Housing for receiving section of robot arm and method for producing same

Abstract

A housing (100, 200) for accommodating a section (300, 400) of a robotic arm (1000) for use in hygiene applications and a method for manufacturing a housing (100, 200). The housing (100, 200) comprises a housing body (1, 1 ') made of a first material adapted to contact the product in a hygienic application; and a connector (2, 2 ') made of a second material having a higher strength than the first material wherein the second material wherein the housing body (1, 1') comprises: an extension portion (11, 11 ') configured to receive a section (300, 400) of the robot arm (1000); and a connection hole (12, 12 ') located at an end of the extension portion (11, 11'), and the connector (2, 2 ') comprising an outer surface (21, 21') wherein the housing body (1, 1 ') is connected on at least a portion of the outer surface (21, 21') of the connector (2, 2 ') to couple the connector (2, 2') to an inner surface (13, 13 ') of the connection hole (12, 12'). By making the housing body (1, 1 ') from a first material adapted to contact the product in hygiene applications and to receive the connector (2, 2') therein, the housing (100, 200) can meet hygiene requirements and can be used for a long period of time. Further, since a second material, such as aluminum alloy, carbon fiber, and high-strength plastic, has a higher strength than the first material, the connector (2, 2 ') may be used to position the actuator therein at the joint of the robot arm (1000) in order to ensure that the actuator can be operated with high accuracy.

Description

Technical Field

[0001] Example embodiments of the present disclosure generally relate to housings for housing segments of robotic arms and methods of making the same, and more particularly to housings for housing segments of robotic arms for use in sanitary environments. Background Art

[0002] According to ISO14159:2008 Safety of machinery - Hygiene requirements for the design of machinery, the surfaces of materials and coatings must be durable and able to be sterilized, free of damage and resistant to cracking, chipping, peeling, erosion, corrosion and abrasion.

[0003] In order to comply with these standards in sanitary applications such as food contact applications, a traditional solution is to paint or plate the outer surface of the robot arm with a cladding material. However, especially in product contact surfaces, the surface material should be non-toxic and not contaminate the product or otherwise have any adverse effect on the product, so based on these requirements, painting solutions or plating solutions are very risky in advanced sanitary applications.

[0004] Another traditional solution is to make the robot structure from stainless steel such as SS316, SS304, which are widely used in the food and beverage market or the pharmaceutical and medical industry. Stainless steel has high oxidation resistance, biological inertness, acid and alkali resistance, and organic resistance. However, stainless steel has some disadvantages if used as a robot structure material: high cost, bulky, and poor thermal conductivity.

[0005] JP2010115732A discloses a structural material for an arm of a robot used in, for example, a welding process, the structural material having a frame layer, the surface of the frame layer including a radiation layer, the shape of the radiation layer being designed so that the fiber orientation continues from the outer side of the arm to the inner side of the arm. However, because this structural material cannot meet the hygienic design requirements, it cannot be used for hygienic applications.

[0006] US11020851B2 discloses a bag unit for hygienic applications that covers the entire robot arm. Since the bag unit is flexible, the robot arm can be accommodated therein. However, the bag unit has limited working space, short life and less than ideal appearance. Summary of the invention

[0007] To solve or at least partially solve the above and other potential problems, various embodiments of the present disclosure provide a housing for accommodating a segment of a robot arm, which housing may have a smooth surface and meet the standards of a sanitary environment.

[0008] In a first aspect, a housing for housing a segment of a robotic arm for use in a sanitary application is provided. The housing includes a housing body made of a first material suitable for contacting a product in a sanitary application; and a connector made of a second material, wherein the second material has a higher strength than the first material, wherein the housing body includes an extension portion configured to house the segment of the robotic arm; and a connection hole at an end of the extension portion, and the connector includes an outer surface, wherein the housing body is connected to at least a portion of the outer surface of the connector to couple the connector to an inner surface of the connection hole.

[0009] In the housing of the section of the robot arm used in sanitary applications, the housing body is the main part of the housing that directly contacts the product in the sanitary application, and the connector is accommodated in the connection hole of the housing body, so the connector is protected by the housing body to the extent that the connector is exposed to the product as little as possible. By manufacturing the housing body from a first material suitable for contacting the product in sanitary applications and receiving the connector therein, the housing can meet the sanitary requirements and can be used for a long time. Further, since the second material such as aluminum alloy, carbon fiber and high-strength plastic has a higher strength than the first material, the connector can be used to position the actuator therein at the joint of the robot arm to ensure that the actuator can operate with high accuracy.

[0010] In some embodiments, the first material is plastic, and the housing body is connected to at least a portion of the outer surface of the connector by overmolding plastic on the outer surface of the connector. In this embodiment, since the plastic material is corrosion-resistant, has a low density, is low in cost, and has good formability, the housing body is light in weight and has a smooth appearance, and can be manufactured in a low-cost manner and can meet hygienic requirements. Further, the housing body can be formed by overmolding plastic on the outer surface of the connector. Therefore, the manufacture of the housing body and the housing is very simple and the cost is also low.

[0011] In some embodiments, the housing body may be connected to at least a portion of the outer surface of the connector so that a portion of the outer surface of the connector is located outside the connection hole, and the housing may further include a product contact component made of a third material suitable for contacting the product in sanitary applications and having a higher strength than the first material, wherein the product contact component is coupled to a portion of the outer surface of the connector. By providing the product contact component made of the third material and arranging the product contact component between the mutually opposing surfaces of the connection holes of adjacent segments, considering that the metal material has wear resistance, the friction between the two adjacent segments at the joint can be reduced.

[0012] In some embodiments, the product contact component can be coupled to a portion of the outer surface before the housing body is connected to the outer surface of the connector. By coupling the product contact component to a portion of the outer surface of the connector before connection, it is easier to adapt the product contact component to the connector than to couple them after connection.

[0013] In some embodiments, the second material may be an aluminum alloy, and the third material may be stainless steel. By selecting the second material as an aluminum alloy, the weight of the housing may be lighter, and by selecting the third material as stainless steel, the product contact parts may be corrosion resistant.

[0014] In some embodiments, the housing body can be connected to at least a portion of the outer surface of the connector so that the portion of the outer surface of the connector is located outside the connection hole, wherein the housing further comprises a sealing ring surrounding the portion of the outer surface of the connector. By providing the sealing ring, the liquid product will be isolated from the internal parts inside the housing, and the housing will be reliably sealed.

[0015] In some embodiments, the product contact component may include a shoulder at its outer edge opposite to the housing body, and the housing further includes a sealing ring received in the shoulder of the product contact component. By providing the sealing ring, the liquid product will be isolated from the internal parts inside the housing, and the housing will be reliably sealed.

[0016] In some embodiments, the extension portion may extend in a direction perpendicular to the axis of the connection hole.By providing an extension portion of the first section perpendicular to the connection hole, the housing of the section may be a first type of section of the robot arm.

[0017] In some embodiments, the extension portion may extend in a direction parallel to the axis of the connection hole.By providing an extension portion parallel to the connection hole, the housing of the segment may be a second type of segment of the robot arm, perpendicular to the first type of segment.

[0018] In some embodiments, the connector may include an outer ridge on the outer surface, the connection hole includes a recess on the inner surface, and the outer ridge may be configured to be received in the recess so as to be fixed and positioned in an appropriate position relative to the connection hole. By providing the ridge and the recess, the engagement between the connector and the connection hole can be improved to prevent separation from each other.

[0019] In some embodiments, the connector may include an inner ridge having a plurality of connection holes for connecting the connector of the first housing of the first segment of the robot arm to a second housing engaged with the first housing and for the second segment of the robot arm. By providing the inner ridge and the connection holes thereon, the first segment and the second segment may be tightly connected to each other.

[0020] In a second aspect, a method for manufacturing a housing for a segment of a robot arm used in a sanitary application is provided, and the housing includes a housing body and a connector at an end of the housing body. The method includes: forming the connector from a second material, wherein the connector has an outer surface; forming the housing body from a first material suitable for contacting a product in a sanitary application, wherein the second material has a higher strength than the first material; and connecting the housing body to at least a portion of the outer surface of the connector.

[0021] In the housing for the segment of the robot arm, the housing body is the main part of the housing that directly contacts the product in sanitary applications, and the connector is accommodated in the connection hole of the housing body, so the connector is protected by the housing body to the extent that the connector is exposed to the product as little as possible. By manufacturing the housing body from a first material suitable for contacting the product in sanitary applications and receiving the connector therein, the housing can meet the sanitary requirements and can be used for a long time. Further, since the second material such as aluminum alloy, carbon fiber and high-strength plastic has a higher strength than the first material, the connector can be used to position the actuator therein at the joint of the robot arm to ensure that the actuator can operate with high accuracy.

[0022] In some embodiments, the first material is plastic, and forming the housing body from the first material includes: placing the connector into a mold corresponding to the shape of the housing, and injecting molten plastic into the mold so that the molten plastic is overmolded on at least a portion of the outer surface of the connector to form the housing body. In this embodiment, since the plastic material is corrosion-resistant, has a low density, is low in cost, and has good formability, the housing body is light in weight and has a smooth appearance, and can be manufactured in a low-cost manner and can meet hygiene requirements. Further, the housing body can be formed by overmolding plastic on the outer surface of the connector. Therefore, the manufacture of the housing body and the housing is very simple and the cost is also very low.

[0023] In some embodiments, the housing may further include a product contact component made of a third material suitable for contacting a product in a sanitary application and having a higher strength than the first material, the outer surface of the connector includes a first portion and a second portion, wherein forming the connector further includes: forming the product contact component made of the third material; and assembling the product contact component to the first portion of the outer surface of the connector. In this embodiment, by providing the product contact component made of the third material and arranging the product contact component between the mutually opposing surfaces of the connection holes of the adjacent segments, considering that the metal material has wear resistance, the friction between the two adjacent segments at the joint can be reduced.

[0024] It should be understood that this summary of the invention is not intended to identify the key features or essential features of the embodiments of the present disclosure, nor is it intended to be used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other purposes, features and advantages of the exemplary embodiments disclosed herein will become more readily understood through the following detailed description with reference to the accompanying drawings. In the accompanying drawings, several exemplary embodiments disclosed herein are illustrated by way of example and not limitation, wherein

[0026] Figure 1A illustrates a side view of a robotic arm according to an embodiment of the present disclosure;

[0027] Figure 1B illustrates a partial perspective view of two portions of a robotic arm mounted together according to an embodiment of the present disclosure;

[0028] Figure 1C The embodiment according to the present disclosure is shown as follows Figure 1B An exploded view of the two parts of the robot arm is shown;

[0029] Figure 1D The embodiment according to the present disclosure is shown in FIG. Figure 1B A cross-sectional view of two portions of a robot arm is shown;

[0030] Figure 2A illustrates a perspective view of a housing for housing a segment of a robotic arm according to an embodiment of the present disclosure;

[0031] Figure 2B The present invention is used to accommodate the following embodiments. Figure 2A Another perspective view of the housing of a section of the robot arm is shown;

[0032] Figure 3A The present invention is used to accommodate the following embodiments. Figure 2A a partial cross-sectional view of a housing of a section of the robot arm shown;

[0033] Figure 3B The embodiment according to the present disclosure is shown as follows Figure 3A An exploded view of the housing is shown;

[0034] Figure 3C The embodiment according to the present disclosure is shown in FIG. Figure 3A an enlarged view of a portion of the housing shown;

[0035] Figure 3D illustrates a perspective view of an assembly consisting of a connector and a product contact component according to an embodiment of the present disclosure;

[0036] Figure 4A illustrates a cross-sectional view of a housing for housing another section of a robotic arm according to an embodiment of the present disclosure;

[0037] Figure 4B illustrates an enlarged view of a portion of a housing for housing another section of a robotic arm according to an embodiment of the present disclosure; and

[0038] Figure 5 A flow chart for manufacturing a housing for housing a segment of a robotic arm according to an embodiment of the present disclosure is illustrated.

[0039] Throughout the drawings, the same or corresponding reference numerals refer to the same or corresponding parts. DETAILED DESCRIPTION

[0040] Now, the subject matter described herein is discussed with reference to several example embodiments. These embodiments are discussed only to enable those skilled in the art to better understand and thus implement the subject matter described herein, and do not imply any limitation on the scope of the subject matter.

[0041] The terms "comprise" or "include" and variations thereof are to be interpreted as open-ended terms meaning "including but not limited to." The term "or" is to be interpreted as "and / or," unless the context clearly indicates otherwise. The term "based on" is to be interpreted as "based at least in part on." The term "operable to" means a function, action, motion, or state that can be achieved through operation caused by a user or an external mechanism. The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment." The term "another embodiment" is to be interpreted as "at least one other embodiment."

[0042] Unless otherwise specified or limited, the terms "mounted," "connected," "supported," and "coupled" and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings. Further, "connected" and "coupled" are not limited to physical or mechanical connections or couplings. In the following description, like reference numerals and numbers are used to describe the same, similar, or corresponding parts in the drawings. Other explicit and implicit definitions may be included below.

[0043] The following references Figures 1A to 5 Various embodiments of the present invention are described in detail.

[0044] First, refer to Figures 1A to 1D A robotic arm 1000 for use in hygienic applications is described.

[0045] Figure 1A illustrates a side view of a robotic arm according to an embodiment of the present disclosure; Figure 1Billustrates a partial perspective view of two portions of a robotic arm mounted together according to an embodiment of the present disclosure; Figure 1C The embodiment according to the present disclosure is shown in FIG. Figure 1B An exploded view of the two parts of the robot arm is shown; and Figure 1D The embodiment according to the present disclosure is shown in FIG. Figure 1B A cross-sectional view of two parts of a robot arm is shown.

[0046] like Figure 1A As shown, the robotic arm 1000 includes a plurality of sections, such as sections 300, 400, and 500. The robotic arm 1000 is used in sanitary applications where the sanitary requirements for mechanical design, material surfaces, and coatings are to be durable and capable of being sterilized, free of breakage, and resistant to cracking, chipping, peeling, erosion, corrosion, and abrasion.

[0047] like Figure 1B As shown, the segment 300 and the segment 400 are mounted together and can rotate relative to each other. It should be understood that the segment 300 and the segment 500 are also mounted together and can rotate relative to each other. The segment 300 has a housing 100, and the segment 400 has a housing 200. FIG. 2A to FIG. 3D The housing 100 of the segment 300 is shown in detail in FIG. Figure 1D and Figure 4A and Figure 4B The housing 200 of the section 400 is shown in detail in FIG. 4 , which will be described below. Figure 1C and Figure 1D As shown, segment 300 can rotate relative to segment 400. A rotatable member (such as shaft 5) driven to rotate by an actuator (not shown) is rotated relative to one of segments 300 and 400 (such as Figure 1B The segment 300 shown in FIG. 1 is fixed or stationary, and a fixed component such as a bearing (not shown) is relative to another segment of the segment 300 and the segment 400 (such as FIG. Figure 1B The rotatable component can rotate relative to the fixed component, so that the segment 300 can rotate relative to the segment 400.

[0048] The following references FIG. 2A to FIG. 3D The housing 100 of the section 300 is described. Figure 2A illustrates a perspective view of a housing for housing a segment of a robotic arm according to an embodiment of the present disclosure; Figure 2B The present invention is used to accommodate the following embodiments. Figure 2A Another perspective view of the housing of a section of the robot arm is shown; Figure 3A The present invention is used to accommodate the following embodiments. Figure 2Aa partial cross-sectional view of a housing of a section of the robot arm shown; Figure 3B The embodiment according to the present disclosure is shown in FIG. Figure 3A An exploded view of the housing is shown; Figure 3C The embodiment according to the present disclosure is shown in FIG. Figure 3A an enlarged view of a portion of the housing shown; and Figure 3D A perspective view of an assembly consisting of a connector and a product contact component according to an embodiment of the present disclosure is illustrated.

[0049] like FIG. 2A to FIG. 2B and FIG. 3A to FIG. 3D As shown, the housing 100 includes a housing body 1, which is made of a first material suitable for contacting a product in a sanitary application (such as plastic); and a connector 2, which is made of a second material having a higher strength than the first material (such as aluminum alloy, carbon fiber, and high-strength plastic with high strength and light weight). The housing body 1 is configured to accommodate the components of the section 300 and is the main part that directly contacts the product in a sanitary application. FIG. 2A to FIG. 2B and FIG. 3A to FIG. 3D The connector 2 is shown to be annular in shape, however, the shape of the connector 2 is not limited to annular as long as a rotatable member (such as the shaft 5) can be connected to the connector 2 so that the segment 300 can rotate relative to the segment 400. For example, the connector 2 may be a flange or a disk that can be connected to the actuator 5.

[0050] In the illustrated embodiment, the housing body 1 includes an extension portion 11 configured to accommodate the segment 300 of the robot arm, and two connection holes 12 located at both ends of the extension portion 11. FIG. 2A to FIG. 2B and FIG. 3A to FIG. 3D As shown, the extension portion 11 extends in a first direction, and the central axis of the connection hole 12 extends in a second direction perpendicular to the first direction. The segment 300 of the robot arm 1000 is connected to two other segments 400 and 500 of the robot arm, so two connection holes 12 are formed at both ends thereof. It should be understood by those skilled in the art that the connection hole may be formed only at one end of the connection body of the segment if the segment is connected to only one other segment.

[0051] like FIG. 2A to FIG. 2B and FIG. 3A to FIG. 3D As shown, the connector 2 is disposed at the joint of the robot arm 1000, disposed at one end or both ends of the housing body, and is configured to position an actuator (not shown) therein at the joint of the robot arm. As shown, most of the connector 2 is received in the connection hole 12, so that the connector 2 is exposed to the product as little as possible.

[0052] In the housing of the section of the robot arm used in sanitary applications, the housing body is the main part of the housing that directly contacts the product in the sanitary application, and the connector is accommodated in the connection hole of the housing body, so the connector is protected by the housing body to the extent that the connector is exposed to the product as little as possible. By manufacturing the housing body from a first material suitable for contacting the product in sanitary applications and receiving the connector therein, the housing can meet sanitary requirements and can be used for a long time. Further, since the second material such as aluminum alloy, carbon fiber and high-strength plastic has a higher strength than the first material, the connector can be used to position the actuator (not shown) therein at the joint of the robot arm to ensure that the actuator can operate with high accuracy.

[0053] In one embodiment, FIG. 2A to FIG. 2B and FIG. 3A to FIG. 3D As shown, the housing body 1 is made of plastic material and can be connected to at least a portion of the outer surface 21 of the connector 2 by overmolding so as to fasten or couple the connector 2 to the inner surface 13 of the connecting hole 12. When overmolding, the connector 2 can be first placed in a mold, and then molten plastic material can be injected into the mold to overmold the housing body 1 on the outer surface 21 of the connector 2. The mold can be preformed to have a shape corresponding to the section 300. In this embodiment, since the plastic material is corrosion-resistant, low in density, low in cost and good in formability, the housing body is light in weight and has a smooth appearance, and can be manufactured in a low-cost manner and can meet hygienic requirements. Further, the housing body can be formed by overmolding plastic on the outer surface of the connector. Therefore, the manufacture of the housing body and the housing is very simple and the cost is also very low.

[0054] In other embodiments not shown, the housing body 1 may also be made of other materials suitable for sanitary applications (such as stainless steel tubes and special-shaped tubes made of other materials). Compared with materials made by casting, there are no pores on the outer surface of the special-shaped tube, so it can be acid and alkali resistant and can be used in sanitary applications for a long time. When the housing body is connected to the connector, the housing body can be fastened to the connector by bolts or screws. Further, in order to support the connector, some other components having a shape corresponding to the connector can be provided inside the special-shaped tube.

[0055] refer to Figure 1D and FIG. 4A to FIG. 4B The housing 200 of the section 400 is described. Figure 4A illustrates a cross-sectional view of a housing for housing another section of a robotic arm according to an embodiment of the present disclosure; and Figure 4B An enlarged view of a portion of a housing for housing another section of a robotic arm is illustrated in accordance with an embodiment of the present disclosure.

[0056] like Figure 1D As shown, the housing 200 includes a housing body 1' made of a first material suitable for contacting a product in a sanitary application (such as plastic), and a connector 2' made of a second material having higher strength than the first material (such as aluminum alloy, carbon fiber, and high-strength plastic with high strength and light weight). The housing body 1' is configured to accommodate components of the segment 400 and is a main part that directly contacts the product in a sanitary application.

[0057] In the illustrated embodiment, the housing body 1' includes an extension portion 11' configured to accommodate a segment 400 of a robot arm, and a connection hole 12' at one end of the extension portion 11'. Since the segment 400 is only connected to one other segment, such as the segment 300, only one connection hole 12' is formed at one end of the extension portion. In the illustrated embodiment, the connection hole 12' is coaxial with the extension portion 11'.

[0058] like Figure 1D , FIG. 4A to FIG. 4B As shown, the connector 2' is disposed at the joint of the robot arm 1000 and is configured to position an actuator (not shown) therein at the joint of the robot arm. As shown, most of the connector 2' is received in the connection hole 12' so that the connector 2' is exposed to the product as little as possible.

[0059] In the housing of the section of the robot arm used in sanitary applications, the housing body is the main part of the housing that directly contacts the product in the sanitary application, and the connector is accommodated in the connection hole of the housing body, so the connector is protected by the housing body to the extent that the connector is exposed to the product as little as possible. By manufacturing the housing body from a first material suitable for contacting the product in sanitary applications and accommodating the connector therein, the housing can meet sanitary requirements and can be used for a long time. Further, since the second material such as aluminum alloy, carbon fiber and high-strength plastic has a higher strength than the first material, the connector can be used to position the actuator (not shown) therein at the joint of the robot arm to ensure that the actuator can operate with high accuracy.

[0060] In one embodiment, Figure 1D and FIG. 4A to FIG. 4BAs shown, the housing body 1' can be made of plastic material and can be overmolded on at least a portion of the outer surface 21' of the connector 2' so that the connector 2' is fastened or coupled to the inner surface 13' of the connecting hole 12'. When overmolding, the connector 2' can be first placed in a mold, and then the molten plastic material can be injected into the mold so that the housing body is overmolded on the outer surface of the connector 2'. The mold can be preformed to have a shape corresponding to the section 400. In this embodiment, due to the corrosion resistance, low density, low cost and good formability of the plastic material, the housing body is light in weight and has a smooth appearance, and can be manufactured in a low-cost manner and can meet hygienic requirements. Further, the housing body can be formed by overmolding plastic on the outer surface of the connector. Therefore, the manufacture of the housing body and the housing is very simple and the cost is also very low.

[0061] In other embodiments not shown, the housing body 1 'can also be made of other materials suitable for sanitary applications (such as stainless steel pipes and special-shaped pipes made of other materials). Compared with materials made by casting, there are no pores on the outer surface of the special-shaped pipe, so it can be acid and alkali resistant and can be used in sanitary applications for a long time. When the housing body is connected to the connector, the housing body can be fastened to the connector by bolts or screws. Further, in order to support the connector, some other components having a shape corresponding to the connector can be provided inside the special-shaped pipe.

[0062] In one embodiment, the housing body 1, 1' can be connected to the entire outer surface 21, 21' of the connector 2, 2'. In another embodiment, the housing body 1, 1' can be connected to a portion of the outer surface 21, 21' of the connector 2, 2'. Considering that the plastic material of the extension part is not very wear-resistant, some other components, such as product contact components 3, 3', can be provided on the outer surface 21, 21' to isolate these extension parts 11, 11' from each other and reduce the friction between the two extension parts 11, 11'.

[0063] In order to protect the connectors 2, 2' from corrosion, it is preferred to prevent the connectors from directly contacting the product. FIG. 3A to FIG. 3D as well as Figure 4A and Figure 4BAs shown, the outer surface 21, 21' of the connector 2, 2' may include a portion located outside the connection hole 12, 12' and exposed to the product and another portion located inside the connection hole 12, 12'. In the illustrated embodiment, the housing 100, 200 also includes a product contact component 3, 3', which is made of a third material (such as stainless steel) suitable for contacting the product in a sanitary application and having a higher strength than the first material, and is configured to be in direct contact with the product operated using a robot arm. Before the housing body 1, 1' is connected to the outer surface of the connector 2, 2', the product contact component 3, 3' is assembled or coupled to the exposed portion of the outer surface 21, 21' of the connector 2, 2' so as to form a single body. In one example, the product contact component 3, 3' can be press-fitted on the exposed portion of the outer surface 21, 21'. In another example, the product contact component 3, 3' can be bolted to the exposed portion of the outer surface 21, 21'. When the shell body is overmolded on the connector, after forming a single part including the product contact components and the connector, the single part can be placed in the mold first, and then the molten plastic material can be injected into the mold to overmold the shell body 1, 1' on a portion of the outer surface of the connector 2, 2'.

[0064] In this embodiment, since the product contact parts 3, 3' directly exposed to the product are made of metal such as stainless steel, internal parts such as connectors 2, 2' can be isolated from the product, and corrosion of the internal parts can be prevented or reduced. Further, the product contact parts 3, 3' are also located between the adjacent surfaces of two adjacent shells 100, 200, and due to the wear resistance of stainless steel, the friction between the adjacent shell bodies can be reduced.

[0065] In some cases, the product is a liquid and the liquid can intrude into the housing. It is necessary to seal the inner parts contained in the housing from the liquid product. Figure 1C and Figure 1D As shown, the housing 100 or the housing 200 further includes a sealing ring 4. In one embodiment (not shown), the first portion of the sealing ring 4 is directly mounted on the portion of the outer surface 21 of the connector 2 exposed to the product, and the second portion of the sealing ring 4 is directly mounted on the portion of the outer surface 21' of the connector 2' exposed to the product. Figure 1C and Figure 1DIn one embodiment shown, the sealing ring 4 is directly mounted on the product contact part 3, 3'. In the illustrated embodiment, the product contact part 3, 3' has a shoulder 31, 31' at its outer edge opposite to the housing body 1, 1', and the sealing ring 4 is received in the shoulder 31, 31' of the product contact part 3, 3'. Specifically, the first part of the sealing ring 4 is mounted on the shoulder 31, and the second part of the sealing ring 4 is mounted on the shoulder 31'.

[0066] In this embodiment, since the sealing ring is provided, the liquid product is isolated from the inner member by the sealing ring, and the corrosion to the inner member is further reduced.

[0067] like Figure 3C and Figure 4B As shown, the connector includes outer ridges 22, 22' on the outer surfaces 21, 21' of the connectors 2, 2', and the connecting holes 12, 12' include recesses 14, 14' on the inner surfaces 13, 13'. The outer ridges 22, 22' are configured to be received in the recesses 14, 14' so as to be fixed and positioned in an appropriate position relative to the connecting holes 12, 12' of the shell body 1, 1'. It should be understood by those skilled in the art that the engagement between the connector 2, 2' and the shell 1, 1' can be performed in other ways, and the recesses can also be formed on the connectors, and the outer ridges can also be formed on the shell body, and the ridges can be divided into multiple segments.

[0068] In this embodiment, the connection between the connector and the connection hole can be further improved by the engagement between the recess and the outer ridge. In addition to the face-to-face engagement between the inner surface of the connection hole and the outer surface of the connector, the connector can be connected to the connection hole and positioned to the connection hole by the engagement force between the recess and the ridge, which is more stable than face-to-face engagement.

[0069] like Figure 2A , Figure 2B , Figure 3A and Figure 3B As shown, the connector 2 also includes an inner ridge 23, which is provided with a plurality of connection holes 24 for connecting the connector 2 of the first housing 100 of the first section 300 of the robot arm to the second housing 200 of the second section 400 of the robot arm (such as to the rotatable shaft 5, such as Figure 1D As shown in FIG. 1 , the second housing 200 is engaged with the first housing 100, such as by bolting. It should be understood by those skilled in the art that the connector 2' is also provided with an inner ridge 23, and the inner ridge 23 is provided with corresponding connection holes for bolting, for example, a fixed component (such as a bearing that can rotate relative to a rotatable component). By providing the inner ridge and the connection holes on the segments 300 and 400, the segments 300 and 400 can be tightly connected to each other.

[0070] The following describes a method for manufacturing the housing.

[0071] Figure 5 A flow chart for manufacturing a housing for housing a segment of a robotic arm according to an embodiment of the present disclosure is illustrated.

[0072] like Figure 5 As shown, the method starts at frame 501, where the connector 2, 2' is formed from a second material such as an aluminum alloy, carbon fiber, and a high-strength plastic. At frame 502, a housing body 1, 1' is formed from a first material suitable for contacting a product in a sanitary application. At frame 503, the housing body 1, 1' is connected to at least a portion of the outer surface of the connector 2, 2'. In one embodiment, the housing body 1, 1' can be connected to the entire outer surface 21, 21' of the connector 2, 2'. In another embodiment, the housing body 1, 1' can be connected to a portion of the outer surface 21, 21' of the connector 2, 2', so that considering that the plastic material of the extension part is not very wear-resistant, some other components (such as product contact components 3, 3') to be described below can be provided on the outer surface 21, 21', so as to isolate these extensions 11, 11' from each other and reduce the friction between the two extensions 11, 11'.

[0073] Connecting the housing body to the connector may be performed by overmolding the first material onto the connector or by connecting an already formed housing body to the connector using screws or bolts.

[0074] Optionally, the housing 100, 200 further comprises a product contact component 3, 3', which is assembled to the connector 2, 2'. The method optionally comprises a block 501-1, in which the product contact component 3, 3' is formed from a third material such as stainless steel, and a block 501-2, in which the product contact component is assembled to a portion of the outer surface 21, 21' of the connector 2, 2'.

[0075] Further, although the operations are described in a particular order, this should not be understood as requiring to perform these operations in the particular order shown or in a sequential order, or to perform all illustrated operations, to achieve a desired result. In some cases, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these details should not be interpreted as limitations on the scope of the present disclosure, but should be interpreted as descriptions of features that may be peculiar to a particular embodiment. Certain features described in the context of separate embodiments may also be implemented in combination in a single embodiment. On the other hand, the various features described in the context of a single embodiment may also be implemented individually or in any suitable subcombination in multiple embodiments.

[0076] Compared with the conventional method, by manufacturing the housing body from a first material suitable for contacting the product in a sanitary application and receiving the connector therein, the housing can meet the sanitary requirements and can be used for a long time. Further, since the second material such as aluminum alloy, carbon fiber and high-strength plastic has a higher strength than the first material, the connector can be used to position the actuator (not shown) therein at the joint of the robot arm to ensure that the actuator can operate with high accuracy.

[0077] Although the subject matter has been described in language specific to structural features and / or methodological actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Instead, the specific features and actions described above are disclosed as example forms of implementing the claims.

Claims

1. A housing (100, 200) for housing a segment (300, 400) of a robotic arm (1000) for use in sanitary applications, comprising: A housing body (1, 1') made of a first material suitable for contacting a product in said sanitary application, said housing body (1, 1') comprising: an extension portion (11, 11') configured to accommodate the section (300, 400) of the robot arm (1000); and a connecting hole (12, 12') located at the end of the extension portion (11, 11'), and A connector (2, 2') made of a second material and comprising an outer surface (21, 21'), wherein the second material has a higher strength than the first material, The housing body (1, 1') is connected to at least a portion of the outer surface (21, 21') of the connector (2, 2') to connect the connector (2, 2') to the inner surface (13, 13') of the connecting hole (12, 12').

2. The housing (100, 200) according to claim 1, wherein the first material is plastic and the housing body (1, 1') is connected to at least a portion of the outer surface (21, 21') of the connector (2, 2') by overmolding the plastic on the outer surface.

3. The housing (100, 200) according to claim 1, wherein the housing body (1, 1') is connected to at least a portion of the outer surface (21, 21') of the connector (2, 2') so that a portion of the outer surface (21, 21') of the connector (2, 2') is located outside the connecting hole (12, 12'), and The housing (100, 200) further comprises a product contact part (3, 3'), the product contact part being made of a third material suitable for contacting the product in the sanitary application and having a higher strength than the first material, The product contact component (3, 3') is coupled to the portion of the outer surface (21, 21') of the connector (2, 2').

4. A housing (100, 200) according to claim 3, wherein the product contact component (3, 3') is coupled to the portion of the outer surface (21, 21') before connecting the housing body (1, 1') to the outer surface (21, 21') of the connector (2, 2').

5. The housing (100, 200) of claim 3, wherein the second material is an aluminum alloy and the third metal is stainless steel.

6. The housing (100, 200) according to claim 1, wherein the housing body (1, 1') is connected to at least a portion of the outer surface (21, 21') of the connector (2, 2') so that a portion of the outer surface (21, 21') of the connector (2, 2') is located outside the connecting hole (12, 12'), The housing further comprises a sealing ring (4) surrounding the portion of the outer surface (21, 21') of the connector (2, 2').

7. The housing (100, 200) according to claim 3, wherein the product contact part (3, 3') comprises a shoulder (31, 31') at its outer edge opposite to the housing body (1, 1'), and The housing (100, 200) also comprises a sealing ring (4) received in the shoulder (31, 31') of the product contact part (3, 3').

8. The housing (100, 200) according to claim 1, wherein the extending portion (11) extends in a direction perpendicular to an axis of the connecting hole (12).

9. The housing (100, 200) according to claim 1, wherein the extension portion (11') extends in a direction parallel to an axis of the connection hole (12').

10. The housing (100, 200) according to claim 1, wherein the connector (2, 2') comprises an outer ridge (22, 22') on the outer surface (21, 21'), The connecting hole (12, 12') comprises a recess (14, 14') on the inner surface (13, 13'), and The outer ridge (22, 22') is configured to be received in the recess (14, 14') so as to be fixed and positioned in a suitable position relative to the connecting hole (12, 12').

11. A shell (100, 200) according to claim 1, wherein the connector includes an inner ridge (23) provided with a plurality of connecting holes (24) for connecting the connector (2) of the first shell (100) of the first section (300) of the robot arm to a second shell (200) engaged with the first shell (100) and for the second section (400) of the robot arm.

12. A method for manufacturing a housing (100, 200) of a segment (300, 400) of a robot arm used in sanitary applications, the housing comprising a housing body (1, 1') and a connector (2, 2') at the end of the housing body (1, 1'), the method comprising: forming the connector (2, 2') from a second material, wherein the connector has an outer surface (21, 21'); forming the housing body (1, 1') from a first material suitable for contacting a product in the sanitary application, wherein the second material has a higher strength than the first material; as well as The housing body (1, 1') is connected to at least a portion of the outer surface of the connector (2, 2').

13. The method according to claim 12, wherein the first material is plastic, and forming the housing body (1, 1') from the first material comprises: The connector (2, 2') is placed in a mold corresponding to the shape of the housing (100, 200), and Molten plastic is injected into the mold so as to over-mold the molten plastic on at least a portion of the outer surface of the connector (2, 2') to form the housing body (1, 1').

14. The method according to claim 12, wherein the housing further comprises a product contact part (3, 3') made of a third material suitable for contacting the product in the sanitary application and having a higher strength than the first material, the outer surface of the connector (2, 2') comprising a first portion and a second portion, The forming of the connector (2, 2') further comprises: forming the product contact part (3, 3') made of the third material; as well as The product contact component (3, 3') is assembled onto the first portion of the outer surface of the connector (2, 2').

Images