CN220128829U - A connecting piece and robot for robot - Google Patents

Abstract

The utility model relates to the technical field of robots, and discloses a connecting piece for a robot and the robot, wherein the connecting piece for the robot comprises a first component, a second component and a third component; one end of the second component is provided with a first component, the other end of the second component is provided with a third component, the first component, the second component and the third component are integrally formed, the first component is used for being connected with the output end of an actuator of the robot, and the third component is used for being connected with a limb part of the robot; the extending direction of the first component part is intersected with the extending direction of the third component part, and a perpendicular line passing through the center of the first component part and a perpendicular line passing through the center of the third component part are not in the same plane. According to the embodiment, the distance between the limb component of the robot and the trunk of the robot can be increased, and the moving range of the limb component is increased, so that the flexibility of the movement of the limb component is increased.

Description

A connecting piece and robot for robot

Technical Field

The utility model relates to the technical field of robots, for example to a connecting piece for a robot and the robot.

Background

With the continuous development of science and technology, the robot technology is also continuously improved, and as the robot can continuously and repeatedly do the same work in different and complex environments, the robot is not tired in long-term work like a human, and therefore, the robot is widely applied to different fields of industry, agriculture, medical treatment and the like to replace the human to work.

The related art discloses a humanoid seven-degree-of-freedom mechanical arm, which comprises a first shoulder joint, a second shoulder joint and a first elbow joint; the input end of the first shoulder joint is fixedly connected with the mechanical arm base, the output end of the first shoulder joint is fixedly connected with the input end of the first arm rod, the output end of the first arm rod is fixedly connected with the input end of the second shoulder joint, the output end of the second shoulder joint is fixedly connected with the input end of the second arm rod, and the output end of the second arm rod is fixedly connected with the input end of the first elbow joint; the axis of rotation of the first shoulder joint, the axis of rotation of the second shoulder joint, and the axis of rotation of the first elbow joint intersect at a point, and the first elbow joint is located directly below the second shoulder joint.

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:

in the related art, the robot arm can be vertically downwards arranged, the robot arm is located under the shoulder joint, the shoulder joint of the robot is arranged on the trunk of the robot, the distance between the robot arm and the trunk of the robot is short due to the arrangement, the range of motion of the robot arm towards the trunk of the robot is small, and the motion flexibility of the robot is poor.

It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the utility model and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.

The embodiment of the disclosure provides a connecting piece for a robot and the robot, which can increase the movement range of a limb part of the robot so as to improve the flexibility of the limb part of the robot.

According to an embodiment of the first aspect of the present utility model, there is provided a connector for a robot including a first component, a second component, and a third component; one end of the second component part is provided with the first component part, the other end of the second component part is provided with the third component part, the first component part, the second component part and the third component part are integrally formed, the first component part is used for being connected with the output end of an actuator of the robot, and the third component part is used for being connected with a limb part of the robot; the extending direction of the first component part is intersected with the extending direction of the third component part, and a perpendicular line passing through the center of the first component part and a perpendicular line passing through the center of the third component part are not in the same plane.

In some alternative embodiments, the second component is provided in a bent configuration.

In some alternative embodiments, the third component is disposed along an axis extending direction of the first component, and the third component is located at one side of the axis extending direction of the first component, the second component is disposed along a diameter extending direction of the first component, and at least part of the second component is disposed along the axis extending direction of the first component.

In some alternative embodiments, at least one bending part is arranged between one end of the second component part and the other end of the second component part, and the bending part is arc-shaped or has a bending angle; in the case that the plurality of bending parts are provided, the openings of the plurality of bending parts face the same direction or the openings of at least two bending parts face opposite directions.

In some alternative embodiments, the second component is disposed in a straight line, and a break angle exists between the second component and the third component; the extending direction of the second component part is the same as the extending direction of the first component part, or a folding angle exists between the second component part and the first component part.

In some alternative embodiments, the first component is annular, and the first component includes a first sidewall, where the first sidewall faces the actuator, and the first sidewall is configured to be connected to an output end of the actuator.

In some alternative embodiments, along the axial direction of the first component, an annular protrusion is convexly arranged at the outer edge of the first side wall, and the annular protrusion is used for being sleeved on the outer side wall of the output end of the actuator.

In some alternative embodiments, a through hole is formed in the middle of the first component, and a mounting boss is convexly formed on an inner wall surface of the through hole along the radial direction of the first component, and the mounting boss is used for mounting an observation piece so as to observe the condition of the output end of the actuator.

In some alternative embodiments, the first component is provided with a plurality of first mounting holes, the plurality of first mounting holes are annularly arranged on the first component, and the first component is connected with the driving end of the actuator through the first mounting holes; and/or

The third component is provided with a plurality of second mounting holes, the second mounting holes are arranged in an array mode and are connected with the limb part through the second mounting holes.

According to an embodiment of the second aspect of the utility model, a robot is provided, comprising a connection for a robot according to any of the embodiments described above.

The connecting piece for the robot and the robot provided by the embodiment of the disclosure can realize the following technical effects:

in this embodiment, the first component, the second component and the third component of the connector are integrally formed, so that the strength of the connector can be increased, the bearing capacity of the connector can be improved, and the service life of the connector can be prolonged. The extension direction of the first component intersects the extension direction of the third component, i.e. there is a break angle between the first component and the third component such that the extension direction of the axis of the limb part of the robot is different from the extension direction of the axis of the actuator. The vertical line passing through the center of the first component part and the vertical line passing through the center of the third component part are not on the same plane, so that the vertical line passing through the center of the third component part is not located on the vertical plane where the vertical line passing through the center of the first component part is located, the third component part is located obliquely above or obliquely below the first component part, the first component part and the third component part are arranged in a staggered mode, and the distance between the first component part and the plumb line where the actuator is located is different from the distance between the third component part and the plumb line where the actuator is located. The actuator is arranged on the trunk of the robot, the distance between the first component and the trunk of the robot is different from the distance between the third component and the trunk of the robot, namely, the distance between the actuator and the trunk of the robot is different from the distance between the limb part and the trunk of the robot, so that the third component can be positioned on one side of the first component far away from the trunk of the robot during installation, the distance between the limb part of the robot and the trunk of the robot is increased, the moving range of the limb part is increased, and the flexibility of the movement of the limb part is increased.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the utility model.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:

FIG. 1 is a schematic view of a connection structure for a robot connector according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of the cross-sectional structure in the direction A-A in FIG. 1;

FIG. 3 is a schematic structural view of a connection for another view of a robot connector provided in an embodiment of the present disclosure;

fig. 4 is a schematic structural view of a connector for a robot according to an embodiment of the present disclosure.

Reference numerals:

100. a connecting piece; 110. a first component; 111. a first sidewall; 112. an annular protrusion; 113. a through hole; 114. a mounting boss; 115. a first mounting hole; 120. a second component; 130. a third component; 131. a second mounting hole; 200. an actuator; 300. limb parts.

Detailed Description

So that the manner in which the features and techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.

The terms first, second and the like in the description and in the claims of the embodiments of the disclosure and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the present disclosure. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe embodiments of the present disclosure and embodiments thereof and are not intended to limit the indicated device, element, or component to a particular orientation or to be constructed and operated in a particular orientation. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the embodiments of the present disclosure will be understood by those of ordinary skill in the art in view of the specific circumstances.

In addition, the terms "disposed," "connected," "secured" and "affixed" are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the embodiments of the present disclosure may be understood by those of ordinary skill in the art according to specific circumstances.

The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.

It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other.

As shown in fig. 1 to 4, the embodiment of the present disclosure provides a connector 100 for a robot, the connector 100 for a robot including a first component 110, a second component 120, and a third component 130. One end of the second component 120 is configured with a first component 110, the other end of the second component 120 is configured with a third component 130, and the first component 110, the second component 120 and the third component 130 are integrally formed. The first component 110 is for connection to an output of the actuator 200 of the robot and the third component 130 is for connection to a limb member 300 of the robot.

The extending direction of the first component 110 intersects with the extending direction of the third component 130, and the perpendicular line passing through the center of the first component 110 and the perpendicular line passing through the center of the third component 130 are not in the same plane.

In this embodiment, a first component 110 is configured at one end of the second component 120, the first component 110 is used for being connected with an output end of an actuator 200 of the robot, and the output end of the actuator 200 can drive the first component 110 to move, so as to drive the whole connecting piece 100 to move. The other end of the second component 120 is configured with a third component 130, and the third component 130 is configured to be connected with the limb member 300 of the robot, and the output end of the actuator 200 drives the connecting piece 100 to move, so as to drive the limb member 300 of the robot to move. The first component 110, the second component 120 and the third component 130 of the connector 100 are integrally formed, so that the strength of the connector 100 can be increased, the bearing capacity of the connector 100 can be improved, and the service life of the connector 100 can be prolonged. The extending direction of the first component 110 intersects with the extending direction of the third component 130, that is, there is a break angle between the first component 110 and the third component 130 so that the extending direction of the axis of the limb part 300 of the robot is different from the extending direction of the axis of the actuator 200. The perpendicular line passing through the center of the first component 110 and the perpendicular line passing through the center of the third component 130 are not in the same plane, so that the perpendicular line passing through the center of the third component 130 is not located on the perpendicular plane where the perpendicular line passing through the center of the first component 110 is located, the third component 130 is located obliquely above or obliquely below the first component 110, the first component 110 and the third component 130 are arranged in a staggered manner, the second component 120 is obliquely configured between the first component 110 and the third component 130, and the distance between the first component 110 and the perpendicular line where the actuator 200 is located is different from the distance between the third component 130 and the perpendicular line where the actuator 200 is located. The actuator 200 is mounted on the trunk of the robot, the distance between the first component 110 and the trunk of the robot is different from the distance between the third component 130 and the trunk of the robot, that is, the distance between the actuator 200 and the trunk of the robot and the distance between the limb member 300 and the trunk of the robot are different, so that the third component 130 can be positioned on one side of the first component 110 away from the trunk of the robot during mounting, thereby increasing the distance between the limb member 300 of the robot and the trunk of the robot, increasing the movable range of the limb member 300, and thus increasing the flexibility of the movement of the limb member 300.

The extending direction of the first component 110 is the extending direction of the plane where the first component 110 is located, and the extending direction of the third component 130 is the extending direction of the plane where the third component 130 is located, that is, the plane where the first component 110 is located intersects with the plane where the third component 130 is located.

In the present embodiment, the vertical line passing through the center of the first component 110 is positioned on the same straight line as the axis of the actuator 200, and the vertical line passing through the center of the third component 130 is positioned on the same straight line as the axis of the limb member 300 of the robot.

Further, the extending direction of the first component 110 is perpendicular to the extending direction of the third component 130.

As shown in fig. 1 to 3, the connector 100 for a robot is used for a shoulder of the robot, the actuator 200 of the robot includes a shoulder joint actuator of the robot, the limb part 300 of the robot includes an arm assembly of the robot, the shoulder joint actuator is provided on a trunk of the robot, an axis of the shoulder joint actuator extends in a front-rear direction, the first component 110 extends in an up-down direction, and the shoulder joint actuator can drive the first component 110 to swing left and right. The axis of the arm assembly extends in the up-down direction, the third component 130 extends in the front-back direction, and the first component 110 swings left and right, that is, the connecting member 100 swings left and right, thereby driving the arm assembly to swing left and right. The third component 130 may be located obliquely below the first component 110, and along the left-right direction, the third component 130 is located on a side of the first component 110 away from the trunk of the robot, so that the distance between the arm assembly and the trunk of the robot is greater than the distance between the shoulder joint actuator and the trunk of the robot, the movement range of the arm assembly is increased when the arm assembly moves toward the trunk of the robot, and the flexibility of the movement of the arm assembly is improved.

Further, the distance between the center of the first component 110 and the center of the third component 130 is smaller than half of the sum of the lengths of the first component 110 and the third component 130 in the left-right direction, that is, there is a superposition portion of the first component 110 and the third component 130 in the left-right direction, and the misalignment distance of the first component 110 and the third component 130 is smaller. Or the distance between the center of the first component part 110 and the center of the third component part 130 in the left-right direction is greater than or equal to half of the sum of the length of the first component part 110 and the length of the third component part 130, that is, the first component part 110 does not overlap with the third component part 130 in the left-right direction, and the misalignment distance of the first component part 110 and the third component part 130 is greater. In the present embodiment, along the left-right direction, the center of the first component 110 and the center of the third component 130 can be adaptively adjusted according to the practical application structure, which is not limited herein.

Optionally, the second component 120 is linear, the extending direction of the second component 120 is the same as the extending direction of the first component 110, and a break angle exists between the second component 120 and the third component 130.

In this embodiment, a second component 120 is configured between the first component 110 and the third component 130, the extending direction of the second component 120 is the same as that of the first component 110, the second component 120 extends along the extending direction of the first component 110 in a linear manner toward the third component 130, the extending direction of the first component 110 intersects with the extending direction of the third component 130, that is, the extending direction of the second component 120 intersects with the extending direction of the third component 130, and a bevel is formed between the second component 120 and the third component 130. In this way, the third component 130 can intersect the plane in which the extending direction of the first component 110 is located. For example, when the extending direction of the first component 110 is perpendicular to the extending direction of the third component 130, the angle of refraction between the first component 110 and the third component 130 is 90 degrees. Along the extending direction of the first component 110, at least part of the third component 130 is located directly under the first component 110, and part of the third component 130 is located in the plane of the first component 110.

Illustratively, as shown in fig. 3, the third component 130 is disposed extending along the axis extending direction of the first component 110, and the third component 130 is located at one side of the axis extending direction of the first component 110. The second component 120 extends along the diameter extending direction of the first component 110, and at least part of the second component 120 extends along the axis extending direction of the first component 110.

In this embodiment, at least a part of the second component 120 extends along the axis extending direction of the first component 110, and the other end of the second component 120 is configured with a third component 130, and the third component 130 extends along the axis extending direction of the first component 110, so that the third component 130 is located at one side of the axis extending direction of the first component 110. Specifically, the third component 130 and at least a portion of the second component 120 each extend in a direction away from the first component 110. The second component 120 extends along the diameter extending direction of the first component 110, so that the third component 130 is located at one side of the diameter extending direction of the first component 110, and thus the third component 130 is located below the first component 110, and none of the third components 130 is located in the plane of the first component 110. Thus, when the mounting position of the limb member 300 of the robot on the third component 130 is far from the plane of the first component 110, the third component 130 is located at one side of the first component 110, and the third component 130 is not located in the plane of the first component 110, so that the extension length of the third component 130 can be reduced, thereby reducing the weight of the connecting piece 100, reducing the moment of inertia of the actuator 200, and facilitating the control of the actuator 200.

The axis extending direction of the first component 110 is the same as the axis extending direction of the actuator 200, optionally, the third component 130 is located at a side of the first component 110 facing the actuator, or the third component 130 is located at a side of the first component 110 facing away from the actuator.

In the case that the third component 130 is located at a side of the first component 110 away from the actuator 200, the limb part 300 of the robot and the actuator 200 are staggered, so that the limb part 300 of the robot and the actuator 200 are not located on the same straight line, the diversity of the mounting positions of the limb part 300 of the robot is increased, and the setting of the limb part 300 of the robot is more flexible.

In the case where the third component 300 is located at a side of the first component 110 facing the actuator 200, the third component 130 is located below the actuator 200, so that the limb part 300 of the robot is located below the actuator 200, and the balance between the limb part 300 of the robot and the trunk arrangement of the robot is improved, thereby improving the operation stability of the robot.

Further, a perpendicular line passing through the center of the third component part 130 is located on the same plane as the plane in which the center of the axial direction of the actuator 200 is located. For example, in the case where the actuator 200 is a shoulder joint actuator, a perpendicular line passing through the center of the third component 130 is on the same plane as the plane in which the center of the axial direction of the actuator 200 is located, that is, the axis of the arm assembly is on the same plane as the central axis of the robot shoulder joint, so as to improve the balance of the robot shoulder joint.

Illustratively, the second component 120 is linear, there is a break angle between the second component 120 and the first component 110, and there is a break angle between the second component 120 and the third component 130.

In this embodiment, the other end of the second component 120 extends along the direction of the first component 110 toward the actuator 200, so that the extending direction of the other end of the second component 120 intersects with the extending direction of the first component 110, and when the second component 120 is linear, that is, the extending direction of the second component 120 intersects with the extending direction of the first component 110, that is, there is a bevel between the second component 120 and the first component 110, the second component 120 is disposed between the first component 110 and the third component 130, which intersect with each other in the extending direction.

Alternatively, as shown in fig. 3 and 4, the second component 120 is provided in a bent shape.

In this embodiment, the extending direction of the other end of the second component 120 intersects with the extending direction of the first component 110, and the second component 120 is arranged in a bent shape, so that the extending direction of one end of the second component 120 may be the same as the extending direction of the first component 110 or different from the extending direction of the first component 110.

Illustratively, at least one bending part is included between one end of the second component 120 and the other end of the second component 120, and the bending part is arc-shaped or has a bending angle; in the case that there are a plurality of bending portions, the openings of the plurality of bending portions face the same direction or the openings of at least two bending portions face opposite directions.

In this embodiment, the bending portion is curved or has a bending angle, that is, the bending of the bending portion may be an arc smooth transition or an angular bending, and the bending form of the bending portion is not particularly limited herein. In the case where there are a plurality of bending portions, the openings of the plurality of bending portions are oriented toward the same direction, that is, the openings of the plurality of bending portions are oriented toward the actuator 200. When the openings of at least two of the plurality of bending portions face opposite directions, that is, the second component 120 is shaped like an "S".

Further, the opening direction of the bending portion includes a first direction and a second direction, and when the side wall of the bending portion facing the actuator 200 is concave, the direction of the bending portion is the first direction; when the side wall of one side of the bending part, which is away from the actuator 200, is concave, the direction of the bending part is a second direction; the first orientation is opposite to the second orientation, and the opening angles of the plurality of bending portions may be different.

In this embodiment, as shown in fig. 1 and 3, when the connecting member 100 is used for a shoulder joint of a robot, the third component 130 is located below the first component 110, along the direction from the trunk of the robot to the shoulder joint actuator, the third component 130 is located at a side of the first component 110 facing away from the trunk of the robot, and the third component 130 is located at a side of the first component 110 facing toward the shoulder joint actuator. That is, the second component 120 is bent not only in the front-rear direction but also in the left-right direction of the robot.

Further, along the width direction of the second component 120, two opposite sides of the second component 120 are curved surfaces.

Illustratively, along the width direction of the second component 120, two opposite wall surfaces of the second component 120 and two opposite wall surfaces of the third component 130 are connected to form a first wall surface and a second wall surface which are oppositely arranged, the first wall surface is curved, and the first wall surface is curved away from the second component 120; the second wall surface includes a first sub wall surface and a second sub wall surface that are connected, the first sub wall surface and the second sub wall surface are curved surfaces, the first sub wall surface is connected with the wall surface of the first component 110, and the first sub wall surface is bent away from the second component 120, the second sub wall surface extends to the third component 130, and the second sub wall surface is bent toward the second component 120.

Alternatively, as shown in fig. 1 and 4, the first component 110 has a circular shape, and the first component 110 includes a first side wall 111, where the first side wall 111 faces the actuator 200, and the first side wall 111 is used to connect with an output end of the actuator 200.

In this embodiment, the first side wall 111 faces the actuator 200, and the first side wall 111 is configured to be connected to an output end of the actuator 200, so that the first component 110 is connected to the output end of the actuator 200, and the output end of the actuator 200 drives the first component 110 to rotate.

Illustratively, as shown in fig. 2 and 4, an annular protrusion 112 is protruding from an outer edge of the first sidewall 111 along an axial direction of the first component 110, and the annular protrusion 112 is configured to be sleeved on an outer sidewall of an output end of the actuator 200.

In this embodiment, the annular protrusion 112 at the outer edge of the first sidewall 111 is sleeved on the outer sidewall of the output end of the actuator 200, and the first component 110 can be positioned by the annular protrusion 112 to prevent the output end of the actuator 200 from being separated from the first component 110, so as to improve the connection stability between the first component 110 and the output end of the actuator 200. And when the link 100 swings, the output end of the actuator 200 can provide a swinging force to the link 100 through the annular protrusion 112, thereby improving the reliability of use of the link 100.

Further, a through hole 113 is provided in the middle of the first component 110, and a mounting boss 114 is provided on an inner wall surface of the through hole 113 in a protruding manner along a radial direction of the first component 110, the mounting boss 114 being used for mounting an observation member to observe an output end of the actuator 200.

For example, the output end of the actuator 200 is provided with an opening, and the opening is communicated with the interior of the actuator 200, so that the opening of the output end and the interior of the actuator 200 can be observed through the through hole 113 and the observation piece in this embodiment, so as to determine the use condition of the actuator 200. Illustratively, the actuator 200 is internally provided with grease, the first side wall 111 can cover an opening provided at the output end, and the first side wall 111 and/or the annular protrusion 112 can be sealingly connected to the output end of the actuator 200. Thus, the use condition of the grease can be observed through the through hole 113 and the observation piece, so that the grease can be timely replenished when the grease is insufficient.

Optionally, the material of the observation piece includes a transparent material, for example, the material of the observation piece includes a glass material, an acrylic material, a plastic material, and the like.

Alternatively, as shown in fig. 1 and 4, the first component 110 is provided with a plurality of first mounting holes 115, and the plurality of first mounting holes 115 are annularly provided in the first component 110, and the first component 110 is connected to the driving end of the actuator 200 through the first mounting holes 115.

Optionally, as shown in fig. 3 and 4, the third component 130 is provided with a plurality of second mounting holes 131, and the plurality of second mounting holes 131 are arranged in an array on the third component 130, and the third component 130 is connected to the limb member 300 through the second mounting holes 131.

Embodiments of the present disclosure provide a robot comprising a connector 100 for a robot as described in any of the above.

The robot provided in the embodiments of the present disclosure, because of including the connector 100 for a robot according to any one of the embodiments, has all the advantages of the connector 100 for a robot according to any one of the embodiments, and will not be described in detail herein.

The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may include structural and other modifications. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The embodiments of the present disclosure are not limited to the structures that have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A connector for a robot, the connector comprising a first component, a second component, and a third component;

one end of the second component part is provided with the first component part, the other end of the second component part is provided with the third component part, the first component part, the second component part and the third component part are integrally formed, the first component part is used for being connected with the output end of an actuator of the robot, and the third component part is used for being connected with a limb part of the robot;

the extending direction of the first component part is intersected with the extending direction of the third component part, and a perpendicular line passing through the center of the first component part and a perpendicular line passing through the center of the third component part are not in the same plane.

2. The connection for a robot according to claim 1, wherein,

the second component is arranged in a bending mode.

3. A connection for a robot according to claim 2, characterized in that,

the third component part extends along the axis extending direction of the first component part, the third component part is positioned on one side of the axis extending direction of the first component part, the second component part extends along the diameter extending direction of the first component part, and at least part of the second component part extends along the axis extending direction of the first component part.

4. A connection for a robot according to claim 2, characterized in that,

at least one bending part is arranged between one end of the second component part and the other end of the second component part, and the bending part is arc-shaped or has a bending angle; in the case that the plurality of bending parts are provided, the openings of the plurality of bending parts face the same direction or the openings of at least two bending parts face opposite directions.

5. The connection for a robot according to claim 1, wherein,

the second component part is arranged in a linear mode, and a folding angle exists between the second component part and the third component part;

the extending direction of the second component part is the same as the extending direction of the first component part, or a folding angle exists between the second component part and the first component part.

6. The connection for a robot according to claim 1, wherein,

the first component part is annular, and comprises a first side wall, the first side wall faces the actuator, and the first side wall is used for being connected with the output end of the actuator.

7. The connector for a robot of claim 6, wherein the connector comprises a plurality of connectors,

along the axial direction of the first component part, the outer edge of the first side wall is convexly provided with an annular bulge, and the annular bulge is used for being sleeved on the outer side wall of the output end of the actuator.

8. The connector for a robot of claim 6, wherein the connector comprises a plurality of connectors,

the middle part of first component is equipped with the through-hole, follows the radial of first component, the internal face of through-hole is protruding to be equipped with the installation boss, the installation boss is used for installing the viewing element, in order to observe the condition of the output of executor.

9. The connection for a robot according to claim 1, wherein,

the first component part is provided with a plurality of first mounting holes, the first mounting holes are annularly arranged on the first component part, and the first component part is connected with the driving end of the actuator through the first mounting holes; and/or

The third component is provided with a plurality of second mounting holes, the second mounting holes are arranged in an array mode and are connected with the limb part through the second mounting holes.

10. A robot, comprising:

a connection for a robot according to any one of claims 1 to 9.