CN110561407A - linear mechanical arm and robot - Google Patents
linear mechanical arm and robot Download PDFInfo
- Publication number
- CN110561407A CN110561407A CN201910889176.XA CN201910889176A CN110561407A CN 110561407 A CN110561407 A CN 110561407A CN 201910889176 A CN201910889176 A CN 201910889176A CN 110561407 A CN110561407 A CN 110561407A
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- China
- Prior art keywords
- connecting rod
- support
- parallel
- gear
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001788 irregular Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical arms and robots, in particular to a linear mechanical arm and a robot, wherein the linear mechanical arm comprises: the support comprises a support, a driving arm, a parallel connecting rod, a first connecting rod and a second connecting rod, wherein a motor for providing power is arranged in the support 1. One end of the driving arm is hinged with the support, and the end is in transmission connection with the motor. One end of the parallel connecting rod is hinged with the driving arm. The first connecting rod is arranged in parallel with the driving arm, one end of the first connecting rod is hinged with the support, and the other end of the first connecting rod is provided with a gear a. The second connecting rod is parallel to the parallel connecting rod, one end of the second connecting rod is provided with a gear b, the gear b is meshed with the gear a, and the other end of the second connecting rod is hinged with the parallel connecting rod 3. The mechanical arm has the advantages that the mechanical arm has two motion modes, namely, the motor drives the driving arm to drive the second connecting rod and the tail end support to move, and the other mode is that the guide rail is additionally arranged on the basis of the former mode, so that the tail end support slides on the guide rail along a straight line to perform straight line motion.
Description
Technical Field
The invention relates to the technical field of mechanical arms and robots, in particular to a linear mechanical arm and a robot.
Background
At present, the traditional suction cup type robot end effector is a fixed position, especially in the case of a plurality of suction cups (such as 4), and generally the picking of objects with different size ranges is realized by the fixed position or by adjusting the positions of the suction cups. The production line with the sucker-like robot can only pick up a single object or the like and can not be independently and flexibly adapted to the size of the object. Especially, when an object with an irregular surface shape is grabbed, all the suckers cannot be attached to the object for sucking, so that grabbing failure is caused.
Therefore, the invention is provided in order to invent a mechanical arm and a robot capable of flexibly adjusting a suction cup.
Disclosure of Invention
In order to overcome the defects, the invention achieves the aim through the following technical scheme.
the technical scheme adopted by the invention for solving the technical problems is as follows:
a linear robotic arm comprising: the support is internally provided with a motor for providing power; one end of the driving arm is hinged with the support, and the end of the driving arm is in transmission connection with the motor; one end of the parallel connecting rod is hinged with the driving arm; the first connecting rod is arranged in parallel to the driving arm, one end of the first connecting rod is hinged with the support, and the other end of the first connecting rod is provided with a gear a; and the second connecting rod is parallel to the parallel connecting rod, one end of the second connecting rod is provided with a gear b, the gear b is meshed with the gear a, and the other end of the second connecting rod is hinged with the parallel connecting rod.
as a preferable scheme of the embodiment of the present invention, the driving arm and the parallel connecting rod are respectively hinged to a joint support, the joint support includes side walls disposed at two sides, a groove is formed between the two side walls, 4 through holes are correspondingly formed on the two side walls, and the driving arm, the parallel connecting rod, the first connecting rod, and the second connecting rod are respectively hinged to the joint support through 4 through holes.
as a preferable scheme of the embodiment of the present invention, the 4 through holes include a through hole a, a through hole b, a through hole c, and a through hole d, the gear a and the gear b respectively penetrate through the through hole a and the through hole b via a shaft to be hinged to the joint bracket, the gear a and the gear b are accommodated in the groove, and the end of the driving arm and the end of the parallel link respectively penetrate through the through hole d and the through hole c via a shaft to be hinged to the joint bracket.
As a preferable solution of the embodiment of the present invention, the second link and the parallel link are respectively hinged to the end bracket.
As a preferable scheme of the embodiment of the present invention, the sliding device further includes a sliding rail, wherein the sliding rail has a sliding groove, and one end of the sliding rail is connected to the support for the end of the parallel connecting rod to slide linearly along the support.
As a preferable scheme of the embodiment of the present invention, the end bracket is provided with an inner sliding groove matched with the sliding groove, and the end bracket is slidably disposed on the sliding rail through the matching of the sliding groove and the inner sliding groove.
As a preferable solution of the embodiment of the present invention, a suction cup for sucking an object is provided on the end bracket.
The embodiment of the invention also discloses a robot which comprises a plurality of linear mechanical arms.
As a preferable mode of the embodiment of the present invention, the number of the linear robot arms is 2, 3 or 4.
compared with the prior art, the invention has the following advantages and prominent effects:
the linear mechanical arm has two movement modes, namely, the motor drives the driving arm to swing, so that the first connecting rod drives the second connecting rod and the tail end support to move through the gear, and finally the sucker is driven to reach a specified position. And the other is that a guide rail is additionally arranged on the basis of the former, so that the tail end bracket slides on the guide rail along a straight line to drive the sucker to move linearly. The linear mechanical arm provided by the embodiment of the invention has a simple structure, and the robot formed by the linear mechanical arm can be provided with a corresponding number of linear mechanical arms according to actual needs, so that objects with different shapes and irregular shapes can be picked up.
drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural view of a linear robot arm according to embodiment 1 of the present invention;
FIG. 2 is a schematic half-sectional view of a linear robot arm according to example 1 of the present invention;
FIG. 3 is a schematic structural diagram of a first link and a second link in embodiment 1 of the invention
Fig. 4 is a schematic structural view of a drive arm according to embodiment 1 of the present invention;
FIG. 5 is a schematic structural view of a joint support according to example 1 of the present invention;
FIG. 6 is a schematic structural view of a linear robot arm according to embodiment 2 of the present invention;
FIG. 7 is a schematic view of the structure of an end stent according to example 2 of the present invention;
FIG. 8 is a schematic diagram of an embodiment of a robot according to the present invention;
FIG. 9 is a schematic diagram of an embodiment of a robot according to the present invention;
fig. 10 is a schematic diagram of a robot according to an embodiment of the present invention.
Detailed Description
Example 1
Referring to fig. 1 to 5, there is shown a linear robot arm comprising: the device comprises a support 1, a driving arm 2, a parallel connecting rod 3, a first connecting rod 4 and a second connecting rod 5, wherein a motor for providing power is arranged in the support 1. One end of the driving arm 2 is hinged with the support 1, and the end is connected with the motor in a transmission way. One end of the parallel connecting rod 3 is hinged with the driving arm 2. The first link 4 is arranged parallel to the driving arm 2, and has one end hinged to the support 1 and the other end provided with a gear a 41. The second link 5 is arranged parallel to the parallel link 3, one end of the second link is provided with a gear b51, the gear b51 is meshed with the gear a41, and the other end of the second link 5 is hinged with the parallel link 3.
the driving arm 2 and the parallel connecting rod 3 are respectively hinged on the joint support 6, the joint support 6 comprises side walls 65 arranged on two sides, a groove 66 is formed between the two side walls 65, 4 through holes are correspondingly formed in the two side walls 65 respectively, and the driving arm 2, the parallel connecting rod 3, the first connecting rod 4 and the second connecting rod 5 are respectively hinged with the joint support 6 through 4 through holes.
The 4 through holes include a through hole a61, a through hole b62, a through hole c63 and a through hole d64, the gear a41 and the gear b51 are respectively hinged to the joint support 6 through the through hole a61 and the through hole b62 which are penetrated through by shafts, the gear a41 and the gear b51 are accommodated in the groove 66, and the end of the driving arm 2 and the end of the parallel connecting rod 3 are respectively hinged to the joint support 6 through the through hole d64 and the through hole c63 which are penetrated through shafts. Therefore, in specific implementation, the driving arm 2 is preferably set to the structure as shown in fig. 4, that is, the middle part is provided with a hollow part so as not to influence the motion of the parallel connecting rod 3.
the linear mechanical arm of the embodiment of the present invention is preferably used as a mechanical arm of a suction cup type robot, and therefore, the second link 5 and the parallel link 3 may be respectively hinged to the end bracket 7. And a sucking disc 9 for sucking objects is arranged on the tail end bracket 7.
Example 2
As shown in fig. 6 to 7, in the technical solution of embodiment 2, a slide rail 8 is additionally provided on the premise of embodiment 1, the slide rail 8 has a slide groove 81, the slide groove 81 is generally provided on two sides of the slide rail 8, one end of the slide rail 8 is connected to the support 1, an inner chute 71 matched with the slide groove 81 is provided on the end bracket 7, and the end bracket 7 is slidably provided on the slide rail 8 through the matching between the slide groove 81 and the inner chute 71.
In this way, the motion track of the parallel connecting rod 3 is limited on the straight line of the slide rail 8 by the slide rail 8, so that the tail end of the mechanical arm can complete stable linear motion.
The invention also discloses a robot comprising the mechanical arm in the embodiment 1 or 2, and specifically, the robot is arranged in a mode including but not limited to the following modes:
Example 3
Embodiment 3 is a robot comprising 3 robot arms, the 3 robot arms being arranged uniformly at equal angles.
Example 4
Embodiment 4 is a robot including 4 robot arms, the 4 robot arms being arranged such that adjacent arms are perpendicular to each other.
Example 5
Embodiment 5 is a robot including 4 robot arms, the 4 robot arms being arranged in such a manner that angles between adjacent two arms are different.
the above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (9)
1. a linear robotic arm, comprising:
The support is internally provided with a motor for providing power;
One end of the driving arm is hinged with the support, and the end of the driving arm is in transmission connection with the motor;
One end of the parallel connecting rod is hinged with the driving arm;
The first connecting rod is arranged in parallel to the driving arm, one end of the first connecting rod is hinged with the support, and the other end of the first connecting rod is provided with a gear a;
And the second connecting rod is parallel to the parallel connecting rod, one end of the second connecting rod is provided with a gear b, the gear b is meshed with the gear a, and the other end of the second connecting rod is hinged with the parallel connecting rod.
2. The linear mechanical arm according to claim 1, wherein the driving arm and the parallel connecting rod are respectively hinged to a joint support, the joint support comprises side walls arranged on two sides, a groove is formed between the two side walls, 4 through holes are correspondingly formed in the two side walls, and the driving arm, the parallel connecting rod, the first connecting rod and the second connecting rod are respectively hinged to the joint support through 4 through holes.
3. The linear mechanical arm according to claim 2, wherein the 4 through holes comprise a through hole a, a through hole b, a through hole c and a through hole d, the gear a and the gear b are respectively hinged to the joint support through the through hole a and the through hole b by a shaft, the gear a and the gear b are accommodated in the groove, and the end of the driving arm and the end of the parallel link are respectively hinged to the joint support through the through hole d and the through hole c by a shaft.
4. The linear robot arm of claim 3, wherein the second link and the parallel links are hinged to a distal end bracket, respectively.
5. The linear robot arm of claim 4, further comprising a slide rail having a slide channel, one end of the slide rail being connected to the support for linear sliding movement of the distal ends of the parallel links therealong.
6. the linear mechanical arm according to claim 5, wherein the end support is provided with an inner sliding groove matched with the sliding channel groove, and the end support is slidably arranged on the sliding rail through the matching of the sliding channel groove and the inner sliding groove.
7. The linear robot arm of claim 4 or 6, wherein a suction cup for sucking an object is provided on the tip holder.
8. A robot comprising a plurality of linear robotic arms as claimed in claim 7.
9. A robot as claimed in claim 8, characterised in that the number of linear robot arms is 2 or 3 or 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910889176.XA CN110561407A (en) | 2019-09-19 | 2019-09-19 | linear mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910889176.XA CN110561407A (en) | 2019-09-19 | 2019-09-19 | linear mechanical arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110561407A true CN110561407A (en) | 2019-12-13 |
Family
ID=68781313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910889176.XA Pending CN110561407A (en) | 2019-09-19 | 2019-09-19 | linear mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110561407A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1788948A (en) * | 2004-12-16 | 2006-06-21 | 精工爱普生株式会社 | Link drive mechanism with a harmonic gear reducer and industrial robot using the same |
| JP2007015023A (en) * | 2005-07-05 | 2007-01-25 | Daihen Corp | Link device and carrying robot |
| KR20130042247A (en) * | 2011-10-18 | 2013-04-26 | 대우조선해양 주식회사 | Palletizing manipulator apparatus |
| CN207289274U (en) * | 2017-10-29 | 2018-05-01 | 兰州城市学院 | A kind of welding robot of multiple degrees of freedom processing |
| CN108724213A (en) * | 2018-06-13 | 2018-11-02 | 哈尔滨工业大学（威海） | A kind of Yi Cheng robots |
| CN211073598U (en) * | 2019-09-19 | 2020-07-24 | 知行机器人科技（苏州）有限公司 | Linear mechanical arm and robot |
-
2019
- 2019-09-19 CN CN201910889176.XA patent/CN110561407A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1788948A (en) * | 2004-12-16 | 2006-06-21 | 精工爱普生株式会社 | Link drive mechanism with a harmonic gear reducer and industrial robot using the same |
| JP2007015023A (en) * | 2005-07-05 | 2007-01-25 | Daihen Corp | Link device and carrying robot |
| KR20130042247A (en) * | 2011-10-18 | 2013-04-26 | 대우조선해양 주식회사 | Palletizing manipulator apparatus |
| CN207289274U (en) * | 2017-10-29 | 2018-05-01 | 兰州城市学院 | A kind of welding robot of multiple degrees of freedom processing |
| CN108724213A (en) * | 2018-06-13 | 2018-11-02 | 哈尔滨工业大学（威海） | A kind of Yi Cheng robots |
| CN211073598U (en) * | 2019-09-19 | 2020-07-24 | 知行机器人科技（苏州）有限公司 | Linear mechanical arm and robot |
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