WO2019037363A1 - 机器人连接臂及具有其的机器人 - Google Patents

机器人连接臂及具有其的机器人 Download PDF

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Publication number
WO2019037363A1
WO2019037363A1 PCT/CN2017/118284 CN2017118284W WO2019037363A1 WO 2019037363 A1 WO2019037363 A1 WO 2019037363A1 CN 2017118284 W CN2017118284 W CN 2017118284W WO 2019037363 A1 WO2019037363 A1 WO 2019037363A1
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Prior art keywords
robot
connecting arm
reinforcing rib
rib
arm
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PCT/CN2017/118284
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English (en)
French (fr)
Inventor
耿继青
叶俊奇
邓敏
赵健
汤易升
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珠海格力节能环保制冷技术研究中心有限公司
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Publication of WO2019037363A1 publication Critical patent/WO2019037363A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm

Definitions

  • the present invention relates to the field of robots, and in particular to a robot connecting arm and a robot having the same.
  • the prior art robot has a connecting arm that connects the base and the moving member, and the connecting arm adopts a flat-like structure.
  • the connecting arm of the flat structure is heavier and affects the performance of the robot.
  • some connecting arms in the prior art have a weight reducing groove on the surface thereof to reduce the weight, but this causes the rigidity of the connecting arm to be reduced and easily deformed.
  • the present invention aims to provide a robot connecting arm and a robot having the same, which solves the problem that the connecting arm has reduced rigidity and is easily deformed in the prior art.
  • a robot connecting arm comprising: an arm body having a first connecting end and a second connecting end, the surface of the arm body is provided with a weight reducing groove;
  • the reinforcing rib is disposed in the weight reducing groove, and the two ends of the reinforcing rib are respectively connected to the two groove walls of the weight reducing groove at both ends in the longitudinal direction thereof.
  • first connecting end is a pivot connecting end
  • second connecting end is configured to pass through the axial lifting member, and the reinforcing rib is gradually reduced in a direction from the first connecting end to the second connecting end.
  • the opposite sides of the rib are both flat or curved.
  • the reinforcing rib is an axisymmetric structure, and the center surface of the reinforcing rib is coplanar with the center surface of the arm body.
  • the reinforcing rib comprises a main reinforcing rib and a supporting rib connected to the main reinforcing rib, and the supporting rib is disposed on both sides of the main reinforcing rib.
  • an angle between the main reinforcing rib and the supporting rib is an acute angle or a right angle.
  • the two supporting ribs symmetrically disposed on both sides of the main reinforcing rib form a supporting rib group, and a plurality of supporting rib groups are disposed along the longitudinal direction of the main rib.
  • a robot comprising a base and a first connecting arm disposed on the base, the first connecting arm being the robot connecting arm described above.
  • the weight reducing groove of the first connecting arm is disposed on the lower surface of the first connecting arm.
  • the robot further includes a second connecting arm disposed between the base and the first connecting arm.
  • the reinforcing ribs are provided in the weight reducing grooves, and both ends of the reinforcing ribs are respectively connected to the two groove walls of the weight reducing grooves at both ends in the longitudinal direction thereof.
  • the arrangement of the ribs can effectively increase the rigidity of the arm body and effectively reduce the deformation.
  • the ribs are designed to reduce weight and increase rigidity, so that the robot connecting arms achieve a superior design.
  • FIG. 1 is a perspective view showing a first embodiment of a robot connecting arm according to the present invention
  • FIG. 2 is a schematic perspective view showing a second embodiment of a robot connecting arm according to the present invention.
  • Figure 3 shows a schematic perspective view of an embodiment of a robot according to the present invention
  • Figure 4 shows a schematic front view of the robot of Figure 3.
  • the robot connecting arm of the first embodiment includes an arm body 10 and a reinforcing rib 20.
  • the arm body 10 has a first connecting end 11 and a second connecting end 12, and the surface of the arm body 10 is provided with a weight reducing groove 13.
  • the rib 20 is disposed in the weight reducing groove 13, and both ends of the rib 20 are respectively connected to the two groove walls of the weight reducing groove 13 at both ends in the longitudinal direction thereof.
  • the reinforcing rib 20 is disposed in the weight reducing groove 13, and the two ends of the reinforcing rib 20 are respectively connected to the two groove walls of the weight reducing groove 13 at both ends in the longitudinal direction thereof. .
  • the arrangement of the ribs 20 can effectively increase the rigidity of the arm body 10 and effectively reduce the deformation.
  • the rib 20 is set to reduce weight and increase rigidity, so that the robot connecting arm achieves a superior design.
  • the two groove walls of the both ends of the weight reducing groove 13 along the longitudinal direction thereof have an arcuate structure projecting toward the center of the arm body 10.
  • the first connecting end 11 is a pivotal connecting end
  • the second connecting end 12 is configured to pass through the axial lifting member 1, the axial lifting member 1 It is preferably an integral ball screw.
  • the rib 20 is gradually reduced in the direction from the first connecting end 11 to the second connecting end 12.
  • the reinforcing rib 20 is V-shaped, and is close to the large end of the V-shaped rib 20 in the portion of the first connecting end 11 , the big end can improve rigidity and reduce deformation; and close to the second connection.
  • the end portion 12 is a small end of the V-shaped rib 20, which can effectively reduce the moment of inertia and also contributes to the weight reduction.
  • the reinforcing rib 20 is connected to the bottom of the groove of the weight reducing groove 13 .
  • the opposite sides of the reinforcing rib 20 are flat, and the two sides are associated with weight reduction.
  • the reinforcing rib 20 has an axisymmetric structure, and the center surface of the reinforcing rib 20 is coplanar with the center surface of the arm body 10.
  • the above structure makes the arm body 10 uniform in force and good in stability.
  • the robot connecting arm of the second embodiment differs from the first embodiment in the specific structure of the reinforcing rib 20.
  • the reinforcing rib 20 includes a main reinforcing rib 21 and a supporting rib 22 connected to the main reinforcing rib 21, and the supporting ribs 22 are symmetrically disposed on both sides of the main reinforcing rib 21.
  • the manner in which the ribs 22 are disposed may also be asymmetrical.
  • the above structure is similar to the technical effect of the rib of the first embodiment, and it is also possible to improve rigidity and reduce deformation while reducing the moment of inertia and reducing the weight.
  • the moment of inertia of the solution of the second embodiment is not smaller than that of the first embodiment.
  • the overall accuracy and speed of the robot using the connecting arm of the second embodiment are not as good as those of the connecting arm of the first embodiment.
  • the main rib 21 and the support rib 22 have an acute angle.
  • the acute angle is toward the second connecting end 12.
  • the angle between the main rib 21 and the rib 22 can be adjusted as needed.
  • the main rib 21 and the rib 22 are at right angles.
  • the two supporting ribs 22 symmetrically disposed on both sides of the main rib 21 form a supporting rib group, and a plurality of supporting rib groups are disposed along the longitudinal direction of the main rib 21.
  • the above structure can further ensure reduction in deformation.
  • an embodiment of a robot according to the present application includes a base and a first connecting arm 3 disposed on the base 2, first The connecting arm 3 is the above-described robot connecting arm. Since the first connecting arm 3 adopts the above-described connecting arm structure, the robot can balance the weight reduction and the rigidity, so that the robot achieves a superior design.
  • the robot further includes a second connecting arm 4 disposed between the base 2 and the first connecting arm 3.
  • the first connecting arm 3 and the second connecting arm 4 are pivotally connected, and the two are coupled and coupled by a reducer.
  • the material of the first connecting arm 3 is a cast aluminum alloy.
  • the robot of this embodiment is a planar articulated robot having four joints and three rotating joints whose axes are parallel to each other, and can realize positioning and orientation in a plane.
  • the first connecting arm of the robot is the second rotating joint of the robot, and the first joint is rotated, and the motor and the reducer of the third and fourth joints are carried at the same time, so that the precise lifting and rotating movement of the end is realized.
  • the second connecting arm 4 also includes an arm body having a first connecting end connected to the base and a second connecting end opposite to the first connecting end, the first connecting end being larger in size than the second connecting end to enable the arm body The distance between the center of gravity and the first connection end is less than the distance between the center of gravity and the second connection end.
  • the first connecting end of the arm body and the base is larger in size than the second connecting end corresponding to the first connecting end, such that the center of gravity of the arm body is biased toward the first connecting end, that is, the base is biased away from the second connecting end.
  • the arm body of the second connecting arm 4 gradually decreases in width in the direction from the first connecting end to the second connecting end.
  • a weight reducing groove is provided on the surface of the arm body, preferably on the lower surface, and a reinforcing rib is disposed in the weight reducing groove.
  • the weight reducing groove can reduce the weight of the arm body, and the arrangement of the reinforcing rib can effectively increase the rigidity of the arm body and effectively reduce the deformation.
  • the weight reduction groove and the ribs are set to reduce the weight and increase the rigidity, so that the robot connecting arm achieves a superior design.
  • the reinforcing rib comprises a main reinforcing rib and a supporting rib vertically connected with the main reinforcing rib, and the main reinforcing rib extends along the length direction of the arm body.
  • the thickness of the support rib closest to the base 2 along the longitudinal direction of the arm body of the second connecting arm 4 is greater than the thickness of the remaining support ribs along the longitudinal direction of the arm body of the second connecting arm 4.
  • a connection hole is provided at a joint of the rib and the main rib closest to the susceptor 2. The thickening design of the ribs closest to the pedestal 2 can ensure that the structure of the arm body is not deformed under the premise of ensuring a certain rigidity of the arm body after the connecting hole is made on the arm body.
  • a reinforcing rib is disposed in the weight reducing groove, and both ends of the reinforcing rib are respectively connected to the two groove walls of the weight reducing groove at both ends in the longitudinal direction thereof.
  • the arrangement of the ribs can effectively increase the rigidity of the arm body and effectively reduce the deformation.
  • the ribs are designed to reduce weight and increase rigidity, so that the robot connecting arms achieve a superior design.
  • orientations such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” and the like are indicated. Or the positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the invention and the simplification of the description, which are not intended to indicate or imply the indicated device or component. It must be constructed and operated in a specific orientation or in a specific orientation, and thus is not to be construed as limiting the scope of the invention; the orientations “inside and outside” refer to the inside and outside of the contour of the components themselves.
  • spatially relative terms such as “above”, “above”, “on top”, “above”, etc., may be used herein to describe as in the drawings.
  • the exemplary term “above” can include both “over” and "under”.
  • the device can also be positioned in other different ways (rotated 90 degrees or at other orientations) and the corresponding description of the space used herein is explained accordingly.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种机器人连接臂及具有其的机器人。其中，机器人连接臂包括：臂体(10)，臂体(10)具有第一连接端(11)和第二连接端(12)，臂体(10)的表面上设置有减重凹槽(13)；加强筋(20)，设置在减重凹槽(13)内，加强筋(20)的两端分别与减重凹槽(13)的沿其长度方向的两端的两个槽壁对应地连接。该结构能够在减低重量的情况下有效提高机器人连接臂的刚度，减少变形。

Description

机器人连接臂及具有其的机器人 技术领域
本发明涉及机器人领域，具体而言，涉及一种机器人连接臂及具有其的机器人。
背景技术
现有技术中的机器人具有连接基座和运动部件的连接臂，该连接臂采用类似平板状结构。平板状结构的连接臂重量较重，影响机器人的性能。针对上述问题，现有技术中有些连接臂在其表面开设减重凹槽，用以减轻重量，但是这样会导致连接臂的刚性降低，容易变形。
发明内容
本发明旨在提供一种机器人连接臂及具有其的机器人，以解决现有技术中连接臂刚性降低，容易变形的问题。
为了实现上述目的，根据本发明的一个方面，提供了一种机器人连接臂，包括：臂体，臂体具有第一连接端和第二连接端，臂体的表面上设置有减重凹槽；加强筋，设置在减重凹槽内，加强筋的两端分别与减重凹槽的沿其长度方向的两端的两个槽壁对应地连接。
进一步地，第一连接端为枢转连接端，第二连接端用以穿设轴向升降件，加强筋在第一连接端至第二连接端的方向上逐渐减小。
进一步地，加强筋的相对的两个侧面均为平面或者均为曲面。
进一步地，加强筋为轴对称结构，加强筋的中心面与臂体的中心面共面。
进一步地，加强筋包括主加强筋和连接在主加强筋上的支加强筋，支加强筋设置在主加强筋的两侧。
进一步地，主加强筋和支加强筋之间呈锐角或者直角夹角。
进一步地，对称的设置在主加强筋的两侧的两个支加强筋形成一个支加强筋组，沿主加强筋的长度方向设置有多个支加强筋组。
根据本发明的另一方面，提供了一种机器人，包括基座及设置在基座上的第一连接臂，第一连接臂为上述的机器人连接臂。
进一步地，第一连接臂的减重凹槽设置在第一连接臂的下表面上。
进一步地，机器人还包括设置在基座和第一连接臂之间的第二连接臂。
应用本发明的技术方案，在减重凹槽内设置加强筋，并且使加强筋的两端分别与减重凹 槽的沿其长度方向的两端的两个槽壁对应地连接。加强筋的设置能够有效地提高臂体的刚性，有效地减小变形。加强筋的设置兼顾了减轻重量及提高刚性，使得机器人连接臂达到较优的设计。
附图说明
构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1示出了根据本发明的机器人连接臂的实施例一的立体结构示意图；
图2示出了根据本发明的机器人连接臂的实施例二的立体结构示意图；以及
图3示出了根据本发明的机器人的实施例的立体结构示意图；
图4示出了图3的机器人的主视示意图。
其中，上述附图包括以下附图标记：
10、臂体；11、第一连接端；12、第二连接端；13、减重凹槽；20、加强筋；21、主加强筋；22、支加强筋；1、轴向升降件；2、基座；3、第一连接臂；4、第二连接臂。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
如图1所示，实施例一的机器人连接臂包括：臂体10和加强筋20。其中，臂体10具有 第一连接端11和第二连接端12，臂体10的表面上设置有减重凹槽13。加强筋20设置在减重凹槽13内，加强筋20的两端分别与减重凹槽13的沿其长度方向的两端的两个槽壁对应地连接。
应用实施例一的技术方案，在减重凹槽13内设置加强筋20，并且使加强筋20的两端分别与减重凹槽13的沿其长度方向的两端的两个槽壁对应地连接。加强筋20的设置能够有效地提高臂体10的刚性，有效地减小变形。加强筋20的设置兼顾了减轻重量及提高刚性，使得机器人连接臂达到较优的设计。
如图1所示，减重凹槽13的沿其长度方向的两端的两个槽壁呈向臂体10中部突出的弧形结构。
如图1和图3所示，在实施例一的技术方案中，第一连接端11为枢转连接端，第二连接端12用以穿设轴向升降件1，该轴向升降件1优选为一体式滚珠丝杠。加强筋20在第一连接端11至第二连接端12的方向上逐渐减小。具体地，如图1所示，该加强筋20呈V形，靠近第一连接端11部分为V形的加强筋20的大端，该大端能够提高刚性，减小变形；靠近第二连接端12部分为V形的加强筋20的小端，能够有效地减小转动惯量，同时对减轻重量也有一定的帮助。
如图1所示，加强筋20与减重凹槽13的槽底连接，在实施例一的技术方案中，加强筋20的相对的两个侧面均为平面，该两个侧面是与减重凹槽13的槽底相邻的面。上述结构容易加工，容易实现。当然在其他图中未示出的实施方式中，加强筋20的相对的两个侧面也可以为曲面。
如图1所示，在实施例一的技术方案中，加强筋20为轴对称结构，加强筋20的中心面与臂体10的中心面共面。上述结构使得臂体10受力均匀，稳定性好。
如图2所示，实施例二的的机器人连接臂与实施例一的区别在于加强筋20的具体结构。在实施例二中，加强筋20包括主加强筋21和连接在主加强筋21上的支加强筋22，支加强筋22对称地设置在主加强筋21的两侧。当然，在其他图中未示出的实施方式中，支加强筋22的设置方式也可以不对称。上述结构与实施例一的加强筋的技术效果相似，也能够提高刚性、减小变形，同时减小转动惯量和减轻重量。但是实施例二的方案的转动惯量没有实施例一的方案小，采用实施例二的连接臂的机器人整体精度和速度不如采用实施例一的连接臂的机器人。
如图2所示，主加强筋21和支加强筋22之间呈锐角夹角。该锐角夹角朝向第二连接端12。上述主加强筋21和支加强筋22之间的角度可以根据需要进行调整。在其他图中未示出的实施方式中，主加强筋21和支加强筋22之间呈直角夹角。
进一步地，对称的设置在主加强筋21的两侧的两个支加强筋22形成一个支加强筋组，沿主加强筋21的长度方向设置有多个支加强筋组。上述结构能够进一步保证减小变形。
根据本发明的另一方面，提供了一种机器人，如图3和图4所示，根据本申请的机器人的实施例包括基座及设置在基座2上的第一连接臂3，第一连接臂3为上述的机器人连接臂。 由于第一连接臂3采用上述的连接臂结构，机器人能够兼顾了减轻重量及提高刚性，使得机器人达到较优的设计。
如图3所示，第一连接臂3的减重凹槽13设置在第一连接臂3的下表面上。这样不会影响机器人的外观。如图3和图4所示，机器人还包括设置在基座2和第一连接臂3之间的第二连接臂4。第一连接臂3和第二连接臂4之间枢转连接，两者之间通过减速机连接配合。
优选地，第一连接臂3的材质为铸铝合金。
本实施例的机器人是一种平面关节型机器人，它具有四个关节，三个旋转关节，其轴线相互平行，可实现平面内的定位与定向。其中机器人的第一连接臂是机器人的第二旋转关节，连接第一关节旋转，同时承载第三和第四关节的电机和减速机，实现末端精确的升降和旋转运动。
第二连接臂4也包括臂体，臂体具有与基座连接的第一连接端和与第一连接端相对的第二连接端，第一连接端的尺寸大于第二连接端的尺寸以使臂体的重心与第一连接端之间的距离小于重心与第二连接端之间的距离。
臂体与基座连接的第一连接端的尺寸大于与第一连接端对应的第二连接端的尺寸，这样使得臂体的重心偏向第一连接端，也即偏向基座，远离第二连接端。上述结构能够减小臂体的转动惯量，减小臂体变形，进而减小臂体在工作时产生误差。
优选地，第二连接臂4的臂体在其第一连接端至第二连接端方向上宽度逐渐减小。
如图3所示，臂体的表面上，优选为下表面上，设置有减重凹槽，减重凹槽内设置有加强筋。减重凹槽能够减轻臂体的重量，加强筋的设置能够有效地提高臂体的刚性，有效地减小变形。减重凹槽和加强筋的设置兼顾了减轻重量及提高刚性，使得机器人连接臂达到较优的设计。
上述加强筋包括主加强筋及与主加强筋垂直连接的支加强筋，主加强筋沿臂体的长度方向延伸。
优选地，最靠近基座2的支加强筋沿第二连接臂4的臂体长度方向的厚度大于其余支加强筋沿第二连接臂4的臂体长度方向的厚度。最靠近基座2的支加强筋和主加强筋的连接处设置有连接孔。最靠近基座2的支加强筋处采用加厚设计，可以保证臂体上打连接孔后，在保证臂体一定刚度的前提下，不会引起臂体该部分结构变形。
从以上的描述中，可以看出，本发明上述的实施例实现了如下技术效果：
在减重凹槽内设置加强筋，并且使加强筋的两端分别与减重凹槽的沿其长度方向的两端的两个槽壁对应地连接。加强筋的设置能够有效地提高臂体的刚性，有效地减小变形。加强筋的设置兼顾了减轻重量及提高刚性，使得机器人连接臂达到较优的设计。
在本发明的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，在未作相反说明的情况下，这些方位词并不 指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本发明保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。
此外，需要说明的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本发明保护范围的限制。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种机器人连接臂，其特征在于，包括：
    臂体(10)，所述臂体(10)具有第一连接端(11)和第二连接端(12)，所述臂体(10)的表面上设置有减重凹槽(13)；
    加强筋(20)，设置在减重凹槽(13)内，所述加强筋(20)的两端分别与所述减重凹槽(13)的沿其长度方向的两端的两个槽壁对应地连接。
  2. 根据权利要求1所述的机器人连接臂，其特征在于，所述第一连接端(11)为枢转连接端，所述第二连接端(12)用以穿设轴向升降件(1)，所述加强筋(20)在所述第一连接端(11)至所述第二连接端(12)的方向上逐渐减小。
  3. 根据权利要求1所述的机器人连接臂，其特征在于，所述加强筋(20)的相对的两个侧面均为平面或者均为曲面。
  4. 根据权利要求1所述的机器人连接臂，其特征在于，所述加强筋(20)为轴对称结构，所述加强筋(20)的中心面与所述臂体(10)的中心面共面。
  5. 根据权利要求1所述的机器人连接臂，其特征在于，所述加强筋(20)包括主加强筋(21)和连接在所述主加强筋(21)上的支加强筋(22)，所述支加强筋(22)设置在所述主加强筋(21)的两侧。
  6. 根据权利要求5所述的机器人连接臂，其特征在于，所述主加强筋(21)和所述支加强筋(22)之间呈锐角或者直角夹角。
  7. 根据权利要求5所述的机器人连接臂，其特征在于，对称的设置在所述主加强筋(21)的两侧的两个支加强筋(22)形成一个支加强筋组，沿所述主加强筋(21)的长度方向设置有多个所述支加强筋组。
  8. 一种机器人，包括基座及设置在基座(2)上的第一连接臂(3)，其特征在于，所述第一连接臂(3)为所述权利要求1至7中任一项所述的机器人连接臂。
  9. 根据权利要求8所述的机器人，其特征在于，所述第一连接臂(3)的减重凹槽(13)设置在所述第一连接臂(3)的下表面上。
  10. 根据权利要求8所述的机器人，其特征在于，所述机器人还包括设置在所述基座(2)和所述第一连接臂(3)之间的第二连接臂(4)。
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