CN211073598U - Linear mechanical arm and robot - Google Patents
Linear mechanical arm and robot Download PDFInfo
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- CN211073598U CN211073598U CN201921563006.4U CN201921563006U CN211073598U CN 211073598 U CN211073598 U CN 211073598U CN 201921563006 U CN201921563006 U CN 201921563006U CN 211073598 U CN211073598 U CN 211073598U
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Abstract
The utility model belongs to the technical field of arm and the robotechnology and specifically relates to a linear arm and robot, linear arm includes: 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 utility model belongs to the technical field of arm and robot technique and specifically relates to a linear arm and 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, for utility model a can adjust arm and robot of sucking disc in a flexible way, the event is proposed the utility model discloses.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects, the utility model discloses a technical scheme realizes above-mentioned purpose once.
The utility model provides a technical scheme that its technical problem adopted is:
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 an optimized scheme of the embodiment of the utility model, the actuating arm with parallel connecting rod articulates respectively on the joint support, the joint support is including setting up the lateral wall in both sides, two form the recess between the lateral wall, two 4 through-holes have been seted up respectively correspondingly on the lateral wall, the actuating arm parallel connecting rod first connecting rod, the second connecting rod is 4 respectively the through-hole with the joint support is articulated.
As an optimized scheme of the embodiment of the utility model, 4 the through-hole includes through-hole a, through-hole b, through-hole c, through-hole d, gear a with gear b runs through the axle respectively through-hole a with through-hole b with the joint support is articulated, just gear a with gear b holds in the recess, the tip of actuating arm with the tip of parallel connecting rod runs through the axle respectively through-hole d with through-hole c in the joint support is articulated.
As a preferred solution of the embodiment of the present invention, the second connecting rod and the parallel connecting rod are respectively hinged on the end bracket.
As an optimal solution of the embodiment of the utility model, still include the slide rail, the slide rail has the slide groove, one end with the support is connected, supplies the terminal linear slip that carries out along it of parallel connecting rod.
As an optimized scheme of the utility model, terminal support on seted up with chute slot matched with inner chute, terminal support passes through the chute slot with inner chute's cooperation slide set up in on the slide rail.
As an optimized proposal of the embodiment of the utility model, the end support is provided with a sucker used for sucking objects.
The embodiment of the utility model provides a still disclose a robot, the robot includes the above-mentioned linear arm of a plurality of.
As a preferable solution of the embodiment of the present invention, the number of the linear mechanical arms is 2, 3 or 4.
Compared with the prior art, the utility model has the advantages of it is following and outstanding effect:
The utility model discloses linear arm has two kinds of motion, swings through the motor drive actuating arm promptly, makes first connecting rod pass through the gear and drives second connecting rod and terminal support and move, and final drive sucking disc reachs the assigned 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 utility model discloses linear arm simple structure, the robot that comprises it can set up the above-mentioned linear arm of corresponding quantity according to actual need to reach and pick up different shapes, the anomalous object of shape.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic structural view of a linear manipulator according to embodiment 1 of the present invention;
Fig. 2 is a schematic half-sectional view of a linear manipulator according to embodiment 1 of the present invention;
Fig. 3 is a schematic structural view of a first connecting rod and a second connecting rod according to embodiment 1 of the present invention
Fig. 4 is a schematic structural view of a driving arm according to embodiment 1 of the present invention;
Fig. 5 is a schematic structural view of a joint support according to embodiment 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 structural view of an end bracket according to embodiment 2 of the present invention;
Fig. 8 is a schematic diagram of a specific implementation of the robot according to an embodiment of the present invention;
Fig. 9 is a schematic diagram of a specific implementation of the robot according to an embodiment of 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 utility model discloses linear arm is preferred as sucking disc formula robot's arm, consequently, the mode that can set up does second connecting rod 5 with parallel connecting rod 3 articulates respectively on terminal support 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 utility model discloses in still disclose the robot including the arm of above-mentioned embodiment 1 or 2, specifically, the mode of setting up of robot includes but not limited to following several kinds:
Example 3
Example 4
Example 5
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the protection scope of the present invention is defined by the claims. Various modifications and equivalents of the invention can be made by those skilled in the art within the spirit and scope of the invention, and such modifications and equivalents should also be considered as falling within the scope of the 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 |
|---|---|---|---|
| CN201921563006.4U CN211073598U (en) | 2019-09-19 | 2019-09-19 | Linear mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921563006.4U CN211073598U (en) | 2019-09-19 | 2019-09-19 | Linear mechanical arm and robot |
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| Publication Number | Publication Date |
|---|---|
| CN211073598U true CN211073598U (en) | 2020-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921563006.4U Active CN211073598U (en) | 2019-09-19 | 2019-09-19 | Linear mechanical arm and robot |
Country Status (1)
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| CN (1) | CN211073598U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561407A (en) * | 2019-09-19 | 2019-12-13 | 知行机器人科技（苏州）有限公司 | linear mechanical arm and robot |
| CN116687497A (en) * | 2022-07-14 | 2023-09-05 | 北京迈迪顶峰医疗科技股份有限公司 | Conveying actuator and conveying device |
-
2019
- 2019-09-19 CN CN201921563006.4U patent/CN211073598U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561407A (en) * | 2019-09-19 | 2019-12-13 | 知行机器人科技（苏州）有限公司 | linear mechanical arm and robot |
| CN116687497A (en) * | 2022-07-14 | 2023-09-05 | 北京迈迪顶峰医疗科技股份有限公司 | Conveying actuator and conveying device |
| CN116687497B (en) * | 2022-07-14 | 2024-04-02 | 北京迈迪顶峰医疗科技股份有限公司 | Conveying actuator and conveying device |
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