Connecting rod mechanism and robot

Abstract

The utility model 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] This utility model relates to the field of robotics, and in particular to a linkage mechanism and a robot. Background Technology

[0002] Joints are essential in linkage mechanisms. Current technologies often use bearings to achieve rotational motion, resulting in bulky joints. This is especially true for three-bar or more linkages, where the joints are heavy, complex to assemble, and sometimes difficult to assemble. Utility Model Content

[0003] In order to solve the problems existing in the prior art, one of the objectives of this utility model is to provide a linkage mechanism.

[0004] This utility model provides the following technical solution:

[0005] A linkage mechanism includes a pivot, a first link, a second link, and a third link;

[0006] A first bushing and a bearing are fitted on the rotating shaft, and a second bushing is rotatably fitted on the first bushing;

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

[0008] As a further alternative to the linkage mechanism, the first bushing includes a first connecting portion and a second connecting portion that are connected to each other, the first connecting portion and the second connecting portion being arranged along the axial direction of the rotating shaft, and the second connecting portion being located on the side of the first connecting portion facing the bearing;

[0009] The first connecting rod is sleeved on the first connecting part, and the second bushing is rotatably sleeved on the second connecting part.

[0010] As a further alternative to the linkage mechanism, one end of the second bushing abuts against the first connecting rod along the axial direction of the rotating shaft, and the other end is provided with a stop portion, which abuts against the bearing.

[0011] As a further alternative to the linkage mechanism, the first bushing and the second bushing are both arranged in pairs on both sides of the bearing;

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

[0013] The second link has two second arms, which are respectively sleeved on two second bushings.

[0014] As a further alternative to the linkage mechanism, a first limiting part is provided at one end of the first bushing along the axial direction of the rotating shaft, and the first limiting part abuts against the first connecting rod along the axial direction of the rotating shaft.

[0015] As a further optional solution for the linkage mechanism, the first linkage is provided with a first limiting groove, the first limiting part is embedded in the first limiting groove and abuts against the bottom of the first limiting groove;

[0016] The outer side of the first limiting part is provided with a first positioning cut edge, which is in contact with the side wall of the first limiting groove.

[0017] As a further alternative to the linkage mechanism, a second limiting part is provided at one end of the second bushing along the axial direction of the rotating shaft, and the second limiting part abuts against the second link along the axial direction of the rotating shaft.

[0018] As a further optional solution for the linkage mechanism, the second linkage is provided with a second limiting groove, the second limiting part is embedded in the second limiting groove and abuts against the bottom of the second limiting groove;

[0019] The outer side of the second limiting part is provided with a second positioning cut edge, which is in contact with the side wall of the second limiting groove.

[0020] As a further alternative to the linkage mechanism, the rotating shaft is provided with a positioning part, the outer side of the positioning part is provided with a third positioning cut edge, the first bushing is provided with a positioning groove, and the third positioning cut edge is fitted with the side wall of the positioning groove.

[0021] Another objective of this invention is to provide a robot.

[0022] This utility model provides the following technical solution:

[0023] A robot comprising the aforementioned linkage mechanism.

[0024] The embodiments of this utility model have the following beneficial effects:

[0025] In the aforementioned linkage mechanism, a first link is sleeved on a first bushing and connected to a rotating shaft via the first bushing. A second bushing is rotatably sleeved on the first bushing, allowing a second link sleeved on the second bushing to rotate about the first bushing, i.e., the second link can rotate relative to the first link about the axis of the rotating shaft. Simultaneously, a third link is connected to the rotating shaft via a bearing and can also rotate relative to the first link about the axis of the rotating shaft. Thus, this linkage mechanism achieves relative rotation between the first, second, and third links through sliding friction between the first and second bushings and bearings. Compared to existing joints, this reduces the use of bearings, thereby simplifying the joint structure, reducing the joint mass, and facilitating assembly.

[0026] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This diagram shows an overall structural schematic of a linkage mechanism provided in an embodiment of the present invention.

[0029] Figure 2 This diagram illustrates the internal structure of a linkage mechanism according to an embodiment of the present invention.

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

[0031] Figure 4 This diagram illustrates the fit between the rotating shaft, the first bushing, and the bearing in a linkage mechanism provided by an embodiment of the present invention.

[0032] Figure 5 This diagram illustrates the fit between the rotating shaft, the first bushing, and the bearing in a linkage mechanism according to an embodiment of the present invention from another perspective.

[0033] Figure 6 This diagram illustrates the fit between the first bushing and the first connecting rod in a linkage mechanism provided by an embodiment of the present invention.

[0034] Figure 7This diagram illustrates the cooperation relationship between the second bushing and the second link in a linkage mechanism provided by an embodiment of the present invention.

[0035] Explanation of key component symbols:

[0036] 100-Shaft; 110-Boss; 120-Washer; 130-Screw; 140-Positioning part; 141-Third positioning cut 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 bushing; 510-First connecting part; 520-Second connecting part; 530-Positioning groove; 540-First limiting part; 541-First positioning cut edge; 600-Bearing; 610-Inner ring; 620-Rolling element; 630-Outer ring; 700-Second bushing; 710-Stop part; 720-Second limiting part; 721-Second positioning cut edge. Detailed Implementation

[0037] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0038] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0039] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0042] Example

[0043] Please refer to the following: Figure 1 and Figure 2 This embodiment provides a linkage mechanism, including a rotating shaft 100, a first link 200, a second link 300, and a third link 400.

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

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

[0046] In the aforementioned linkage mechanism, the first link 200 is sleeved on the first bushing 500, and thus connected to the rotating shaft 100 via the first bushing 500. Furthermore, the second bushing 700 is rotatably sleeved on the first bushing 500, allowing the second link 300, which is sleeved on the second bushing 700, to rotate around the first bushing 500, i.e., the second link 300 can rotate relative to the first link 200 around the axis of the rotating shaft 100. Simultaneously, the third link 400 is connected to the rotating shaft 100 via a bearing 600, and similarly can rotate relative to the first link 200 around the axis of the rotating shaft 100.

[0047] Thus, the above-mentioned linkage mechanism realizes the relative rotation between the first link 200, the second link 300, and the third link 400 through the sliding friction between the first bushing 500 and the second bushing 700 and the bearing 600. Compared with the existing joint, the use of bearing 600 is reduced, thereby simplifying the structure of the joint position, reducing the mass of the joint position, and making it easier to assemble.

[0048] Understandably, in the above linkage mechanism, the number of links is not limited to three; it can also be four, five, or more.

[0049] For example, when the number of links is greater than three, a third bushing is rotatably fitted on the second bushing 700, and then a fourth link is fitted on the third bushing, so that relative rotation between the four links can be achieved.

[0050] Similarly, a fifth link, a sixth link, etc., can also be added to the above linkage mechanism.

[0051] This embodiment uses a three-bar linkage as an example for illustration.

[0052] Please see Figure 3 In some embodiments, the first bushing 500 includes a first connecting portion 510 and a second connecting portion 520 that are interconnected. The first connecting portion 510 and the second connecting portion 520 are arranged along the axial direction of the rotating shaft 100, as shown in 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 part 510, and the second bushing 700 is rotatably sleeved on the second connecting part 520.

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

[0055] Optionally, the first connecting part 510 and the second connecting part 520 are integrally formed to constitute the main body of the first bushing 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 part 520 and the second bushing 700.

[0057] Furthermore, one end of the second bushing 700 along the axial direction of the rotating shaft 100 abuts against the first connecting rod 200, and the other end of the second bushing 700 along the axial direction of the rotating shaft 100 is provided with a stop portion 710. The stop portion 710 abuts against the bearing 600, specifically along the axial direction of the rotating shaft 100.

[0058] At this time, the relative positions of the first connecting rod 200, the second bushing 700, and the bearing 600 remain unchanged along the axial direction of the rotating shaft 100, 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 axial direction of the rotating shaft 100.

[0059] Specifically, the second bushing 700 is cylindrical, and the stop portion 710 is annular, with both the axis of the second bushing 700 and the axis of the stop portion 710 coinciding with the axis of the rotating shaft 100. The stop portion 710 is located on the inner wall of the second bushing 700 near the bearing 600, and its inner diameter is larger than the diameter of the rotating shaft 100.

[0060] Optionally, the stop portion 710 and the second bushing 700 are integrally formed.

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

[0062] Meanwhile, the first link 200 has two first arms 210, which are respectively sleeved on two first bushings 500.

[0063] Similarly, the second link 300 has two second arms 310, which are respectively sleeved on two second bushings 700.

[0064] The two first lever arms 210 respectively fitted onto the two first bushings 500 means that one first lever arm 210 is fitted onto the first connecting portion 510 of one first bushing 500, and the other first lever arm 210 is fitted onto the first connecting portion 510 of the other first bushing 500. The two second lever arms 310 respectively fitted onto the two second bushings 700 means that one second lever arm 310 is fitted onto one second bushing 700, and the other second lever arm 310 is fitted onto the other second bushing 700.

[0065] At this time, along the axial direction of the rotating shaft 100, the bearing 600 and the third link 400 are located at the center of the entire linkage mechanism. At the same time, the two first arms 210 of the first link 200 are symmetrically arranged about the bearing 600, and the two second arms 310 of the second link 300 are symmetrically arranged about the bearing 600. Therefore, the external forces on the first link 200, the second link 300 and the third link 400 can be evenly applied to the rotating shaft 100.

[0066] Specifically, the opposite ends of the two second bushings 700 along the axial direction of the rotating shaft 100 abut against their respective first lever arms 210, and the opposite ends of the two second bushings 700 along the axial direction of the rotating shaft 100 abut against the bearing 600 via stop portions 710, so that the two first lever arms 210 of the first connecting rod 200 sufficiently limit the bearing 600 and the third connecting rod 400 along the axial direction of the rotating shaft 100. By directly or indirectly assembling the first bushing 500, the second bushing 700, the bearing 600, the first connecting rod 200, the second connecting rod 300, and the third connecting rod 400 onto the rotating shaft 100, the relative positions of the first connecting rod 200 and the third connecting rod 400 along the axial direction of the rotating shaft 100 can be fixed.

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

[0068] The inner ring 610 is fitted onto the rotating shaft 100 and remains relatively fixed to it, with the stop portion 710 abutting against the inner ring 610. The outer ring 630 is rotatably fitted onto the inner ring 610 via a rolling element 620 and is fixedly connected to the third connecting rod 400. The rolling element 620 can be a ball or needle roller, etc., and is assembled between the inner ring 610 and the outer ring 630 via a cage if necessary.

[0069] Please refer to the following: 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 axis, and a washer 120 is provided at the other end of the rotating shaft 100 along its own axis, with a screw 130 passing 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 shank of the screw 130 is threaded into the rotating shaft 100, thereby detachably connecting the washer 120 to the end of the rotating shaft 100.

[0070] During assembly, the end of the rotating shaft 100 near the shim 120 is passed sequentially through one of the first bushings 500, the bearing 600, and the other first bushing 500, and then the shim 120 is installed. At this time, the boss 110 abuts against one of the first bushings 500, and the shim 120 abuts against the other first bushing 500, which can prevent the first bushings 500 and the bearing 600 from slipping off the rotating shaft 100 during long-term use.

[0071] Understandably, when there is only one first bushing 500, the end of the rotating shaft 100 near the washer 120 passes through the first bushing 500 and the bearing 600 in sequence. The boss 110 abuts against the first bushing 500, and the washer 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, a positioning part 140 is provided on the rotating shaft 100, and a third positioning cut edge 141 is provided on the outer side of the positioning part 140. A positioning groove 530 is provided on the first bushing 500, and the third positioning cut edge 141 fits against the side wall of the positioning groove 530.

[0074] During assembly, as the rotating shaft 100 passes sequentially through one of the first bushings 500, the bearing 600, and the other first bushing 500, the positioning part 140 is embedded in the positioning groove 530 on one of the first bushings 500 along the axial direction of the rotating shaft 100. Because the third positioning cut edge 141 on the outer side of the positioning part 140 is in contact with the side wall of the positioning groove 530, the rotating shaft 100 and the first bushing 500 cannot rotate relative to each other along the circumference of the rotating shaft 100, thus remaining fixed.

[0075] Please refer to the following: Figure 3 and Figure 6 In some embodiments, a first limiting part 540 is provided at one end of the first bushing 500 along the axial direction of the rotating shaft 100, and the first limiting part 540 abuts against the first connecting rod 200 along the axial direction of the rotating shaft 100.

[0076] Specifically, the first limiting part 540 is disposed at the end of the first bushing 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 part 540 can limit the first connecting rod 200 and prevent the first connecting rod 200 from slipping off the first bushing 500 in the direction away from the bearing 600.

[0077] Specifically, when the first bushings 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 limiting portion 540 of one of the first bushings 500, and the end of the first bushing 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 limiting portion 540 of the other first bushing 500, and the end of the first bushing 500 away from the bearing 600 abuts against the gasket 120.

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

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

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

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

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

[0083] Please refer to the following: Figure 3 and Figure 7 In some embodiments, a second limiting part 720 is provided at one end of the second bushing 700 along the axial direction of the rotating shaft 100, and the second limiting part 720 abuts against the second connecting rod 300 along the axial direction of the rotating shaft 100.

[0084] Specifically, the second limiting part 720 is disposed at the end of the second bushing 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 part 720 can limit the second connecting rod 300 and prevent the second connecting rod 300 from slipping off the second bushing 700 in the direction away from the bearing 600.

[0085] Specifically, when the second bushings 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 limiting portion 720 of one of the second bushings 700, and the end of the second bushing 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 limiting portion 720 of the other second bushing 700, and the end of the second bushing 700 away from the bearing 600 abuts against the other first lever arm 210 of the first connecting rod 200.

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

[0087] As mentioned earlier, the relative positions of the first connecting rod 200, the second bushing 700, and the bearing 600 remain unchanged along the axial direction of the rotating shaft 100. Therefore, 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 will not deviate along the axial direction of the rotating shaft 100.

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

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

[0090] Since the second positioning cut edge 721 on the outer side of the second limiting part 720 is in contact with the side wall of the second limiting groove 320, the second bushing 700 and the second connecting rod 300 cannot rotate relative to each other along the circumferential direction of the rotating shaft 100 and remain fixed.

[0091] When assembling the linkage mechanism described above, first insert the two second bushings 700 into the corresponding second arms 310 from both sides of the second connecting rod 300, until the second limiting part 720 is embedded in the second limiting groove 320 and abuts against the bottom of the second limiting groove 320. Then place the first connecting rod 200, and insert the two first bushings 500 into the corresponding first arms 210 and second bushings 700 from both sides of the first connecting rod 200, until the first limiting part 540 is embedded in the first limiting groove 220 and abuts against the 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 arms 310. Finally, the bearing 600 is passed through one of the first bushings 500, the bearing 600 and the other first bushing 500 in sequence. After the boss 110 abuts against one of the first bushings 500, the shim 120 is installed and abuts against the other first bushing 500. The assembly is then complete.

[0092] In the assembled linkage mechanism, the inner ring 610 of the bearing 600, the rotating shaft 100, the first bushing 500 and the first connecting rod 200 remain relatively fixed, the second bushing 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 aforementioned linkage mechanism achieves relative rotation between the first link 200, the second link 300, and the third link 400 through sliding friction between the first bushing 500 and the second bushing 700, and through the bearing 600. Compared to existing joints, this reduces the use of the bearing 600, thereby simplifying the joint structure, reducing the number of components, decreasing the mass of the joint, and facilitating assembly. Furthermore, by replacing the bearing 600 with bushings for transmission, a heavier load can be supported within the same volume.

[0094] This embodiment also provides a robot, including the above-described linkage mechanism.

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

[0096] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0097] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A linkage mechanism, characterized in that, It includes a pivot, a first link, a second link, and a third link; A first bushing and a bearing are fitted on the rotating shaft, and a second bushing is rotatably fitted on the first bushing; The first connecting rod is sleeved on the first bushing, the second connecting rod is sleeved on the second bushing, and the third connecting rod is connected to the bearing.

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

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

4. The linkage mechanism according to claim 2, characterized in that, The first bushing and the second bushing are both arranged in pairs on both sides of the bearing; The first connecting rod has two first arms, and the two first arms are respectively sleeved on the two first bushings; The second link has two second arms, which are respectively sleeved on two second bushings.

5. The linkage mechanism according to any one of claims 1-4, characterized in that, The first bushing has a first limiting part at one end along the axial direction of the rotating shaft, and the first limiting part abuts against the first connecting rod along the axial direction of the rotating shaft.

6. The linkage mechanism according to claim 5, characterized in that, The first connecting rod is provided with a first limiting groove, and the first limiting part is embedded in the first limiting groove and abuts against the bottom of the first limiting groove; The outer side of the first limiting part is provided with a first positioning cut edge, which is in contact with the side wall of the first limiting groove.

7. The linkage mechanism according to any one of claims 1-4, characterized in that, The second bushing has a second limiting part at one end along the axial direction of the rotating shaft, and the second limiting part abuts against the second connecting rod along the axial direction of the rotating shaft.

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

9. The linkage mechanism according to any one of claims 1-4, characterized in that, The rotating shaft is provided with a positioning part, and a third positioning cut edge is provided on the outer side of the positioning part. The first bushing 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 linkage mechanism includes any one of claims 1-9.

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