CN208788583U - Robot linking arm and have its robot - Google Patents
Robot linking arm and have its robot Download PDFInfo
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- CN208788583U CN208788583U CN201821503477.1U CN201821503477U CN208788583U CN 208788583 U CN208788583 U CN 208788583U CN 201821503477 U CN201821503477 U CN 201821503477U CN 208788583 U CN208788583 U CN 208788583U
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- reinforcing rib
- linking arm
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- 230000003014 reinforcing effect Effects 0.000 claims abstract description 101
- 239000011159 matrix material Substances 0.000 claims description 15
- 210000003205 muscle Anatomy 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 5
- 238000005728 strengthening Methods 0.000 description 5
- 210000002435 tendon Anatomy 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model provides a robot linking arm and have its robot, wherein, the robot linking arm includes: first connecting portion, second connecting portion and connecting portion, connecting portion connect between first connecting portion and second connecting portion, and connecting portion include: a base body disposed between the first connection portion and the second connection portion; the first reinforcing ribs are arranged on the base body and radially distributed by taking the center of the first connecting part as the center, and the first ends of the first reinforcing ribs are connected with the first connecting part; the second reinforcing ribs are arranged on the base body and radially distributed by taking the centers of the second connecting parts as centers, and the first ends of the second reinforcing ribs are connected with the second connecting parts. The utility model discloses the big arm of robot can not balanced intensity, rigidity and inertia's problem among the prior art has been solved effectively.
Description
Technical field
The utility model relates to industrial flow-line field, in particular to a kind of robot linking arm and with its
Robot.
Background technique
In current industrial circle, including automobile industry, electronic enterprises and construction machinery industry etc., it is used in both
A large amount of industrial robot automatic production lines.Industrial robot is collection precise treatment, flexibility, intelligence and software application development
Etc. advanced manufacturing technologies in one, by detecting, control to implementation Process, optimize, dispatch, manage and decision, realize to increase and produce
It measures, improves quality, reduce cost, reduce resource consumption and environmental pollution, be that the highest of industrial automation level embodies.
SCARA robot is a kind of horizontal articulated robot, and large arm is an important composition zero in SCARA robot
Part, existing large arm only considers intensity, rigidity, and has ignored rotary inertia.Existing large arm mostly uses greatly slab construction or thin-walled
Structural support, wherein although slab construction intensity is big, rigidity is high, supporting role can be effectively acted as, its weight is big, phase
It is big for the rotary inertia of rotary shaft, biggish load is caused to rotary shaft.Thin-wall construction although alleviate large arm weight,
The rotary inertia relative to rotary shaft is reduced, but sacrifices structural strength and rigidity, is easily deformed.Also have in the related technology
The form that reinforcing rib is added in thin-wall construction improves intensity and rigidity, but still can not effectively balance large arm entirety intensity,
Rigidity and rotary inertia.
Utility model content
The utility model is intended to provide a kind of robot linking arm and the robot with it, to solve machine in the prior art
The large arm of device people is unable to the problem of balance strength, rigidity and rotary inertia.
To achieve the goals above, one aspect according to the present utility model provides a kind of robot linking arm, packet
Include: first connecting portion, second connecting portion and interconnecting piece, interconnecting piece are connected between first connecting portion and second connecting portion, connection
Portion includes: matrix, is arranged between first connecting portion and second connecting portion；Multiple first reinforcing ribs, be arranged on matrix and with
It radially distributes centered on the center of first connecting portion, the first end of multiple first reinforcing ribs is connect with first connecting portion；
Multiple second reinforcing ribs are arranged on matrix and are radially distributed centered on the center of second connecting portion, and multiple second add
The first end of strengthening tendons is connect with second connecting portion.
Further, matrix includes two side plates being oppositely arranged, and two side plate settings connect in first connecting portion and second
Between socket part, at least partly one of the second end of the first reinforcing rib and two side plates are connect, and the of at least partly the second reinforcing rib
One of two ends and two side plates are connect.
Further, the second end of at least one the first reinforcing rib and the second end of at least one the second reinforcing rib are connected to
Same position on side plate.
Further, side plate is in arc-shaped, and the outer surface of side plate is connect with the outer surface of first connecting portion and second respectively
The outer surface in portion is tangent.
Further, the radius R of side plate meets: i4=L/R≤0.6, wherein L is the center of circle and second of first connecting portion
The distance between center of circle of interconnecting piece.
Further, side plate wall thickness t3 meet: 54≤i3=L/t3≤82, wherein L be first connecting portion the center of circle and
The distance between center of circle of second connecting portion.
It further, is center line by the straight line in the center of circle of first connecting portion and the center of circle of second connecting portion, one the
One reinforcing rib and second reinforcing rib are arranged along center line and are interconnected to form central rib.
Further, interconnecting piece further includes third reinforcing rib, and third reinforcing rib is connected between central rib and side plate.
Further, the first end of third reinforcing rib is connected on central rib, the second end of first reinforcing rib
It is connected to the same position on side plate with second reinforcing rib, the second end of third reinforcing rib also connects on the position.
Further, the radius of first connecting portion is greater than the radius of second connecting portion, company of the third reinforcing rib on side plate
Contact is located at third reinforcing rib between the center of circle of tie point and second connecting portion on central rib.
Further, first connecting portion, second connecting portion and interconnecting piece are axisymmetrically to arrange with center line.
Further, matrix further includes bottom plate, and bottom plate is arranged between two side plates, and the first end of bottom plate is connect with first
Portion is connected, and the second end of bottom plate is connected with second connecting portion, and groove is formed between side plate and bottom plate, and the first reinforcing rib and second add
Strengthening tendons are arranged in a groove.
Further, the wall thickness t1 of first connecting portion meets: 32≤i1=L/t1≤82, wherein L is first connecting portion
The distance between the center of circle and the center of circle of second connecting portion, and/or, the wall thickness t2 of second connecting portion meets: 54≤i2=L/t2≤
82, wherein L is the distance between the center of circle and center of circle of second connecting portion of first connecting portion.
Another aspect according to the present utility model provides a kind of robot, including robot linking arm, robot connection
Arm is above-mentioned robot linking arm.
In robot operating, the center of first connecting portion or the center of second connecting portion are turning for robot linking arm
Dynamic center, i.e., a upper rotating torque that applies in first connecting portion and second connecting portion make first connecting portion and second in turn
A rotation in interconnecting piece.Using the technical solution of the utility model, during the first reinforcing rib with the center of first connecting portion is
The heart radially distributes, make the first reinforcing rib structure close to first connecting portion side density it is larger, far from first reinforce
The side density of muscle is smaller.Similarly, the second reinforcing rib structure the side density close to second connecting portion it is larger, far from second
The side density of reinforcing rib is smaller.In this way, compared to the scheme for being evenly arranged reinforcing rib using forms such as triangle or rectangles and
Speech, under the premise of reinforcing rib support effect is identical, the weight of the robot linking arm of the utility model to first connecting portion and
Second connecting portion is concentrated.According to the variation tendency that the size of rotary inertia changes with position of centre of gravity, the robot of the utility model
Linking arm can generate lesser rotary inertia using the reinforcing rib structure of phase homogenous quantities, effectively balance robot linking arm
The factors such as intensity, rigidity and rotary inertia.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide a further understanding of the present invention, this is practical
Novel illustrative embodiments and their description are not constituteed improper limits to the present invention for explaining the utility model.
In the accompanying drawings:
Fig. 1 shows the structural schematic diagram of the embodiment of robot linking arm according to the present utility model；
Fig. 2 shows the overlooking structure diagrams of the robot linking arm of Fig. 1；
Fig. 3 shows the present invention looks up structural representation of the robot linking arm of Fig. 1；And
Fig. 4 shows the rotary inertia change curve of the embodiment of the robot linking arm of the utility model under different parameters
Schematic diagram.
Wherein, the above drawings include the following reference numerals:
10, first connecting portion；20, second connecting portion；30, interconnecting piece；31, the first reinforcing rib；31a, reinforcing rib；31b, add
Strengthening tendons；31c, reinforcing rib；32, the second reinforcing rib；32a, reinforcing rib；32b, reinforcing rib；33, third reinforcing rib；34, bottom plate；35,
Side plate；36, central rib.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the application and its application or making
Any restrictions.Based on the embodiment in the application, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall in the protection scope of this application.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
Up to the unlimited scope of the present application processed of formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, any occurrence should be construed as merely illustratively, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
As shown in Figure 1 to Figure 3, robot linking arm provided in this embodiment includes first connecting portion 10, second connecting portion
20 and interconnecting piece 30, wherein interconnecting piece 30 is connected between first connecting portion 10 and second connecting portion 20.Specifically, interconnecting piece
30 include matrix, multiple first reinforcing ribs 31 and multiple second reinforcing ribs 32.Wherein, matrix is arranged in 10 He of first connecting portion
Between second connecting portion 20, the first reinforcing rib 31 is arranged on matrix and radial centered on the center of first connecting portion 10
Distribution, the first end of the first reinforcing rib 31 are connect with first connecting portion 10；Second reinforcing rib 32 is arranged on matrix and with the
It radially distributes centered on the center of two interconnecting pieces 20, the first end of the second reinforcing rib 32 is connect with second connecting portion 20.
In robot operating, the center of first connecting portion 10 is the center of rotation of robot linking arm, i.e., first
A upper rotating torque that applies in interconnecting piece 10 and second connecting portion 20 makes first connecting portion 10 and second connecting portion 20 in turn
In one rotation.Using the technical solution of the present embodiment, the first reinforcing rib 31 is in centered on the center of first connecting portion 10
Radial distribution is distributed 31 structure of the first reinforcing rib relatively intensively, far from first in the side close to first connecting portion 10
The side density of reinforcing rib 31 is smaller.Similarly, 32 structure of the second reinforcing rib close to second connecting portion 20 side density it is larger,
It is smaller in the side density far from the second reinforcing rib 32.In this way, adding compared to being evenly arranged using forms such as triangle or rectangles
For the scheme of strengthening tendons, under the premise of reinforcing rib support effect is identical, the weight of the robot linking arm of the present embodiment is to
One interconnecting piece 10 and second connecting portion 20 are concentrated.According to the variation tendency that the size of rotary inertia changes with position of centre of gravity, this reality
The robot linking arm for applying example can generate lesser rotary inertia using the reinforcing rib structure of phase homogenous quantities, effectively balance
The factors such as intensity, rigidity and the rotary inertia of robot linking arm.
As depicted in figs. 1 and 2, first reinforcing rib 31 of the present embodiment includes reinforcing rib 31a, reinforcing rib 31b, reinforcing rib
31c, the second reinforcing rib 32 include reinforcing rib 32a, reinforcing rib 32b.Matrix includes bottom plate 34 and two side plates 35 being oppositely arranged,
Two side plates 35 are arranged between first connecting portion 10 and second connecting portion 20, and bottom plate 34 is arranged between two side plates 35, side
Groove is formed between plate 35 and bottom plate 34, the first reinforcing rib 31 and the setting of the second reinforcing rib 32 are in a groove.Above-mentioned first reinforces
The second end of reinforcing rib 31a and the second end of reinforcing rib 31b are connect with the side plate 35 of corresponding side in muscle 31, and above-mentioned
The second end of reinforcing rib 32a is connect with the side plate 35 of corresponding side in two reinforcing ribs 32.
As shown in Fig. 2, in the present embodiment, the second end of reinforcing rib 31b and the second end of reinforcing rib 32a are connected to side plate
Same position on 35.The straight line in the center of circle in the center of circle and second connecting portion 20 by first connecting portion 10 is center line, is reinforced
Muscle 31c and reinforcing rib 32b is arranged along the center line and is interconnected to form central rib 36.
Preferably, as shown in Fig. 2, the first connecting portion 10 of the present embodiment, second connecting portion 20 and interconnecting piece 30 are with above-mentioned
Center line is axisymmetrically to arrange.
As depicted in figs. 1 and 2, the interconnecting piece 30 of the present embodiment further includes third reinforcing rib 33, and third reinforcing rib 33 connects
Between central rib 36 and side plate 35.Preferably, the first end of the third reinforcing rib 33 of the present embodiment is connected to center and adds
In strengthening tendons 36, the second end of the second end of third reinforcing rib 33 and the second end of reinforcing rib 31a and reinforcing rib 31b is connected to same
Position.
Specifically, the first connecting portion 10 of the present embodiment can be connect with retarder, and radius is greater than second connecting portion 20
Radius, exist it is preferred that tie point of the third reinforcing rib 33 of the present embodiment on side plate 35 is located at third reinforcing rib 33
Between tie point on central rib 36 and the center of circle of second connecting portion 20.The center of gravity of the robot linking arm of the present embodiment is inclined
To 10 side of first connecting portion, the third reinforcing rib 33 of the present embodiment can be arranged for the direction of centre-of gravity shift, effectively be mentioned
Rigidity, the intensity of Gao Liao robot linking arm, and structure is simple, will not produce bigger effect to rotary inertia.
Wherein, the side plate 35 of the present embodiment is in arc-shaped, the outer surface of side plate 35 appearance with first connecting portion 10 respectively
The circumferential exterior surface rounding off of the tangent robot linking arm for making the present embodiment in face and the outer surface of second connecting portion 20.
Preferably, the application provides preferred scope to the length and each section wall thickness of robot linking arm, by machine
The rotary inertia of people's linking arm is limited in a preferred range.Specifically, as shown in Figures 2 and 3:
The wall thickness t1 of the first connecting portion 10 of the present embodiment meets: 32≤i1=L/t1≤82；
The wall thickness t2 of second connecting portion 20 meets: 54≤i2=L/t2≤82；
The wall thickness t3 of side plate 35 meets: 54≤i3=L/t3≤82；
The radius R of side plate 35 meets: i4=L/R≤0.6.
Wherein, above-mentioned L is the distance between the center of circle and center of circle of second connecting portion 20 of first connecting portion 10.
As shown in figure 4, for each index i1, i2 and i3, in one timing of length of L, each section of robot linking arm
The more big then index of wall thickness is smaller, and the considerations of for robot linking arm overall weight, i1, i2 and i3 are not preferably less than 32.Out
The needs of stiffness and strength, i1, i2 and i3 are not preferably greater than 82 when working robot linking arm.Fig. 4 is schematically pointed out
The affecting laws of i1, i2 and i3 to rotary inertia, wherein horizontal axis is the size of i1, and the longitudinal axis is that robot linking arm is opposite
Rotary inertia in the center of first connecting portion 10, unit kgmm^2.According to each lines in Fig. 4 it can be seen that i2
The rotary inertia at the center with the smaller robot linking arm of i3 relative to first connecting portion 10 is bigger, and rotary inertia will lead to greatly electricity
The load rise of machine is unfavorable for the quick response of robot.I2 and i3 is too small and weight itself that will increase robot linking arm,
Also it will increase the load of retarder, and cause the waste of material to a certain extent.Therefore, according to the content of Fig. 4, this implementation
I2 the and i3 preferred scope of example robot linking arm is 54 or more.In conclusion robot linking arm each section of the present embodiment
Meet:
The wall thickness t1 of first connecting portion 10 meets: 32≤i1=L/t1≤82；
The wall thickness t2 of second connecting portion 20 meets: 54≤i2=L/t2≤82；
The wall thickness t3 of side plate 35 meets: 54≤i3=L/t3≤82；
The radius R of side plate 35 meets: i4=L/R≤0.6.
Present invention also provides a kind of robot, the robot (not shown) according to the present embodiment includes that robot connects
Arm is connect, robot linking arm is the robot linking arm using above-mentioned all or part of technical pattern.The robot of the present embodiment
Have the advantages that robot linking arm loads that low, ratio of inertias is small, response is fast.
It can be seen from the above description that the above embodiments of the utility model achieve the following technical effects:
First reinforcing rib is radially distributed centered on the center of first connecting portion, makes the first reinforcing rib structure close
The side density of first connecting portion is larger, smaller in the side density far from the first reinforcing rib.Similarly, the second reinforcing rib structure exists
It is larger close to the side density of second connecting portion, smaller in the side density far from the second reinforcing rib.In this way, compared to utilizing three
The forms such as angular or rectangle are evenly arranged for the scheme of reinforcing rib, under the premise of reinforcing rib support effect is identical, this implementation
The weight of the robot linking arm of example is concentrated to first connecting portion and second connecting portion.According to the size of rotary inertia with center of gravity position
The variation tendency of change is set, the robot linking arm of the present embodiment can generate lesser using the reinforcing rib structure of phase homogenous quantities
Rotary inertia effectively balances the factors such as the intensity, rigidity and rotary inertia of robot linking arm.
In the description of the present application, it is to be understood that the noun of locality such as " front, rear, top, and bottom, left and right ", " laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System is merely for convenience of description the application and simplifies description, and in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is the limitation to the application protection scope；The noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
Apply for the limitation of protection scope.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (14)
1. a kind of robot linking arm characterized by comprising first connecting portion (10), second connecting portion (20) and interconnecting piece
(30), the interconnecting piece (30) is connected between the first connecting portion (10) and the second connecting portion (20), the connection
Portion (30) includes:
Matrix is arranged between the first connecting portion (10) and the second connecting portion (20)；
Multiple first reinforcing ribs (31) are arranged on the matrix and are in put centered on the center of the first connecting portion (10)
Shape distribution is penetrated, the first end of multiple first reinforcing ribs (31) is connect with the first connecting portion (10)；
Multiple second reinforcing ribs (32) are arranged on the matrix and are in put centered on the center of the second connecting portion (20)
Shape distribution is penetrated, the first end of multiple second reinforcing ribs (32) is connect with the second connecting portion (20).
2. robot linking arm according to claim 1, which is characterized in that described matrix includes two sides being oppositely arranged
Plate (35), two side plates (35) are arranged between the first connecting portion (10) and the second connecting portion (20), at least
One of the second end of part first reinforcing rib (31) and two described side plates (35) connect, and at least partly described second reinforces
One of the second end of muscle (32) and two described side plates (35) connect.
3. robot linking arm according to claim 2, which is characterized in that at least one first reinforcing rib (31)
Second end and the second end of at least one second reinforcing rib (32) are connected to the same position on the side plate (35).
4. robot linking arm according to claim 2, which is characterized in that the side plate (35) is in arc-shaped, the side
The outer surface of plate (35) the outer surface phase with the outer surface of the first connecting portion (10) and the second connecting portion (20) respectively
It cuts.
5. robot linking arm according to claim 4, which is characterized in that the radius R of the side plate (35) meets: i4=
L/R≤0.6, wherein L be the first connecting portion (10) the center of circle and the second connecting portion (20) the center of circle between away from
From.
6. robot linking arm according to claim 2, which is characterized in that the wall thickness t3 of the side plate (35) meets: 54
≤ i3=L/t3≤82, wherein L is between the center of circle of the first connecting portion (10) and the center of circle of the second connecting portion (20)
Distance.
7. robot linking arm according to claim 2, which is characterized in that by the center of circle of the first connecting portion (10)
It is center line with the straight line in the center of circle of the second connecting portion (20), first reinforcing rib (31) and one described second
Reinforcing rib (32) is arranged along the center line and is interconnected to form central rib.
8. robot linking arm according to claim 7, which is characterized in that the interconnecting piece (30) further includes that third is reinforced
Muscle (33), the third reinforcing rib (33) are connected between the central rib and the side plate (35).
9. robot linking arm according to claim 8, which is characterized in that the first end of the third reinforcing rib (33) connects
It connects on the central rib, the second end of first reinforcing rib (31) connects with second reinforcing rib (32)
The second end of the same position being connected on the side plate (35), the third reinforcing rib (33) also connects on the position.
10. robot linking arm according to claim 8, which is characterized in that the radius of the first connecting portion (10) is big
Radius in the second connecting portion (20), tie point of the third reinforcing rib (33) on the side plate (35) are located at described
Third reinforcing rib (33) is between the tie point on the central rib and the center of circle of the second connecting portion (20).
11. robot linking arm according to claim 7, which is characterized in that the first connecting portion (10), described second
Interconnecting piece (20) and the interconnecting piece (30) are axisymmetrically to arrange with the center line.
12. robot linking arm according to claim 2, which is characterized in that described matrix further includes bottom plate (34), described
Bottom plate (34) is arranged between two side plates (35), first end and the first connecting portion (10) phase of the bottom plate (34)
Even, the second end of the bottom plate (34) is connected with the second connecting portion (20), the side plate (35) and the bottom plate (34) it
Between form groove, first reinforcing rib (31) and second reinforcing rib (32) are arranged in the groove.
13. robot linking arm according to claim 1, which is characterized in that
The wall thickness t1 of the first connecting portion (10) meets: 32≤i1=L/t1≤82, wherein L is the first connecting portion
(10) the distance between the center of circle in the center of circle and the second connecting portion (20), and/or,
The wall thickness t2 of the second connecting portion (20) meets: 54≤i2=L/t2≤82, wherein L is the first connecting portion
(10) the distance between the center of circle in the center of circle and the second connecting portion (20).
14. a kind of robot, including robot linking arm, which is characterized in that the robot linking arm is claim 1 to 13
Any one of described in robot linking arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821503477.1U CN208788583U (en) | 2018-09-13 | 2018-09-13 | Robot linking arm and have its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821503477.1U CN208788583U (en) | 2018-09-13 | 2018-09-13 | Robot linking arm and have its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208788583U true CN208788583U (en) | 2019-04-26 |
Family
ID=66209510
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821503477.1U Withdrawn - After Issue CN208788583U (en) | 2018-09-13 | 2018-09-13 | Robot linking arm and have its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208788583U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818520A (en) * | 2018-09-13 | 2018-11-16 | 珠海格力电器股份有限公司 | Robot linking arm and have its robot |
| CN110586348A (en) * | 2019-10-15 | 2019-12-20 | 中国工程物理研究院总体工程研究所 | Rocking arm suitable for high dynamic centrifugal test |
-
2018
- 2018-09-13 CN CN201821503477.1U patent/CN208788583U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818520A (en) * | 2018-09-13 | 2018-11-16 | 珠海格力电器股份有限公司 | Robot linking arm and have its robot |
| CN108818520B (en) * | 2018-09-13 | 2023-10-03 | 珠海格力电器股份有限公司 | Robot connecting arm and robot with same |
| CN110586348A (en) * | 2019-10-15 | 2019-12-20 | 中国工程物理研究院总体工程研究所 | Rocking arm suitable for high dynamic centrifugal test |
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