axis of the first connection part 510 and the axis of the second connection part 520 are both coincident with the axis of the rotating shaft 100. The inner diameter of the first connection part 510 is equal to the inner diameter of the second connection part 520, and the outer diameter of the first connection part 510 is equal to the outer diameter of the second connection part 520.

[0055] Optionally, the first connecting portion 510 and the second connecting portion 520 are integrally formed to form a main body of the first sleeve 500 .

[0056] When the first connecting rod 200 and the second connecting rod 300 rotate relative to each other, sliding friction occurs between the second connecting portion 520 and the second sleeve 700 .

[0057] Furthermore, one end of the second sleeve 700 along the axis of the shaft 100 abuts against the first connecting rod 200, and the other end of the second sleeve 700 along the axis of the shaft 100 is provided with a stopper 710. The stopper 710 abuts against the bearing 600, specifically, along the axis of the shaft 100.

[0058] At this time, along the axis direction of the rotating shaft 100, the relative positions of the first connecting rod 200, the second sleeve 700 and the bearing 600 remain unchanged, thereby keeping the relative positions of the first connecting rod 200 and the third connecting rod 400 unchanged. During the relative rotation of the first connecting rod 200 and the third connecting rod 400, the first connecting rod 200 and the third connecting rod 400 will not deviate along the axis direction of the rotating shaft 100.

[0059] Specifically, the second sleeve 700 is cylindrical, the stopper 710 is annular, and the axis of the second sleeve 700 and the axis of the stopper 710 coincide with the axis of the rotating shaft 100. The stopper 710 is disposed on the inner wall of the second sleeve 700 near one end of the bearing 600, and the inner diameter of the stopper 710 is greater than the diameter of the rotating shaft 100.

[0060] Optionally, the stopper 710 and the second sleeve 700 are integrally formed.

[0061] Furthermore, the first sleeve 500 and the second sleeve 700 are both arranged in pairs on both sides of the bearing 600 , specifically, are arranged in pairs on both sides of the bearing 600 along the axial direction of the rotating shaft 100 .

[0062] Meanwhile, the first connecting rod 200 has two first lever arms 210 , and the two first lever arms 210 are respectively sleeved on the two first shaft sleeves 500 .

[0063] Similarly, the second connecting rod 300 has two second lever arms 310 , and the two second lever arms 310 are respectively sleeved on two second shaft sleeves 700 .

[0064] The two first lever arms 210 are respectively sleeved on the two first sleeves 500, which means that one of the first lever arms 210 is sleeved on the first connection portion 510 of one of the first sleeves 500, and the other first lever arm 210 is sleeved on the first connection portion 510 of the other first sleeve 500. The two second lever arms 310 are respectively sleeved on the two second sleeves 700, which means that one of the second lever arms 310 is sleeved on one of the second sleeves 700, and the other second lever arm 310 is sleeved on the other second sleeve 700.

[0065] At this time, along the axis direction of the rotating shaft 100, the bearing 600 and the third connecting rod 400 are located at the center of the entire connecting rod mechanism. At the same time, the two first lever arms 210 of the first connecting rod 200 are symmetrically arranged about the bearing 600, and the two second lever arms 310 of the second connecting rod 300 are symmetrically arranged about the bearing 600, so the external forces on the first connecting rod 200, the second connecting rod 300 and the third connecting rod 400 can act on the rotating shaft 100 evenly.

[0066] In particular, the ends of the two second sleeves 700 facing each other along the axis of the rotating shaft 100 are pressed against the first lever arms 210 respectively corresponding to each other, and the ends of the two second sleeves 700 facing each other along the axis of the rotating shaft 100 are pressed against the bearings 600 through the stopper portions 710 respectively, so that the two first lever arms 210 of the first connecting rod 200 can fully limit the bearings 600 and the third connecting rod 400 along the axis of the rotating shaft 100. By directly or indirectly assembling the first sleeve 500, the second sleeve 700, the bearing 600, the first connecting rod 200, the second connecting rod 300 and the third connecting rod 400 on the rotating shaft 100, the relative positions of the first connecting rod 200 and the third connecting rod 400 along the axis of the rotating shaft 100 can be fixed.

[0067] In some embodiments, the bearing 600 is a fisheye bearing, which is composed of an inner ring 610 , rolling elements 620 , and an outer ring 630 .

[0068] The inner ring 610 is sleeved on the rotating shaft 100 and relatively fixed to the rotating shaft 100, and the stopper 710 abuts against the inner ring 610. The outer ring 630 is rotatably sleeved outside the inner ring 610 through the rolling element 620, and the outer ring 630 is fixedly connected to the third connecting rod 400. The rolling element 620 can be a ball or a needle, etc., and is assembled between the inner ring 610 and the outer ring 630 through a retaining frame when necessary.

[0069] Please also read Figure 3 , Figure 4 and Figure 5 In some embodiments, a boss 110 is provided at one end of the rotating shaft 100 along its own axial direction, and a washer 120 is provided at the other end of the rotating shaft 100 along its own axial direction, and a screw 130 is passed through the washer 120. The head of the screw 130 abuts against the side of the washer 120 away from the rotating shaft 100, and the rod of the screw 130 is threadedly matched with the rotating shaft 100, so that the washer 120 is detachably connected to the end of the rotating shaft 100.

[0070] During assembly, the end of the rotating shaft 100 close to the gasket 120 is passed through one of the first sleeves 500, the bearing 600 and the other first sleeve 500 in sequence, and then the gasket 120 is installed. At this time, the boss 110 abuts against one of the first sleeves 500, and the gasket 120 abuts against the other first sleeve 500, which can prevent the first sleeve 500 and the bearing 600 from slipping off the rotating shaft 100 during long-term use.

[0071] It can be understood that when there is only one first sleeve 500, the end of the rotating shaft 100 close to the gasket 120 passes through the first sleeve 500 and the bearing 600 in sequence. The boss 110 abuts against the first sleeve 500, and the gasket 120 abuts against the bearing 600.

[0072] Optionally, the boss 110 is cylindrical, the axis of the boss 110 coincides with the axis of the rotating shaft 100 , and the boss 110 and the rotating shaft 100 are integrally formed.

[0073] Furthermore, the rotating shaft 100 is provided with a positioning portion 140, and a third positioning edge 141 is provided outside the positioning portion 140. The first sleeve 500 is provided with a positioning groove 530, and the third positioning edge 141 is in contact with the side wall of the positioning groove 530.

[0074] During assembly, as the rotating shaft 100 passes through one of the first sleeves 500, the bearing 600 and the other first sleeve 500 in sequence, the positioning portion 140 is embedded in the positioning groove 530 on one of the first sleeves 500 along the axial direction of the rotating shaft 100. Since the third positioning cut edge 141 on the outer side of the positioning portion 140 is in contact with the side wall of the positioning groove 530, the rotating shaft 100 and the first sleeve 500 cannot rotate relative to each other along the circumference of the rotating shaft 100 and remain fixed.

[0075] Please also read Figure 3 and Figure 6 In some embodiments, a first limiting portion 540 is provided at one end of the first sleeve 500 along the axial direction of the rotating shaft 100 , and the first limiting portion 540 is supported against the first connecting rod 200 along the axial direction of the rotating shaft 100 .

[0076] Specifically, the first limiting portion 540 is disposed at one end of the first sleeve 500 away from the bearing 600 along the axial direction of the rotating shaft 100, and abuts against the side of the first connecting rod 200 away from the bearing 600. During long-term use, the first limiting portion 540 can limit the first connecting rod 200 to prevent the first connecting rod 200 from slipping off the first sleeve 500 in a direction away from the bearing 600.

[0077] In particular, when the first sleeves 500 are arranged in pairs on both sides of the bearing 600, and the first connecting rod 200 is correspondingly provided with two first lever arms 210, the side of one of the first lever arms 210 away from the bearing 600 abuts against the first stopper 540 of one of the first sleeves 500, and the end of the first sleeve 500 away from the bearing 600 abuts against the boss 110. At the same time, the side of the other first lever arm 210 away from the bearing 600 abuts against the first stopper 540 of the other first sleeve 500, and the end of the first sleeve 500 away from the bearing 600 abuts against the washer 120.

[0078] Thus, along the axial direction of the rotating shaft 100 , the relative positions of the rotating shaft 100 , the first sleeve 500 and the first connecting rod 200 remain unchanged.

[0079] Furthermore, a first limiting groove 220 is provided on the first connecting rod 200. The first limiting portion 540 is embedded in the first limiting groove 220 and abuts against the groove bottom of the first limiting groove 220.

[0080] In addition, a first positioning edge 541 is disposed on the outer side of the first limiting portion 540 , and the first positioning edge 541 is in contact with the side wall of the first limiting groove 220 .

[0081] Since the first positioning edge 541 on the outer side of the first limiting portion 540 is in contact with the side wall of the first limiting groove 220 , the first sleeve 500 and the first connecting rod 200 cannot rotate relative to each other along the circumference of the rotating shaft 100 and remain fixed.

[0082] In particular, when the first sleeves 500 are arranged in pairs on both sides of the bearing 600, and the first connecting rod 200 is correspondingly provided with two first lever arms 210, along the circumference of the rotating shaft 100, the rotating shaft 100, the first connecting rod 200 and the two first sleeves 500 cannot rotate relative to each other and remain fixed.

[0083] Please also read Figure 3 and Figure 7 In some embodiments, a second limiting portion 720 is provided at one end of the second sleeve 700 along the axial direction of the rotating shaft 100 , and the second limiting portion 720 is abutted against the second connecting rod 300 along the axial direction of the rotating shaft 100 .

[0084] Specifically, the second limiting portion 720 is disposed at one end of the second sleeve 700 away from the bearing 600 along the axial direction of the rotating shaft 100, and abuts against the side of the second connecting rod 300 away from the bearing 600. During long-term use, the second limiting portion 720 can limit the second connecting rod 300 to prevent the second connecting rod 300 from slipping off the second sleeve 700 in a direction away from the bearing 600.

[0085] In particular, when the second sleeves 700 are arranged in pairs on both sides of the bearing 600, and the second connecting rod 300 is correspondingly provided with two second lever arms 310, the side of one of the second lever arms 310 away from the bearing 600 abuts against the second stopper 720 of one of the second sleeves 700, and the end of the second sleeve 700 away from the bearing 600 abuts against one of the first lever arms 210 of the first connecting rod 200. At the same time, the side of the other second lever arm 310 away from the bearing 600 abuts against the second stopper 720 of the other second sleeve 700, and the end of the second sleeve 700 away from the bearing 600 abuts against the other first lever arm 210 of the first connecting rod 200.

[0086] Thus, along the axial direction of the rotating shaft 100 , the relative positions of the second sleeve 700 and the second connecting rod 300 remain unchanged.

[0087] As mentioned above, along the axis direction of the rotating shaft 100, the relative positions of the first connecting rod 200, the second sleeve 700 and the bearing 600 remain unchanged, so the relative positions of the first connecting rod 200, the second connecting rod 300 and the third connecting rod 400 remain unchanged. During the relative rotation of the first connecting rod 200, the second connecting rod 300 and the third connecting rod 400, the first connecting rod 200, the second connecting rod 300 and the third connecting rod 400 will not deviate along the axis direction of the rotating shaft 100.

[0088] Furthermore, a second limiting groove 320 is provided on the second connecting rod 300. The second limiting portion 720 is embedded in the second limiting groove 320 and abuts against the groove bottom of the second limiting groove 320.

[0089] In addition, a second positioning edge 721 is disposed on the outer side of the second limiting portion 720 , and the second positioning edge 721 is in contact with the side wall of the second limiting groove 320 .

[0090] Since the second positioning edge 721 outside the second limiting portion 720 is in contact with the side wall of the second limiting groove 320 , the second sleeve 700 and the second connecting rod 300 cannot rotate relative to each other along the circumference of the rotating shaft 100 and remain fixed.

[0091] When assembling the above-mentioned connecting rod mechanism, firstly, insert the two second sleeves 700 into the corresponding second lever arms 310 from both sides of the second connecting rod 300, until the second limiting portion 720 is embedded in the second limiting groove 320 and abuts against the groove bottom of the second limiting groove 320. Then, place the first connecting rod 200, and insert the two first sleeves 500 into the corresponding first lever arms 210 and the second sleeves 700 from both sides of the first connecting rod 200, until the first limiting portion 540 is embedded in the first limiting groove 220 and abuts against the groove bottom of the first limiting groove 220. Then, fix the bearing 600 to the first connecting rod 200, and place the bearing 600 between the two second lever arms 310. Finally, the bearing 600 is passed through one of the first sleeves 500, the bearing 600 and the other first sleeve 500 in sequence. After the boss 110 abuts against one of the first sleeves 500, the gasket 120 is installed and abutted against the other first sleeve 500, and the assembly is completed.

[0092] In the assembled connecting rod mechanism, the inner ring 610 of the bearing 600, the rotating shaft 100, the first sleeve 500 and the first connecting rod 200 remain relatively fixed, the second sleeve 700 and the second connecting rod 300 remain relatively fixed, the outer ring 630 of the bearing 600 and the third connecting rod 400 remain relatively fixed, and the relative positions of the first connecting rod 200, the second connecting rod 300 and the third connecting rod 400 along the axial direction of the rotating shaft 100 remain unchanged.

[0093] In summary, the above-mentioned connecting rod mechanism realizes the relative rotation between the first connecting rod 200, the second connecting rod 300 and the third connecting rod 400 through the sliding friction between the first sleeve 500 and the second sleeve 700 and the bearing 600, and reduces the use of the bearing 600 compared with the existing joints, thereby simplifying the structure of the joint position, reducing the number of components, reducing the weight of the joint position, and facilitating assembly. In addition, by replacing the bearing 600 transmission with the sleeve, it can withstand a heavier load under the same volume.

[0094] This embodiment also provides a robot, comprising the above-mentioned connecting rod mechanism.

[0095] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0096] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0097] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A connecting rod mechanism, characterized in that: It includes a rotating shaft, a first connecting rod, a second connecting rod and a third connecting rod; The rotating shaft is sleeved with a first sleeve and a bearing, and the first sleeve is rotatably sleeved with a second sleeve; The first connecting rod is sleeved on the first shaft sleeve, the second connecting rod is sleeved on the second shaft sleeve, and the third connecting rod is connected to the bearing.

2. The connecting rod mechanism according to claim 1, characterized in that: The first sleeve includes a first connecting portion and a second connecting portion connected to each other, the first connecting portion and the second connecting portion are arranged along the axis direction of the rotating shaft, and the second connecting portion is located on a side of the first connecting portion facing the bearing; The first connecting rod is sleeved on the first connecting portion, and the second shaft sleeve is rotatably sleeved on the second connecting portion.

3. The connecting rod mechanism according to claim 2, characterized in that: One end of the second sleeve along the axial direction of the rotating shaft abuts against the first connecting rod, and the other end is provided with a stopper, and the stopper abuts against the bearing.

4. The connecting rod mechanism according to claim 2, characterized in that: The first sleeve and the second sleeve are arranged in pairs on both sides of the bearing; The first connecting rod has two first lever arms, and the two first lever arms are respectively sleeved on the two first shaft sleeves; The second connecting rod has two second lever arms, and the two second lever arms are respectively sleeved on the two second shaft sleeves.

5. The connecting rod mechanism according to any one of claims 1 to 4, characterized in that: A first limiting portion is disposed at one end of the first sleeve along the axial direction of the rotating shaft, and the first limiting portion abuts against the first connecting rod along the axial direction of the rotating shaft.

6. The connecting rod mechanism according to claim 5, characterized in that: The first connecting rod is provided with a first limiting groove, the first limiting portion is embedded in the first limiting groove and abuts against the bottom of the first limiting groove; A first positioning edge is disposed on the outer side of the first limiting portion, and the first positioning edge is in contact with the side wall of the first limiting groove.

7. The connecting rod mechanism according to any one of claims 1 to 4, characterized in that: A second limiting portion is provided at one end of the second sleeve along the axial direction of the rotating shaft, and the second limiting portion abuts against the second connecting rod along the axial direction of the rotating shaft.

8. The connecting rod mechanism according to claim 7, characterized in that: The second connecting rod is provided with a second limiting groove, the second limiting portion is embedded in the second limiting groove and abuts against the groove bottom of the second limiting groove; A second positioning cut edge is disposed on the outer side of the second limiting portion, and the second positioning cut edge is in contact with the side wall of the second limiting groove.

9. The connecting rod mechanism according to any one of claims 1 to 4, characterized in that: The rotating shaft is provided with a positioning portion, the outer side of the positioning portion is provided with a third positioning cut edge, the first sleeve is provided with a positioning groove, and the third positioning cut edge is in contact with the side wall of the positioning groove.

10. A robot, characterized in that: The invention comprises the connecting rod mechanism according to any one of claims 1 to 9.

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