阅读说明：本技术 一种线性机械臂及机器人 (linear mechanical arm and robot ) 是由 白国超 于 2019-09-19 设计创作，主要内容包括：本发明涉及机械臂及机器人技术领域,尤其是一种线性机械臂及机器人,线性机械臂包括：支座、驱动臂、平行连杆、第一连杆和第二连杆,支座1内设置有用于提供动力的电机。驱动臂的一端与支座铰接,且该端与电机传动连接。平行连杆的一端与驱动臂铰接。第一连杆平行于驱动臂设置,其一端与支座铰接,另一端设置有齿轮a。第二连杆平行于平行连杆设置,其一端设置有齿轮b,且齿轮b与所述齿轮a相啮合连接,第二连杆的另一端与平行连杆3铰接。有益之处是本机械臂具有两种运动方式,即通过电机驱动驱动臂进行带动第二连杆和末端支架进行运动,另一种是在前一种的基础上增加设置导轨,使末端支架在导轨上沿直线滑动,进行直线运动。(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.)

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.

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