Arm and robot with rigid reinforcement structure

Abstract

The application discloses an arm and a robot with a rigid reinforcing structure and relates to the technical field of semiconductor conveying equipment. The arm comprises a base body, a shell, a first protrusion and a second protrusion. The base body has an initial end, a terminal end and an intermediate part extending from the initial end to the terminal end. The shell has a base plate part matching the base body in outline and a surrounding wall part extending from the edge of the base plate part to the base body. The opposite surfaces of the first protrusion and the second protrusion abut each other to form a rigid fitting structure with at least partial surface contact. The reinforcing protrusions form additional rigid connection nodes in the intermediate area of the base body and the shell, increase the bending and torsional inertia moments of the cross section of the arm, effectively disperse stress and inhibit the relative deformation of the base body and the shell when the arm is stressed, and thus greatly improve the overall rigidity of the arm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of semiconductor conveying equipment, and in particular to an arm with a rigid reinforcing structure and a robot. BACKGROUND

[0002] In the fields of industrial automation, precision manufacturing, and logistics transportation, a robot (or a robotic arm) as a core executive component needs to realize functions such as material grabbing, precision assembly, and load carrying through the movement of the arm. As a force and motion transmission carrier, the rigidity of the arm directly affects the motion accuracy, load capacity, and service life. With the increasing requirements of industrial applications for the flexibility and coverage of the robot operation, the length of the arm needs to be lengthened to expand the working radius. However, after the length of the arm is increased, the rigidity of the overall structure faces challenges: during the load action or high-speed movement, the existing structure is difficult to provide sufficient support, and the arm is prone to deformation such as bending and twisting due to stress concentration. Such deformation not only reduces the positioning accuracy and motion stability of the robot, but also may exacerbate the wear of the transmission components, shorten the service life of the arm, and even cause safety hazards. Therefore, how to effectively improve the rigidity of the arm while lengthening it has become a problem to be solved in the design of the existing robot arm structure.

[0003] In the prior art, the schemes for improving the rigidity of the robot arm mainly include:

[0004] Thickening of a single material: the rigidity is improved by increasing the thickness or cross-sectional area of the main structure of the arm, but this will significantly increase the weight of the arm, increase the driving energy consumption, and may exceed the load limit of the joint driving unit;

[0005] Simple rib reinforcement: independent rib structures are arranged on the surface or inside of the arm, but the bonding strength of the ribs and the main structure is low, and the ribs are prone to relative deformation under stress, so the rigidity improvement effect is limited;

[0006] Split splicing structure: a multi-segment splicing arm is used, which is connected by bolts or pins, but the splicing part is a weak link in rigidity, which is prone to deformation or loosening due to stress concentration, affecting the overall rigidity;

[0007] Lightweight material replacement: high-strength alloys or composite materials are used, but the material cost is high, and when the structure design is not optimized, it is still difficult to balance the lightweight and rigidity requirements;

[0008] The above schemes generally have problems such as contradiction between rigidity and lightweight, poor coordination between reinforcing structure and main body, and local stress concentration, which cannot meet the stringent requirements for the rigidity of the robot arm in high-precision and high-load scenarios. SUMMARY

[0009] The present application aims to provide an arm and a robot hand with a rigid reinforcing structure to at least solve the technical problem that the shell of the robot hand arm in the prior art is prone to deformation due to insufficient rigidity after being lengthened or having increased load, thereby causing the positioning accuracy and motion stability to decrease.

[0010] To achieve the above-mentioned purpose, the technical solutions of the present application are as follows:

[0011] In a first aspect, the present application provides an arm with a rigid reinforcing structure, comprising:

[0012] a base body having an initial end portion and a terminal end portion arranged oppositely, and an intermediate portion extending from the initial end portion towards the terminal end portion;

[0013] a shell having a base plate portion matching the contour of the base body, and a surrounding wall portion extending from the edge of the base plate portion towards the base body;

[0014] a first protrusion extending from at least part of the intermediate portion towards the base plate portion;

[0015] a second protrusion extending from the base plate portion towards the first protrusion;

[0016] wherein the first protrusion and the second protrusion are configured as a closed hollow structure, the opposite surfaces of the first protrusion and the second protrusion abut each other and are fixedly connected by fasteners to form a rigid fitting structure with at least partial surface contact.

[0017] In some possible embodiments, the shell is fitted on the base body, and the base body and the shell jointly form a cavity.

[0018] In some possible embodiments, at least part of the outer edge of the initial end portion extends to form an arc-shaped reinforcing segment towards the base plate portion, a linear reinforcing segment is formed along the tangent direction of the arc-shaped reinforcing segment towards the terminal end portion, and the linear reinforcing segment is integrally formed with the intermediate portion.

[0019] In some possible embodiments, the length of the linear reinforcing segment along the extension direction of the initial end portion towards the terminal end portion is greater than or equal to 1 / 2 of the length of the intermediate portion along the same extension direction.

[0020] In some possible embodiments, the arc-shaped reinforcing segment and the linear reinforcing segment jointly form a U-shaped structure, and the opening of the U-shaped structure faces the terminal end portion.

[0021] In some possible embodiments, a side wall portion is formed extending from the edge of the base body towards the surrounding wall portion, the surrounding wall portion and the side wall portion abut and are fixedly connected by fasteners.

[0022] In some possible embodiments, the outer peripheral edge of the base body is inwardly contracted in a radial direction relative to a central axis of the base body to form a stepped portion, the surrounding wall portion is fastened to the stepped portion, and the fastening is achieved by a fastener.

[0023] In some possible embodiments, the first protrusion and the second protrusion have the same or different geometric profiles at the abutting contact region.

[0024] In some possible embodiments, the first protrusion and / or the second protrusion are configured as a closed ring.

[0025] In some possible embodiments, the first protrusion and / or the second protrusion are tapered from the starting end portion towards the terminal end portion.

[0026] In some possible embodiments, the first protrusion and / or the second protrusion are configured as a water drop shape.

[0027] In some possible embodiments, the first protrusion and / or the second protrusion are provided with an interlaced grid-shaped hollow structure or a radial hollow structure or a plurality of vertical strip-shaped structures arranged along the length direction thereof.

[0028] In some possible embodiments, the abutting surfaces of the first protrusion and the second protrusion are planar or stepped or irregularly jointed.

[0029] In some possible embodiments, the first protrusion has an extension length greater than, equal to, or less than that of the second protrusion.

[0030] In some possible embodiments, the first protrusion and the second protrusion are provided with a plurality of screw holes at the abutting contact region, the plurality of screw holes are uniformly distributed in a circumferential direction along the outer peripheral profile of the abutting contact region, and the first protrusion and the second protrusion are fastened by a fastener passing through the plurality of corresponding screw holes.

[0031] In a second aspect, the present application provides a robot, comprising a body and a robot arm pivotally connected to the body, the robot arm comprising an upper arm pivotally connected to the body, a forearm pivotally connected to the upper arm, and an end effector pivotally connected to the forearm, at least one of the upper arm and the forearm being the above-mentioned arm with a rigid reinforcing structure.

[0032] The beneficial effects of the present application are that: the present application forms an additional rigid connection node in the middle region of the base and the shell by the protruding reinforcing protrusions in the middle part of the base towards the shell and the matching annular reinforcing protrusions of the base protruding towards the shell corresponding position, which increases the bending and torsional inertia moment of the arm cross section, when the arm is under stress (such as load gravity, motion inertia force), the abutting reinforcing protrusions can effectively disperse stress and inhibit the relative deformation of the base and the shell, thereby greatly improving the overall rigidity of the arm; the abutting and locking structure of the reinforcing protrusions ensures that the base and the shell do not easily displace or warp when the lengthened arm is under load or high-speed motion, maintains the stable operation of the transmission components in the chamber, avoids transmission jamming, abnormal sound or precision deviation caused by structural deformation, the rigidity improvement reduces the end positioning error of the arm during operation, improves the repeatability and trajectory control accuracy of the robot; at the same time, the increase of structural stability reduces the fatigue wear of components caused by deformation, prolongs the service life of the arm, and improves the long-term working reliability of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a shaft side view of the embodiment of the robot arm of the present application.

[0034] Figure 2 It is a schematic view of the robot arm and the transmission components of the embodiment of the present application.

[0035] Figure 3 It is a first perspective view of the first embodiment of the robot arm with a rigid reinforcing structure of the present application.

[0036] Figure 4 It is a second perspective view of the first embodiment of the robot arm with a rigid reinforcing structure of the present application.

[0037] Figure 5 It is a first perspective view of the second embodiment of the robot arm with a rigid reinforcing structure of the present application.

[0038] Figure 6 It is a second perspective view of the second embodiment of the robot arm with a rigid reinforcing structure of the present application.

[0039] Figure 7 It is a top view of the base of the first embodiment of the robot arm with a rigid reinforcing structure of the present application.

[0040] Figure 8 It is a schematic view of the third embodiment of the robot arm with a rigid reinforcing structure of the present application.

[0041] Figure 9 It is a schematic view of the fourth embodiment of the robot arm with a rigid reinforcing structure of the present application.

[0042] Figure 10 Figure 5 is a schematic view of a seventh embodiment of the arm with a rigid reinforcing structure, specifically a longitudinal sectional view of the first protrusion and the second protrusion abutting together, the abutting surface being an irregular joint surface.

[0043] Figure 11 Figure 6 is a schematic view of a sixth embodiment of the arm with a rigid reinforcing structure, specifically a longitudinal sectional view of the first protrusion and the second protrusion abutting together, the abutting surface being a stepped surface.

[0044] Figure 12 Figure 5 is a schematic view of a seventh embodiment of the arm with a rigid reinforcing structure, specifically a longitudinal sectional view of the first protrusion and the second protrusion abutting together, the abutting surface being an irregular joint surface.

[0045] Reference signs:

[0046] 100, base body, 1001, initial end portion, 1002, intermediate portion, 1003, terminal end portion, 1004, first protrusion, 10041, staggered grid-shaped hollow structure, 10042, radial hollow structure, 10043, vertical strip-shaped structure, 1005, arc-shaped reinforcing section, 1006, linear reinforcing section, 1007, side wall portion, 1008, stepped portion,

[0047] 200, housing, 2001, base plate portion, 2002, surrounding wall portion, 2003, second protrusion;

[0048] 300, main body;

[0049] 400, upper arm;

[0050] 500, forearm,

[0051] 600, end effector;

[0052] 700, transmission assembly. DETAILED DESCRIPTION

[0053] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application. Unless otherwise defined, the technical terms or scientific terms used herein should be understood as their common meanings to those of ordinary skill in the art to which the present application belongs. The words such as “comprise” and the like used herein mean that the elements or objects before the words encompass the elements or objects listed after the words and their equivalents, and do not exclude other elements or objects.

[0054] In the structural design of the mechanical arm, the arm is the core transmission carrier of power and movement, and its rigidity is a key index to determine the movement accuracy, load capacity and dynamic response speed. In order to improve the working radius and load capacity of the mechanical hand, the arm body is structurally optimized to improve its rigidity and stability.

[0055] The specific embodiments of the present application will be further described in detail below. Figure 1 -Appendix Figure 12 , and the specific embodiments of the present application will be further described in detail.

[0056] As Figure 1 shown, the embodiment of the present application provides a mechanical hand, comprising a body 300, and a mechanical arm pivotally connected to the body 300, which can be a horizontal multi-joint type mechanical hand, a selective compliant assembly mechanical hand, etc., used to realize the grabbing, carrying or operation of a workpiece, and its working radius is improved by lengthening design. The mechanical arm has three rotary joints corresponding to three joint axes: a shoulder joint axis SX, an elbow joint axis EX, and a wrist joint axis WX. Specifically, the mechanical arm comprises an upper arm 400, a forearm 500, and an end effector 600 which are pivotally connected to the body 300 in sequence, i.e., the proximal end of the upper arm 400 is rotatably connected to the body 300 and rotates around the shoulder joint axis SX, the distal end of the upper arm 400 is rotatably connected to the proximal end of the forearm 500, the forearm 500 rotates relative to the upper arm 400 around the elbow joint axis EX, and the distal end of the forearm 500 is rotatably connected to the end effector 600; the end effector 600 rotates relative to the forearm 500 around the wrist joint axis WX. The end effector 600 is an execution component acting directly on the workpiece, and its specific structure can be configured according to the operation requirement. It should be noted that in the structure of the mechanical arm, "proximal end" and "distal end" are relative position terms for clarifying the connection relationship of components, and the reference is the body 300 of the mechanical hand. The proximal end refers to the end of the component close to the body 300, which is the end of the component connected to the previous component; the distal end refers to the end of the component away from the body 300, which is the end of the component connected to the next component.

[0057] At least one of the upper arm 400 and the forearm 500 is an arm with a rigid strengthening structure. The upper arm 400 can correspond to an arm with a rigid strengthening structure, the forearm 500 can correspond to an arm with a rigid strengthening structure, and the upper arm 400 and the forearm 500 can both correspond to an arm with a rigid strengthening structure. Specifically, at least one can be set as a rigid strengthening arm according to the load requirement and the working radius length of the arm. By setting at least one rigid strengthening arm, the deformation resistance of the mechanical arm under lengthening or heavy load working conditions is improved.

[0058] As Figure 2As shown, the cooperation relationship between the arm with rigid reinforcement structure and the transmission assembly is exemplarily shown, the high rigidity shell and internal reinforcement design of the rigid reinforcement arm provide high precision installation reference for the transmission assembly, and the transmission assembly realizes stable torque transmission through synchronous belt transmission, and the cooperation of the two ensures the transmission precision and stability of the mechanical arm under the conditions of lengthening or load, the transmission assembly 700 is arranged in the cavity formed by the base body 100 and the shell 200, the transmission assembly 700 comprises a driving wheel 7002, a driven wheel 7003 and a synchronous belt 7004 arranged around the driving wheel 7002 and the driven wheel 7003, the synchronous belt 7004 is used for transmitting torque between the driving wheel 7002 and the driven wheel 7003, the driving wheel 7002 is synchronously connected with the driving shaft 7001, and the mandrel 10031 is formed by extending from the central axis of the end portion 1003 to the base plate portion 2001, and the driven wheel 7003 is rotatably connected with the mandrel 10031.

[0059] As shown in the figure, Figure 3 The first embodiment of the present application provides an arm with rigid reinforcement structure, which is mainly composed of a base body 100 and a shell 200, and the two form an integrated rigid structure, the base body 100 is the core load-bearing component of the arm, and the two are matched through the surface contact of the first protrusion 1004 and the second protrusion 2003, so as to improve the overall bending resistance and torsional deformation resistance.

[0060] The base body 100 is a long strip-shaped main structure, which has a proximal end portion 1001 and a distal end portion 1003 arranged oppositely, and an intermediate portion 1002 extending from the proximal end portion 1001 to the distal end portion 1003, the proximal end portion 1001 is located at the proximal end of the base body 100 and is used for being pivotally connected with a previous assembly such as a body or an upper arm, the distal end portion 1003 is located at the distal end of the base body 100 and is used for being connected with a next assembly such as a forearm or an end effector, the intermediate portion 1002 connects the proximal end portion 1001 and the distal end portion 1003 and is the main load-bearing segment of the base body 100, and extends in the length direction, and the proximal end portion 1001, the intermediate portion 1002 and the distal end portion 1003 are integrally formed.

[0061] As shown in the figure, Figure 4 The shell 200 has a base plate portion 2001 matched with the contour of the base body 100, and a surrounding wall portion 2002 extending from the edge of the base plate portion 2001 to the base body 100, the base plate portion 2001 is a basic planar structure of the shell 200, the surrounding wall portion 2002 is a side wall structure formed by extending from the circumferential edge of the base plate portion 2001 to the base body 100, and the base plate portion 2001 and the surrounding wall portion 2002 are integrally formed.

[0062] To realize the integrated rigid connection of the base 100 and the shell 200, the two are in surface contact and fit through the first protrusion 1004 and the second protrusion 2003 to transfer stress, the first protrusion 1004 is formed from at least part of the intermediate part 1002 extending towards the base plate part 2001; the first protrusion 1004 is integrally formed with the intermediate part 1002, the second protrusion 2003 is formed from the base plate part 2001 extending towards the first protrusion 1004; the second protrusion 2003 is integrally formed with the base plate part 2001, wherein the first protrusion 1004 and the second protrusion 2003 are configured as a closed hollow structure, the opposite surfaces of the first protrusion 1004 and the second protrusion 2003 abut each other and are fixedly connected by fasteners to form a rigid fit structure with at least partial surface contact. The abutting surface of the first protrusion 1004 and the fitting surface of the second protrusion 2003 are completely fitted, and are fixed by bolts, the surface contact fit transfers the bending / torsional stress borne by the base 100 to the shell 200 through the first protrusion and the second protrusion, avoiding local stress concentration; the base and the shell form a rigid whole through the protrusions, the core bearing capacity of the base and the support capacity of the shell are superimposed through the protrusion fit, and the overall bending stiffness is improved.

[0063] As shown in Figure 3 and Figure 4 , the shell 200 is buckled on the base 100, and the base 100 and the shell 200 jointly form a cavity, after the shell 200 is buckled on the base 100, the two form a closed or semi-closed cavity through the base plate part 2001, the surrounding wall part 2002 and the surface of the base 100, the base 100 serves as the bottom wall and part of the side wall of the cavity, its surface facing the shell 200, the top of the first protrusion 1004 is higher than the base to form a support boss inside the cavity; the shell 200 serves as the top wall and the remaining side wall of the cavity, the base plate part 2001 constitutes the top wall of the cavity, the surrounding wall part 2002 constitutes the circumferential side wall of the cavity, and after the bottom of the second protrusion 2003 abuts against the first protrusion 1004, a rigid partition rib inside the cavity is formed.

[0064] As shown in Figure 7 , the inner side of the first protrusion 1004 and / or the second protrusion 2003 is provided with an interlaced grid-shaped hollow structure 10041, specifically, the inner side of the first protrusion 1004 is provided with an interlaced grid-shaped hollow structure 10041, the first protrusion 1004 and the second protrusion 2003 have the same structure, the inner side of the second protrusion 2003 is provided with an interlaced grid-shaped hollow structure 10041, the interlaced grid-shaped hollow structure 10041 is arranged by symmetrical grid and cooperates to realize lightweight and functional integration while ensuring abutting precision and bearing capacity.

[0065] As shown in Figure 5 and Figure 6As shown, in the second embodiment of the present application, at least part of the outer edge of the starting end part 1001 extends towards the base plate part 2001 to form an arc-shaped reinforcing section 1005, and along the tangent direction of the arc-shaped reinforcing section 1005, an linear reinforcing section 1006 extends towards the end part 1003, and the linear reinforcing section 1006 is integrally formed with the intermediate part 1002. The arc-shaped reinforcing section 1005 and the linear reinforcing section 1006 are an integrated rigid reinforcing structure of the outer edge of the starting end part 1001, which extends along the stress direction and cooperatively bears with the intermediate part 1002. The arc-shaped reinforcing section 1005 is located at the outer edge of the starting end part 1001, which extends along the arc-shaped contour of the starting end part 1001 towards the base plate part 2001 of the shell 200, covers 1 / 3-1 / 2 of the circumference of the outer edge of the starting end part, and corresponds to the main stress arc segment of the joint movement. The linear reinforcing section 1006 extends from the end of the arc-shaped reinforcing section 1005 along the tangent direction thereof towards the end part 1003, smoothly transitions with the outer edge of the intermediate part 1002 and is integrally formed with the intermediate part 1002. The tangent direction of the arc-shaped reinforcing section 1005 is collinear with the extension direction of the linear reinforcing section 1006, and the connection adopts a smooth circular arc transition to form an arc-linear continuous outer edge reinforcing contour, which cooperatively constitutes the rigid bearing ridge of the starting end part 1001 to the intermediate part 1002, enhances the rigidity of the starting end part, reduces the deformation at the joint, optimizes the stress distribution, avoids local stress concentration, cooperatively enhances the overall structural stability with the intermediate part.

[0066] The length of the linear reinforcing section 1006 along the extension direction of the starting end part 1001 towards the end part 1003 is greater than or equal to 1 / 2 of the length of the intermediate part 1002 along the same extension direction. The length of the linear reinforcing section 1006 is based on the stress transmission path, along the extension direction of the base body 100, i.e. the length direction of the starting end part 1001 towards the end part 1003, the starting point is the end of the arc-shaped reinforcing section 1005, and the ending point is the termination position of the linear reinforcing section extending to the intermediate part 1002. The total length of the intermediate part 1002 along the same extension direction, i.e. the straight line distance from the intersection line of the starting end part 1001 and the intermediate part 1002 to the intersection line of the intermediate part 1002 and the end part 1003, is the length of the intermediate part 1002. The intermediate part 1002 is the bearing segment of the arm main body, and the rigidity thereof needs to be distributed along the length direction, gradually decreasing from the starting end to the end to match the lightweight requirement of the end part. The linear reinforcing section extends to more than 1 / 2 of the length of the intermediate part, which can realize the smooth change of the rigidity gradient through the transition of the high-rigidity segment of the starting end to the conventional segment of the end part, and avoid the stress concentration caused by the local rigidity mutation.

[0067] The arc-shaped reinforcing section 1005 and the linear reinforcing section 1006 jointly form a U-shaped structure, and the opening of the U-shaped structure faces the end portion 1003. The arc-shaped reinforcing section 1005 and the linear reinforcing section 1006 jointly form a U-shaped rigid frame with the opening facing the end portion 1003 through the combination of arc-shaped bending and double-linear extension. The U-shaped structure resists the torque generated by joint rotation through the cooperation of the closed end, the two-side arms resisting bending, and the long extension transmission. The U-shaped structure formed by the arc-shaped reinforcing section 1005 and the linear reinforcing section 1006 becomes the core structure for improving the rigidity of the beginning of the arm, dispersing the load, and balancing the lightweight through the form adaptation, direction optimization, and function cooperation.

[0068] The side wall portion 1007 extends from the edge of the base 100 towards the surrounding wall portion 2002, and the surrounding wall portion 2002 is in abutting cooperation with the side wall portion 1007 and is fastened and connected by fasteners. The side wall portion 1007 and the surrounding wall portion 2002 are the core cooperation structure for realizing the edge rigid connection of the base 100 and the shell 200, and jointly form the lateral boundary of the cavity. The top surface of the side wall portion 1007 is in full-plane contact cooperation with the bottom surface of the surrounding wall portion 2002, and is rigidly fastened by high-strength bolt groups to ensure the load transmission and connection reliability.

[0069] As shown in Figure 5 and Figure 6 The outer peripheral edge of the base 100 is contracted radially inward relative to the central axis of the base 100 to form a stepped portion 1008. The surrounding wall portion 2002 is fastened to the stepped portion 1008 and is fastened and connected by fasteners. The stepped portion 1008 is a stepped support structure formed by the radial inward contraction of the outer peripheral edge of the base 100, and provides a fastening reference surface and a connection carrier for the surrounding wall portion 2002. The surrounding wall portion 2002 is fastened and cooperated with the stepped portion 1008 through nested surface contact to realize the preliminary positioning and pre-fixing of the base 100 and the shell 200. The fastened surrounding wall portion 2002 and the stepped portion 1008 are rigidly fastened by high-strength bolt groups to realize load transmission and structural integration.

[0070] The first protrusion 1004 and the second protrusion 2003 have the same or different geometric profiles in the abutting cooperation area. By selecting different geometric profile matching relationships, the function coverage from high-precision rigid cooperation to flexible dynamic cooperation can be realized to meet the positioning, load transmission, or dynamic adaptability requirements in different scenarios.

[0071] The first protrusion 1004 and / or the second protrusion 2003 are configured as a closed ring, and the first protrusion 1004 and the second protrusion 2003 are designed as a closed ring structure, which can realize the functions of circumferential positioning, full-circle sealing, local reinforcement, flexible matching and the like, and the closed ring protrusion refers to a ring structure with a complete closed contour formed in the circumferential direction, without openings or interruptions, which can be provided separately on the first protrusion 1004, the second protrusion 2003, or both are closed rings, and the closed ring protrusion realizes high precision and high sealing performance through full-circle uniformity.

[0072] As shown in Figure 7 and Figure 8 The first protrusion 1004 and / or the second protrusion 2003 are gradually expanded or tapered from the starting end 1001 to the end 1003, and the gradually expanded or tapered protrusion realizes the functions of guiding and load distribution through size gradient change, and the matching mode can be flexibly selected according to the positioning accuracy, load characteristics and assembly requirements, which is a high-efficiency structure design considering functionality and practicability.

[0073] The first protrusion 1004 and / or the second protrusion 2003 are configured as a water drop shape, and the water drop-shaped protrusion is designed as a streamlined profile with a round and blunt head and a tapered tail, which realizes a special structure form of stress dispersion, assembly guiding and functional adaptation, and the core feature is that the whole is asymmetrically streamlined, the front end is a round and blunt structure with a large curvature radius, and the rear end is gradually narrowed along the length direction, which realizes guiding and light weight.

[0074] As shown in Figure 8 The third embodiment of the present application, the inner side of the first protrusion 1004 and / or the second protrusion 2003 is provided with a radial hollow structure 10042, specifically, the inner side of the first protrusion 1004 is provided with a radial hollow structure 10042, the structure of the first protrusion 1004 and the second protrusion 2003 is the same, the inner side of the second protrusion 2003 is provided with a radial hollow structure 10042, and the radial rib disperses stress along the radial direction.

[0075] As shown in Figure 9 The fourth embodiment of the present application, the inner side of the first protrusion 1004 and / or the second protrusion 2003 is provided with a plurality of vertical strip structures 10043 arranged along the length direction thereof, specifically, the inner side of the first protrusion 1004 is provided with a plurality of vertical strip structures 10043 arranged along the length direction thereof, the structure of the first protrusion 1004 and the second protrusion 2003 is the same, and the inner side of the second protrusion 2003 is provided with a plurality of vertical strip structures 10043 arranged along the length direction thereof; the vertical strip is rigidly connected with the base body 100 / housing 200 along the length direction, and ensures that the longitudinal load is uniformly transmitted along the vertical strip.

[0076] As shown in Figure 10As shown in the fifth embodiment of the present invention, the contact surface of the first protrusion 1004 and the second protrusion 2003 is a plane D1. The contact surface is a continuous flat plane without concave or convex structures, which is suitable for basic contact scenarios with low load and no directional force.

[0077] like Figure 11 As shown in the sixth embodiment of the present invention, the contact surface between the first protrusion 1004 and the second protrusion 2003 is a stepped surface D2, and the contact surface is a stepped-groove matching structure, which is suitable for scenarios that require directional positioning or to withstand lateral forces.

[0078] like Figure 12 As shown in the seventh embodiment of the present invention, the contact surface between the first protrusion 1004 and the second protrusion 2003 is an irregular joint surface D3. The contact surface is a non-standard irregular structure, suitable for scenarios with special functional requirements.

[0079] The extension length of the first protrusion 1004 is greater than, equal to or less than the extension length of the second protrusion 2003; when the load is located at the top of the end of the base 100, the extension length of the first protrusion 1004 is greater than the extension length of the second protrusion 2003; when the load is located at the bottom of the end of the base 100, the extension length of the first protrusion 1004 is less than the extension length of the second protrusion 2003; when the load is located at the middle of the end of the base 100, the extension length of the first protrusion 1004 is equal to the extension length of the second protrusion 2003.

[0080] The first protrusion 1004 and the second protrusion 2003 are provided with multiple screw holes in the abutment area. The multiple screw holes are evenly distributed along the outer periphery of the abutment area. The first protrusion 1004 and the second protrusion 2003 are fastened together by fasteners passing through the multiple corresponding screw holes.

[0081] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the present invention. Furthermore, the present invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. An arm having a rigid reinforcing structure, the arm comprising a plurality of arm bodies, characterised in that, At least one of the plurality of arms comprises: a base body (100) having oppositely arranged start end (1001) and end (1003), and intermediate (1002) extending from the start end (1001) towards the end (1003); a shell (200) having a base plate (2001) contour fitting the base body (100), and a surrounding wall (2002) extending from the edge of the base plate (2001) towards the base body (100); a first protrusion (1004) formed extending from at least part of the intermediate (1002) towards the base plate (2001); a second protrusion (2003) formed extending from the base plate (2001) towards the first protrusion (1004); at least part of the outer edge of the start end (1001) extends towards the base plate (2001) to form an arc-shaped reinforcing section (1005), and a linear reinforcing section (1006) extends along the tangent direction of the arc-shaped reinforcing section (1005) towards the end (1003), the arc-shaped reinforcing section (1005) and the linear reinforcing section (1006) together form a U-shaped structure; wherein the first protrusion (1004) and the second protrusion (2003) are configured as a closed hollow structure, the opposite surfaces of the first protrusion (1004) and the second protrusion (2003) abut each other and are fixedly connected by fasteners to form a rigid fitting structure with at least partial surface contact.

2. The arm with rigid reinforcement structure according to claim 1, characterized in that, The shell (200) is clamped on the base body (100), and the base body (100) and the shell (200) together form a cavity.

3. The arm with rigid reinforcement structure according to claim 1, characterized in that, The linear reinforcing section (1006) is integrally formed with the intermediate (1002).

4. The arm with rigid reinforcement structure according to claim 1, characterized in that, The length of the linear reinforcing section (1006) along the extension direction of the start end (1001) towards the end (1003) is greater than or equal to 1 / 2 of the length of the intermediate (1002) along the same extension direction.

5. The arm having a rigidity reinforcing structure according to claim 1, characterized by, The opening of the U-shaped structure faces the end (1003).

6. The arm having a rigidity reinforcing structure according to claim 1, characterized by, A side wall (1007) is formed extending from the edge of the base body (100) towards the surrounding wall (2002), the surrounding wall (2002) and the side wall (1007) abut and are fixedly connected by fasteners.

7. The arm having a rigidity reinforcing structure according to claim 1, characterized by, The outer peripheral edge of the base body (100) is inwardly contracted along the radial direction relative to the central axis of the base body (100) to form a stepped portion (1008), the surrounding wall (2002) is clamped on the stepped portion (1008) and is fixedly connected by fasteners.

8. The arm with rigid reinforcement structure according to claim 1, characterized in that, The geometric profiles of the first protrusion (1004) and the second protrusion (2003) in the abutting and fitting area are the same or different.

9. The arm having a rigidity reinforcing structure according to claim 1, characterized by, The first protrusion (1004) and / or the second protrusion (2003) is configured as a closed ring.

10. The arm having a rigidity reinforcing structure according to claim 1, characterized by, The first protrusion (1004) and / or the second protrusion (2003) is gradually expanded or gradually contracted from the start end (1001) towards the end (1003).

11. The arm having a rigidity reinforcing structure according to claim 1, characterized by, The first protrusion (1004) and / or the second protrusion (2003) is configured as a water droplet shape.

12. The arm having a rigidity reinforcement structure according to claim 1, characterized by, The inner side of the first protrusion (1004) and / or the second protrusion (2003) is provided with an interlaced grid-shaped hollow structure (10041), or a radial hollow structure (10042), or a plurality of vertical strip-shaped structures arranged along the length direction thereof.

13. The arm having a rigidity reinforcement structure according to claim 1, characterized by, The abutting surface of the first protrusion (1004) and the second protrusion (2003) is a plane (D1), or a stepped surface (D2), or an irregular joint surface (D3).

14. The arm having a rigidity reinforcement structure according to claim 1, characterized by, The extension length of the first protrusion (1004) is greater than, equal to, or less than the extension length of the second protrusion (2003).

15. The arm having a rigidity reinforcement structure according to claim 1, characterized by, The first protrusion (1004) and the second protrusion (2003) are correspondingly provided with a plurality of screw holes in the abutting area, and the plurality of screw holes are uniformly distributed along the outer peripheral contour of the abutting area in the circumferential direction, and the first protrusion (1004) and the second protrusion (2003) are fastened and connected by fasteners passing through the plurality of corresponding screw holes.

16. A robot, characterized in that The robot includes a body (300), and a mechanical arm pivotally connected to the body (300), the mechanical arm including an upper arm (400) pivotally connected to the body (300), a forearm (500) pivotally connected to the upper arm (400), and an end effector (600) pivotally connected to the forearm (500), at least one of the upper arm (400) and the forearm (500) being the arm with the rigid reinforcing structure according to any one of claims 1-15.

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