CN215903546U - Link assembly and robot - Google Patents
Link assembly and robot Download PDFInfo
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- CN215903546U CN215903546U CN202121963330.2U CN202121963330U CN215903546U CN 215903546 U CN215903546 U CN 215903546U CN 202121963330 U CN202121963330 U CN 202121963330U CN 215903546 U CN215903546 U CN 215903546U
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- 229910000861 Mg alloy Inorganic materials 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 239000000956 alloy Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 229910000838 Al alloy Inorganic materials 0.000 description 4
- 238000005266 casting Methods 0.000 description 4
- 230000002349 favourable effect Effects 0.000 description 3
- 238000010923 batch production Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 229910000640 Fe alloy Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Abstract
The utility model provides a connecting rod assembly and a robot, wherein the connecting rod assembly comprises a hollow rod and a module component, and a first connecting part is arranged in the hollow rod; the module part includes the second connecting portion, and the at least part of second connecting portion inlays and establishes in hollow pole to make the fastener wear to establish on first connecting portion and second connecting portion, so that relatively fixed between hollow pole and the module part. The connecting mode of the connecting rod and the module component can ensure that the connecting rod and the module component are connected more firmly, and the problem of poor connection stability of the connecting mode of the connecting rod and the module in the prior art is solved.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a connecting rod assembly and a robot.
Background
In the prior art, the connecting rod of the cooperative robot is usually made of aluminum alloy, and the aluminum alloy connecting rod body is generally formed by casting or machining. The connecting rod casting molding is suitable for batch rapid production, but a casting mold needs to be developed, and the casting mold is high in cost. Although the connecting rod machine tool does not need to develop a mould, the machine tool has long time for forming, and is not beneficial to the rapid batch production.
At present, the connecting rod is only connected with the module through screws, when the screws are loosened due to the influence of external factors (such as collision and vibration), the friction force between the connecting rod and the module is reduced, relative sliding possibly occurs, the transmission precision is reduced, and the screws can directly bear the shearing force caused by torque to damage the screws. Therefore, the connection stability of the connection mode between the connecting rod and the module in the prior art is poor.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide a connecting rod assembly and a robot, and aims to solve the problem that the connecting stability of a connecting mode between a connecting rod and a module in the prior art is poor.
In order to achieve the above object, according to one aspect of the present invention, there is provided a connecting rod assembly including: the hollow rod is internally provided with a first connecting part; the module part, the module part includes the second connecting portion, and the at least part of second connecting portion inlays and establishes in hollow pole to make the fastener wear to establish on first connecting portion and second connecting portion, so that relatively fixed between hollow pole and the module part.
Furthermore, the first connecting part is a rib protruding out of the inner wall of the hollow rod, and the rib extends along the extending direction of the hollow rod; and/or the first connecting parts are multiple and are distributed at intervals along the circumferential direction of the hollow rod.
Furthermore, the surface of the rib is a circular arc surface; and/or transition chamfers are arranged between the ribs and the inner wall of the hollow rod.
Further, the hollow bar comprises a first bar section and a second bar section which are connected with each other, the first connecting part is arranged in the second bar section, and at least part of the second connecting part is embedded in the first bar section.
Further, the inner wall of the first pole segment is located on a side of the inner wall of the second pole segment remote from the central axis of the hollow pole; and/or the number of the first rod sections is two, the two first rod sections are respectively arranged at two ends of the second rod section, and at least part of the second connecting part is embedded in one of the first rod sections.
Furthermore, a first positioning hole is formed in the first connecting part, a second positioning hole is formed in the second connecting part, and the fastener penetrates through the first positioning hole and the second positioning hole; or, a first positioning groove is formed in the first connecting portion, a second positioning groove is formed in the second connecting portion, and the fastener is clamped in the first positioning groove and the second positioning groove.
Further, first locking hole has been seted up to the outer wall of hollow pole, is provided with second locking hole on the second connecting portion, and is downthehole through making the retaining member wear to establish first locking hole and second locking to make relatively fixed between hollow pole and the module part.
Furthermore, the second connecting part is a convex column protruding out of the body part of the module component, the convex column comprises a first column section and a second column section which are connected with each other, the first column section is used for being connected with the body part, and the second column section is embedded in the hollow rod; wherein, the outer wall of second column section is located one side that is close to the central axis of projection of the outer wall of first column section.
Furthermore, the hollow rod is made of magnesium alloy materials.
According to another aspect of the present invention, there is provided a robot comprising the link assembly described above.
By applying the technical scheme of the utility model, the connecting rod adopts the hollow rod, so that the weight of the connecting rod can be reduced; the hollow rod is internally provided with a first connecting part, the module component comprises a second connecting part, at least part of the second connecting part is embedded in the hollow rod, and a fastener is arranged on the first connecting part and the second connecting part in a penetrating way so as to relatively fix the hollow rod and the module component; the connecting mode of the connecting rod and the module component can ensure that the connecting rod and the module component are connected more firmly, is favorable for ensuring the transmission effect and the transmission precision between the hollow rod and the module component, and solves the problem of poor connection stability of the connecting mode of the connecting rod and the module in the prior art.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:
FIG. 1 illustrates a schematic structural view of a connecting rod assembly according to the present invention;
FIG. 2 shows a schematic structural view of a hollow rod of the connecting rod assembly of FIG. 1;
FIG. 3 is a schematic structural view from another perspective of the hollow rod of the connecting rod assembly of FIG. 2;
FIG. 4 illustrates a side view of the hollow rod of the connecting rod assembly of FIG. 2;
FIG. 5 illustrates a structural schematic view of the modular components of the linkage assembly of FIG. 1;
FIG. 6 shows an exploded view of the connecting rod assembly of FIG. 1;
FIG. 7 illustrates an exploded view of another perspective of the connecting rod assembly of FIG. 6.
Wherein the figures include the following reference numerals:
10. a hollow shaft; 101. a first pole segment; 102. a second pole segment; 11. a first connection portion; 111. ribs; 112. a first positioning hole; 113. transition chamfering; 12. a first locking hole; 121. mounting grooves;
20. a module member; 21. a second connecting portion; 211. a second positioning hole; 212. a second locking hole; 213. a convex column; 2131. a first column section; 2132. a second column section; 22. a body portion;
31. a fastener; 32. a locking member; 321. a spring washer; 322. a flat washer.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The utility model provides a connecting rod assembly, please refer to fig. 1 to 7, which comprises a connecting rod and a module component 20, wherein the connecting rod is a hollow rod 10, and a first connecting part 11 is arranged inside the hollow rod 10; the module assembly 20 includes a second connecting portion 21, at least a portion of the second connecting portion 21 is embedded in the hollow bar 10, and a fastening member 31 is inserted through the first connecting portion 11 and the second connecting portion 21 to relatively fix the hollow bar 10 and the module assembly 20.
In the connecting rod assembly, the connecting rod adopts a hollow rod, so that the weight of the connecting rod can be reduced; the hollow rod 10 is internally provided with a first connecting part 11, the module component 20 comprises a second connecting part 21, at least part of the second connecting part 21 is embedded in the hollow rod 10, and a fastener 31 is arranged on the first connecting part 11 and the second connecting part 21 in a penetrating way so as to relatively fix the hollow rod 10 and the module component 20; the connection mode of the connecting rod and the module component 20 can ensure that the connecting rod and the module component are connected more firmly, is favorable for ensuring the transmission effect and the transmission precision between the hollow rod 10 and the module component 20, and solves the problem of poor connection stability of the connection mode of the connecting rod and the module in the prior art.
In the specific implementation process, the module component 20 drives the hollow rod 10 to rotate synchronously through the fastener 31, so as to transmit the torque.
In the present embodiment, the first connecting portion 11 is a rib 111 protruding from the inner wall of the hollow bar 10, and the rib 111 extends along the extending direction of the hollow bar 10.
In particular, a transition chamfer 113 is provided between the ribs 111 and the inner wall of the hollow bar 10. Optionally, the transition chamfer 113 is a radiused chamfer.
Specifically, the surface of the rib 111 is a circular arc surface, and the structural arrangement facilitates the processing of the rib 111, thereby reducing the problem that the surface of the rib 111 is easy to form extrusion molding defects.
In the present embodiment, the first connecting portion 11 is plural, the plural first connecting portions 11 are spaced apart from each other in the circumferential direction of the hollow bar 10, that is, the rib 111 is plural, and the plural ribs 111 are spaced apart from each other in the circumferential direction of the hollow bar 10.
Optionally, the plurality of ribs 111 are evenly distributed along the circumference of the hollow bar 10; the number of ribs 111 is odd.
In this embodiment, the hollow bar 10 comprises a first bar section 101 and a second bar section 102 connected to each other, the first connection 11 being arranged in the second bar section 102, at least part of the second connection 21 being embedded in the first bar section 101.
Specifically, the inner wall of the first pole segment 101 is located on the side of the inner wall of the second pole segment 102 away from the central axis of the hollow pole 10 to form a stepped structure on the inner wall of the hollow pole 10.
Alternatively, the number of the first rod segments 101 is two, and the two first rod segments 101 are respectively disposed at both ends of the second rod segment 102, so that both ends of the hollow rod 10 can be connected with the module part 20; at least part of the second connecting portion 21 is embedded in one of the first pole segments 101.
Alternatively, there are two module components 20, and the two module components 20 are respectively disposed in one-to-one correspondence with the two first pole segments 101.
In this embodiment, the first connecting portion 11 is provided with a first positioning hole 112, the second connecting portion 21 is provided with a second positioning hole 211, and the fastening member 31 is inserted into the first positioning hole 112 and the second positioning hole 211, in which case the fastening member 31 is a positioning pin. Or, the first connecting portion 11 is provided with a first positioning groove, the second connecting portion 21 is provided with a second positioning groove, and the fastening member 31 is clamped in the first positioning groove and the second positioning groove, and at this time, the fastening member 31 is a flat key.
Optionally, the locating pin is a cylindrical pin.
Specifically, the first positioning hole 112 is provided at an end of the rib 111, and the first positioning groove is provided at an end of the rib 111. When the number of the first rod segments 101 is two, any one of two ends of the rib 111 is provided with the first positioning hole 112 or the first positioning groove.
Specifically, when the first connection portion 11 is plural, at least one first connection portion 11 is provided with a first positioning hole 112 or a first positioning groove; when the number of the first positioning holes 112 is plural, the number of the second positioning holes 211 is plural, the number of the fasteners 31 is plural, the plural first positioning holes 112 and the plural second positioning holes 211 are arranged in a one-to-one correspondence, the plural first positioning holes 112 and the plural fasteners 31 are arranged in a one-to-one correspondence, and each fastener 31 is inserted into the corresponding first positioning hole 112 and the corresponding second positioning hole 211; when first constant head tank is a plurality of, the second constant head tank is a plurality of, and fastener 31 is a plurality of, and a plurality of first constant head tanks set up with a plurality of second constant head tanks one-to-one, and a plurality of first constant head tanks set up with a plurality of fasteners 31 one-to-one, and each fastener 31 card is established in corresponding first constant head tank and corresponding second constant head tank.
In this embodiment, the hollow bar 10 is formed with a first locking hole 12 on an outer wall thereof, and the second connecting portion 21 is formed with a second locking hole 212, so that the hollow bar 10 and the module unit 20 are relatively fixed by inserting the locking member 32 into the first locking hole 12 and the second locking hole 212.
In particular, the first locking hole 12 is provided on the outer wall of the first pole segment 101.
Specifically, the first locking holes 12 are plural, and the plural first locking holes 12 are spaced apart along the circumferential direction of the hollow rod 10, that is, the plural first locking holes 12 are spaced apart along the circumferential direction of the first rod segment 101; the number of the second locking holes 212 is plural, and the plural second locking holes 212 and the plural first locking holes 12 are arranged in a one-to-one correspondence manner; the locking member 32 is provided in plurality, and a plurality of locking members 32 are disposed in one-to-one correspondence with the plurality of first locking holes 12, and each locking member 32 is inserted into the corresponding first locking hole 12 and second locking hole 212.
Specifically, when there are two first pole segments 101, at least one first locking hole 12 is provided on the outer wall of each first pole segment 101.
Specifically, the locking member 32 is a screw; in the specific implementation process, the screw is sleeved with a spring washer 321 and a flat washer 322, and the spring washer 321 and the flat washer 322 are both positioned between the nut of the screw and the outer wall of the hollow rod 10.
Specifically, the outer wall of the hollow rod 10 is provided with a mounting groove 121, and the first locking hole 12 is arranged on the bottom wall of the mounting groove 121, so that the spring washer 321 and the flat washer 322 are both clamped in the mounting groove 121, thereby facilitating the mounting and locking of the screw, the spring washer 321 and the flat washer 322; namely, the bottom wall of the mounting groove 121 forms a mounting end surface; the mounting groove 121 is provided on the outer wall of the first pole segment 101.
Optionally, the bottom wall of the mounting groove 121 is a plane.
Optionally, a plurality of mounting grooves 121 are provided, and the plurality of mounting grooves 121 and the plurality of first locking holes 12 are arranged in a one-to-one correspondence manner; when the number of the first rod segments 101 is two, at least one mounting groove 121 is formed on the outer wall of each first rod segment 101.
In this embodiment, the second connecting portion 21 is a protruding pillar 213 protruding out of the main body 22 of the module component 20, the protruding pillar 213 includes a first pillar section 2131 and a second pillar section 2132 connected to each other, the first pillar section 2131 is used for connecting with the main body 22, and the second pillar section 2132 is used for being embedded in the hollow rod 10; the outer wall of the second column section 2132 is located on one side of the outer wall of the first column section 2131, which is close to the central axis of the convex column 213, so as to form a step structure on the outer wall of the convex column 213.
In a specific implementation process, the step surface of the step structure on the outer wall of the convex column 213 is used for abutting against the step surface of the step structure on the inner wall of the hollow rod 10.
Specifically, the second positioning hole 211 is provided on the second column section 2132, and the second positioning hole 211 is provided on an end face of the second column section 2132; the second positioning groove is arranged on the second column section 2132.
Specifically, the plurality of second positioning holes 211 are circumferentially spaced apart along the protruding pillar 213, and the plurality of second positioning grooves are circumferentially spaced apart along the protruding pillar 213.
Specifically, the second locking hole 212 is provided on the second column section 2132, and the second locking hole 212 is provided on the cylindrical surface of the second column section 2132; a plurality of second locking holes 212 are spaced apart along a circumferential direction of the boss 213.
In this embodiment, a chamfer is provided between the end face of the hollow rod 10 and its inner wall, i.e. between the end face of the first rod section 101 remote from the second rod section 102 and the inner wall of the first rod section 101, to facilitate the insertion of the second connecting portion 21 into the hollow rod 10.
In particular, a rounded chamfer is provided between the end face of the hollow rod 10 and its inner wall, i.e. between the end face of the first rod section 101 remote from the second rod section 102 and the inner wall of the first rod section 101.
In this embodiment, an arc chamfer is disposed between the end surface of the protruding pillar 213 and the outer wall thereof, that is, an arc chamfer is disposed between the end surface of the second column section 2132 far away from the first column section 2131 and the outer wall of the second column section 2132.
In the present embodiment, the hollow bar 10 is made of a magnesium alloy material having a low material density (the density of the magnesium alloy is 1.74 g/cm)30.64 times of the density of the aluminum alloy and 0.22 times of the density of the iron alloy), high specific strength, and good damping and shock absorption performance and processability; therefore, the hollow rod 10 made of magnesium alloy can effectively reduce the weight and the motion inertia thereof, improve the rigidity of the hollow rod 10 itself, and improve the transmission effect of the hollow rod 10, that is, improve the motor efficiency and the responsiveness of the module component 20; in addition, the connecting rod assembly has stable structure and can better realizeAbsorbing the impact vibration caused by the load and further reducing the impact of the load on the module member 20.
In the specific processing process, the hollow bars 10 are extruded and molded through a die, so that the hollow bars 10 can be rapidly produced in batches; compared with the die of the aluminum alloy connecting rod body, the die of the hollow rod 10 has lower development cost and reduces the batch production cost.
The utility model also provides a robot which comprises the connecting rod assembly.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
in the connecting rod assembly, the connecting rod adopts a hollow rod, so that the weight of the connecting rod can be reduced; the hollow rod 10 is internally provided with a first connecting part 11, the module component 20 comprises a second connecting part 21, at least part of the second connecting part 21 is embedded in the hollow rod 10, and a fastener 31 is arranged on the first connecting part 11 and the second connecting part 21 in a penetrating way so as to relatively fix the hollow rod 10 and the module component 20; the connection mode of the connecting rod and the module component 20 can ensure that the connecting rod and the module component are connected more firmly, is favorable for ensuring the transmission effect and the transmission precision between the hollow rod 10 and the module component 20, and solves the problem of poor connection stability of the connection mode of the connecting rod and the module in the prior art.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A connecting rod assembly, comprising:
the hollow rod (10), the hollow rod (10) is internally provided with a first connecting part (11);
the module component (20) comprises a second connecting part (21), at least part of the second connecting part (21) is embedded in the hollow rod (10), and a fastener (31) is arranged on the first connecting part (11) and the second connecting part (21) in a penetrating mode so that the hollow rod (10) and the module component (20) can be fixed relatively.
2. The connecting-rod assembly according to claim 1,
the first connecting part (11) is a rib (111) protruding out of the inner wall of the hollow rod (10), and the rib (111) extends along the extending direction of the hollow rod (10); and/or
The first connecting parts (11) are distributed in a plurality, and the first connecting parts (11) are distributed at intervals along the circumferential direction of the hollow rod (10).
3. The connecting-rod assembly according to claim 2,
the surface of the rib (111) is a circular arc surface; and/or
Transition chamfers (113) are arranged between the ribs (111) and the inner wall of the hollow rod (10).
4. Connecting rod assembly according to claim 1, characterized in that the hollow rod (10) comprises a first rod segment (101) and a second rod segment (102) connected to each other, the first connection (11) being provided within the second rod segment (102), at least part of the second connection (21) being embedded within the first rod segment (101).
5. The connecting-rod assembly according to claim 4,
the inner wall of the first pole segment (101) is positioned on one side of the inner wall of the second pole segment (102) away from the central axis of the hollow pole (10); and/or
The number of the first rod sections (101) is two, the two first rod sections (101) are respectively arranged at two ends of the second rod section (102), and at least part of the second connecting part (21) is embedded in one of the first rod sections (101).
6. The connecting-rod assembly according to claim 1,
a first positioning hole (112) is formed in the first connecting portion (11), a second positioning hole (211) is formed in the second connecting portion (21), and the fastener (31) penetrates through the first positioning hole (112) and the second positioning hole (211); or
The first connecting portion (11) is provided with a first positioning groove, the second connecting portion (21) is provided with a second positioning groove, and the fastener (31) is clamped in the first positioning groove and the second positioning groove.
7. The connecting rod assembly according to claim 1, wherein the hollow rod (10) is formed at an outer wall thereof with a first locking hole (12), and the second connecting portion (21) is formed with a second locking hole (212), and the hollow rod (10) and the module member (20) are relatively fixed by inserting a locking member (32) into the first locking hole (12) and the second locking hole (212).
8. Connecting rod assembly according to claim 1, wherein the second connecting portion (21) is a protruding post (213) protruding out of the body portion (22) of the module part (20), the protruding post (213) comprising a first post section (2131) and a second post section (2132) connected to each other, the first post section (2131) being adapted to be connected to the body portion (22), the second post section (2132) being adapted to be embedded in the hollow rod (10); wherein the outer wall of the second column section (2132) is located on one side of the outer wall of the first column section (2131) that is close to the central axis of the post (213).
9. Connecting-rod assembly according to claim 1, characterized in that the hollow rod (10) is made of magnesium alloy material.
10. A robot comprising a linkage assembly according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121963330.2U CN215903546U (en) | 2021-08-19 | 2021-08-19 | Link assembly and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121963330.2U CN215903546U (en) | 2021-08-19 | 2021-08-19 | Link assembly and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215903546U true CN215903546U (en) | 2022-02-25 |
Family
ID=80292018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121963330.2U Active CN215903546U (en) | 2021-08-19 | 2021-08-19 | Link assembly and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215903546U (en) |
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2021
- 2021-08-19 CN CN202121963330.2U patent/CN215903546U/en active Active
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