CN115990906B - Linkage robot arm - Google Patents
Linkage robot arm Download PDFInfo
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- CN115990906B CN115990906B CN202310272693.9A CN202310272693A CN115990906B CN 115990906 B CN115990906 B CN 115990906B CN 202310272693 A CN202310272693 A CN 202310272693A CN 115990906 B CN115990906 B CN 115990906B
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Abstract
The invention discloses a linkage type robot arm, which relates to the field of manipulators and comprises a connecting column, wherein the connecting column is fixedly connected with a shell, the shell is fixedly connected with an installation seat, driving mechanisms are arranged on the shell and the installation seat, two movable shells are arranged on the installation seat, the movable shells are rotationally connected with a main sleeve, two rotary driving components are arranged in the movable shells, each rotary driving component comprises a movable frame mechanism, an elastic transmission mechanism and an inserted link transmission mechanism, one rotary driving component is provided with a gear transmission mechanism, the gear transmission mechanism is fixedly connected with the movable mechanism, and the other rotary driving component is provided with a clamping plate mechanism.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a linkage type robot arm.
Background
A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance.
In the prior art, through the ball that sets up, at the in-process that link gear passed through the spout operation, slide, no. one slide and No. three slide can slide through the ball in the spout, no. one slide, no. two slides, no. three slide and the friction of spout have been reduced, thereby reduce the loss to the spout, knob and connecting rod through setting up, when need dismantle robot arm, can rotate the knob, drive the connecting rod and rotate, thereby release thrust plate, then pull out each coupling mechanism on the robot arm along the spout, through the ventilation pipe of setting up, when robot arm uses, the fan that is connected with the ventilation pipe will start, blow out the spout with wind-force, debris fall in the spout after avoiding having the dust, but in the prior art, can only realize carrying out independent centre gripping to the work piece snatch, therefore snatch stability is limited, so prior art has great improvement space.
Disclosure of Invention
The invention provides a linkage type robot arm which solves the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the linkage type robot arm comprises a connecting column, wherein the connecting column is fixedly connected with a shell, the shell is fixedly connected with a mounting seat, driving mechanisms are arranged on the shell and the mounting seat, two movable shells are arranged on the mounting seat and are in sliding connection with the mounting seat, a main sleeve is rotationally connected in the movable shells, two rotary driving components are arranged in the movable shells, each rotary driving component comprises a movable frame mechanism, an elastic transmission mechanism and an inserting rod transmission mechanism, a gear transmission mechanism is arranged on the movable frame mechanism of one rotary driving component, the gear transmission mechanism is fixedly connected with the movable mechanism, and a clamping plate mechanism is arranged on the movable frame mechanism of the other rotary driving component; the driving mechanism is used for driving the main sleeve to rotate, a movable frame mechanism on one rotary driving assembly is used for being connected with the elastic transmission mechanism or the inserted link transmission mechanism, a movable frame mechanism on the other rotary driving assembly is used for realizing linkage of the gear transmission mechanism and the elastic transmission mechanism or the inserted link transmission mechanism, the movable frame mechanism is used for realizing linkage of the clamping plate mechanism and the elastic transmission mechanism or the inserted link transmission mechanism, the gear transmission mechanism is used for realizing linkage of the movable frame mechanism and the movable mechanism, and the movable mechanism is used for driving the movable shell to move along the mounting seat.
As a preferable technical scheme of the invention, the driving mechanism comprises a motor fixed in a shell, an output shaft of the motor is fixedly connected with a driving rotating shaft, the driving rotating shaft is rotationally connected with the shell and a mounting seat, the driving rotating shaft is fixedly connected with a first driving bevel gear which is meshed with a second driving bevel gear, the second driving bevel gear is fixedly connected with a driving shaft, the driving shaft is rotationally connected with the mounting seat, a clamping strip groove is formed in the axis direction of the driving shaft, a clamping strip is fixedly connected in a main sleeve and is positioned in the clamping strip groove, and the clamping strip is in sliding connection with the driving shaft.
As a preferable technical scheme of the invention, the movable frame mechanism comprises an electric push rod fixed on a movable shell, the electric push rod is fixedly connected with a movable frame, the movable frame is rotatably connected with a first rotating shaft, the first rotating shaft is fixedly connected with a first bevel gear, the first bevel gear is meshed with a second bevel gear, the second bevel gear is fixedly connected with a movable sleeve, the movable sleeve is in sliding connection with a main sleeve, a plurality of conical blocks are arranged outside the main sleeve, and a plurality of conical block grooves are formed in the movable sleeve.
As a preferable technical scheme of the invention, the elastic transmission mechanism comprises an outer sleeve ring fixed outside the main sleeve, a ring groove is arranged in the outer sleeve ring, a rotating ring is rotationally connected in the outer sleeve ring, the rotating ring is fixedly connected with a spring, one end of the spring, which is far away from the rotating ring, is fixedly connected with a movable ring, a clamping groove is arranged on the side edge of the movable ring, a plurality of clamping pieces are arranged in the outer sleeve ring, the clamping pieces are matched with the clamping grooves, the movable ring is fixedly connected with a sliding ring, the sliding ring penetrates through the outer sleeve ring and is in sliding connection with the outer sleeve ring, the sliding ring is rotationally connected with a mounting rack, the sliding ring is fixedly connected with a third bevel gear which is meshed with a fourth bevel gear, the fourth bevel gear is fixedly connected with a gear shaft, the gear shaft is rotationally connected with the mounting rack, and the fourth bevel gear is meshed with a fifth bevel gear.
As a preferable technical scheme of the invention, the inserted bar transmission mechanism comprises a gear installation sleeve fixedly connected with the fifth bevel gear, the gear installation sleeve is fixedly connected with a plurality of inserted bars, and a plurality of slots are formed in positions, corresponding to the inserted bars, on the movable sleeve.
As a preferable technical scheme of the invention, the gear transmission mechanism comprises a gear shaft seat fixed on the movable frame, the first rotating shaft is fixedly connected with the second rotating shaft, the second rotating shaft is fixedly connected with a sixth bevel gear, and the sixth bevel gear is meshed with the seventh bevel gear.
As a preferable technical scheme of the invention, the moving mechanism comprises a third rotating shaft fixedly connected with a seventh bevel gear, the third rotating shaft is rotationally connected with a gear shaft seat, the third rotating shaft is fixedly connected with a gear, the gear is meshed with a rack, and the rack is fixed on the mounting seat.
As a preferable technical scheme of the invention, the clamping plate mechanism comprises a moving block groove which is arranged at the bottom of the moving shell, the moving block is slidably connected with the moving block groove on the moving shell, the moving block is fixedly connected with a connecting rod, one end of the connecting rod, which is far away from the moving block, is fixedly connected with a clamping frame, the clamping frame is rotationally connected with a threaded rod, the threaded rod is coaxially and fixedly connected with a first rotating shaft, the threaded rod is in threaded connection with two clamping plates, threaded holes formed in the two clamping plates are mutually reverse threads, and the clamping plates are slidably connected with the clamping frame.
As a preferable technical scheme of the invention, the clamping plates are arranged in an open arc shape.
The invention has the following advantages: according to the invention, the driving mechanism is arranged to drive the main sleeve to rotate, the working states of the moving mechanism and the clamping plate mechanism can be switched through the moving frame mechanism, the moving frame mechanism can be positively rotated or reversely rotated in cooperation with the elastic transmission mechanism and the inserted rod transmission mechanism, the gear transmission mechanism can be driven through the moving frame mechanism, the moving mechanism is further realized, the moving shell is controlled to move along the mounting seat, the gear transmission mechanism and the clamping plate mechanism can be driven through the moving frame mechanism, the moving mechanism is further realized, the moving shell is driven to move along the mounting seat, and the workpiece can be clamped and fixed through the clamping plate mechanism.
Drawings
Fig. 1 is a schematic structural view of a linkage type robot arm.
Fig. 2 is a partial enlarged view of the area a in fig. 1.
Fig. 3 is a partial enlarged view of the region B in fig. 2.
Fig. 4 is a schematic structural view of the main sleeve and the tapered block in the linked robot arm.
Fig. 5 is a schematic structural view of a moving block in a linked robot arm.
In the figure: 1. a connecting column; 2. a housing; 3. a mounting base; 4. a driving mechanism; 401. a motor; 402. driving the rotating shaft; 403. a first drive bevel gear; 404. a second drive bevel gear; 405. a drive shaft; 406. a clamping strip groove; 5. a moving shell; 6. a moving rack mechanism; 601. an electric push rod; 602. a moving rack; 603. a first rotating shaft; 604. a first bevel gear; 605. a second bevel gear; 606. moving the sleeve; 607. a conical block; 7. an elastic transmission mechanism; 701. an outer collar; 702. a ring groove; 703. a rotating ring; 704. a spring; 705. a moving ring; 706. a card; 707. a slip ring; 708. a mounting frame; 709. a third bevel gear; 710. a fourth bevel gear; 711. a gear shaft; 712. a fifth bevel gear; 8. the inserted link transmission mechanism; 801. a gear mounting sleeve; 802. a rod; 803. a slot; 9. a gear transmission mechanism; 901. a gear shaft seat; 902. a second rotating shaft; 903. a sixth bevel gear; 904. a seventh bevel gear; 10. a moving mechanism; 1001. a third rotating shaft; 1002. a gear; 1003. a rack; 11. a clamping plate mechanism; 1101. a moving block groove; 1102. a moving block; 1103. a connecting rod; 1104. a clamping frame; 1105. a threaded rod; 1106. a clamping plate; 12. a main sleeve.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Example 1
Referring to fig. 1-5, a linkage robot arm includes a connecting column 1, the connecting column 1 is fixedly connected with a housing 2, the housing 2 is fixedly connected with a mounting seat 3, driving mechanisms 4 are arranged on the housing 2 and the mounting seat 3, two movable shells 5 are arranged on the mounting seat 3, the movable shells 5 are slidably connected with the mounting seat 3, a main sleeve 12 is rotationally connected in the movable shells 5, two rotary driving components are arranged in the movable shells 5, each rotary driving component comprises a movable frame mechanism 6, an elastic transmission mechanism 7 and an inserting rod transmission mechanism 8, a gear transmission mechanism 9 is arranged on the movable frame mechanism 6 of one rotary driving component, the gear transmission mechanism 9 is fixedly connected with a moving mechanism 10, and a clamping plate mechanism 11 is arranged on the movable frame mechanism 6 of the other rotary driving component; the driving mechanism 4 is used for driving the main sleeve 12 to rotate, the movable frame mechanism 6 is used for realizing connection with the elastic transmission mechanism 7 or the inserted link transmission mechanism 8, the movable frame mechanism 6 on one rotary driving assembly is used for realizing linkage of the gear transmission mechanism 9 and the elastic transmission mechanism 7 or the inserted link transmission mechanism 8, the movable frame mechanism 6 on the other rotary driving assembly is used for realizing linkage of the clamping plate mechanism 11 and the elastic transmission mechanism 7 or the inserted link transmission mechanism 8, the gear transmission mechanism 9 is used for realizing linkage of the movable frame mechanism 6 and the movable mechanism 10, and the movable mechanism 10 is used for driving the movable shell 5 to move along the mounting seat 3.
The driving mechanism 4 comprises a motor 401 fixed in the shell 2, an output shaft of the motor 401 is fixedly connected with a driving rotating shaft 402, the driving rotating shaft 402 is rotationally connected with the shell 2 and the mounting seat 3, the driving rotating shaft 402 is fixedly connected with a first driving bevel gear 403, the first driving bevel gear 403 is meshed with a second driving bevel gear 404, the second driving bevel gear 404 is fixedly connected with a driving shaft 405, the driving shaft 405 is rotationally connected with the mounting seat 3, a clamping groove 406 is formed in the axis direction of the driving shaft 405, a clamping strip is fixedly connected in the main sleeve 12 and is located in the clamping groove 406, and the clamping strip is in sliding connection with the driving shaft 405.
Specifically, when the motor 401 is turned on, the output shaft of the motor 401 rotates to drive the driving shaft 402 to rotate, the driving shaft 402 rotates to drive the first driving bevel gear 403 to rotate, the first driving bevel gear 403 rotates to drive the second driving bevel gear 404 to rotate, and then the driving shaft 405 is driven to rotate, and the driving shaft 405 rotates to drive the clamping groove 406 to rotate, so that the clamping bar is driven to rotate, and the main sleeve 12 is rotated.
The movable frame mechanism 6 comprises an electric push rod 601 fixed on the movable shell 5, the electric push rod 601 is fixedly connected with a movable frame 602, the movable frame 602 is rotatably connected with a first rotating shaft 603, the first rotating shaft 603 is fixedly connected with a first bevel gear 604, the first bevel gear 604 is meshed with a second bevel gear 605, the second bevel gear 605 is fixedly connected with a movable sleeve 606, the movable sleeve 606 is slidably connected with a main sleeve 12, a plurality of conical blocks 607 are arranged outside the main sleeve 12, and a plurality of conical block grooves are formed in the movable sleeve 606. The elastic transmission mechanism 7 comprises a casing ring 701 fixed outside the main sleeve 12, a ring groove 702 is arranged in the casing ring 701, the casing ring 701 is rotationally connected with a rotating ring 703, the rotating ring 703 is fixedly connected with a spring 704, one end of the spring 704, which is far away from the rotating ring 703, is fixedly connected with a moving ring 705, a clamping groove is arranged on the side edge of the moving ring 705, a plurality of clamping pieces 706 are arranged in the casing ring 701, the clamping pieces 706 are matched with the clamping grooves, the moving ring 705 is fixedly connected with a sliding ring 707, the sliding ring 707 penetrates through the casing ring 701 and is in sliding connection with the casing ring 701, the sliding ring 707 is rotationally connected with a mounting frame 708, the sliding ring 707 is fixedly connected with a third bevel gear 709, the third bevel gear 709 is meshed with a fourth bevel gear 710, the fourth bevel gear 710 is fixedly connected with a gear shaft 711, the gear shaft 711 is rotationally connected with the mounting frame 708, and the fourth bevel gear 710 is meshed with a fifth bevel gear 712. The plunger transmission mechanism 8 comprises a gear installation sleeve 801 fixedly connected with a fifth bevel gear 712, the gear installation sleeve 801 is fixedly connected with a plurality of plungers 802, and a plurality of slots 803 are formed in positions, corresponding to the plungers 802, on the moving sleeve 606.
Specifically, when the electric push rod 601 is opened, the moving frame 602 can be driven to move, the moving frame 602 can drive the moving sleeve 606 to move, firstly, the inserting rod 802 can be inserted into the slot 803, meanwhile, under the action of the spring 704, the moving ring 705 can be abutted against the position of the card 706, the main sleeve 12 rotates to drive the outer sleeve 701 to rotate, the outer sleeve 701 rotates to drive the card 706 to rotate, then the moving ring 705 is driven to rotate, the moving ring 705 rotates to drive the slip ring 707 to rotate, the slip ring 707 rotates to drive the third bevel gear 709 to rotate, the third bevel gear 709 rotates to drive the fourth bevel gear 710 to rotate, the fourth bevel gear 710 drives the fifth bevel gear 712 to rotate, and then the gear mounting sleeve 801 and the main sleeve 12 rotate in opposite directions, when the inserting rod 802 is inserted into the slot 803, the gear mounting sleeve 801 drives the moving sleeve 606 to rotate, and the moving sleeve 606 and the main sleeve 12 rotate in opposite directions.
Further, when the electric push rod 601 drives the moving sleeve 606 to move, the moving ring 705 is no longer located at the position of the card 706, the spring 704 is compressed, and the outer collar 701 rotates to not drive the moving ring 705 to rotate, on the other hand, the moving sleeve 606 moves to be in contact with the tapered block 607, the main sleeve 12 rotates to drive the tapered block 607 to rotate, and the moving sleeve 606 is driven to rotate, so that the rotating direction of the moving sleeve 606 is the same as that of the main sleeve 12.
The gear transmission mechanism 9 comprises a gear shaft seat 901 fixed on the movable frame 602, the first rotating shaft 603 is fixedly connected with the second rotating shaft 902, the second rotating shaft 902 is fixedly connected with a sixth bevel gear 903, and the sixth bevel gear 903 is meshed with a seventh bevel gear 904. The moving mechanism 10 comprises a third rotating shaft 1001 fixedly connected with a seventh bevel gear 904, the third rotating shaft 1001 is rotatably connected with the gear shaft seat 901, the third rotating shaft 1001 is fixedly connected with a gear 1002, the gear 1002 is meshed with a rack 1003, and the rack 1003 is fixed on the mounting seat 3.
Specifically, the first shaft 603 rotates to drive the second shaft 902 to rotate, the second shaft 902 drives the sixth bevel gear 903 to rotate, the sixth bevel gear 903 rotates to drive the seventh bevel gear 904 to rotate, the third shaft 1001 rotates, the third shaft 1001 drives the gear 1002 to rotate, and the gear 1002 is meshed with the rack 1003, so that the moving shell 5 moves.
The clamping plate mechanism 11 comprises a moving block groove 1101 formed in the bottom of the moving shell 5, the moving block 1102 is slidably connected in the moving block groove 1101 on the moving shell 5, the moving block 1102 is fixedly connected with a connecting rod 1103, one end of the connecting rod 1103, far away from the moving block 1102, is fixedly connected with a clamping frame 1104, the clamping frame 1104 is rotationally connected with a threaded rod 1105, the threaded rod 1105 is coaxially and fixedly connected with a first rotating shaft 603, the threaded rod 1105 is in threaded connection with two clamping plates 1106, threaded holes formed in the two clamping plates 1106 are mutually reverse threads, and the clamping plates 1106 are slidably connected with the clamping frame 1104.
Specifically, the rotation of the first rotating shaft 603 drives the threaded rod 1105 to rotate, and further drives the clamping plate 1106 to close or move away, so as to clamp and fix the workpiece.
Example 2
With continued reference to fig. 1-5, in an embodiment of the present invention, the clamp 1106 is provided in an open arc configuration.
In the implementation process, the connecting column 1 is connected with other driving parts, at this time, if the workpiece is required to be clamped vertically, the moving frame mechanism 6 is started, so that the moving frame mechanism 6 is in contact with the elastic transmission mechanism 7, meanwhile, the driving mechanism 4 is started, the main sleeve 12 can be driven to rotate under the driving of the driving mechanism 4, the elastic transmission mechanism 7 and the moving frame mechanism 6 are driven by the main sleeve 12 to rotate, the moving frame mechanism 6 works on the clamping plate mechanism 11, so that the workpiece is clamped vertically, and if the workpiece is required to be clamped laterally, the other moving frame mechanism 6 is started, so that the gear transmission mechanism 9 is driven, the gear transmission mechanism 9 drives the moving mechanism 10, so that the moving shell 5 moves along the mounting seat 3, and the clamping plate mechanism 11 is driven to move, so that the side edges of the workpiece are clamped and fixed, and linkage clamping and grabbing are realized.
According to the invention, the driving mechanism 4 is arranged to drive the main sleeve 12 to rotate, the working states of the moving mechanism 10 and the clamping plate mechanism 11 can be switched through the moving frame mechanism 6, the moving frame mechanism 6 can be positively rotated or reversely rotated through cooperation with the elastic transmission mechanism 7 and the inserted link transmission mechanism 8, the gear transmission mechanism 9 can be driven through the moving frame mechanism 6, the moving mechanism 10 can be further operated, the moving shell 5 is controlled to move along the mounting seat 3, the gear transmission mechanism 9 and the clamping plate mechanism 11 can be driven through the moving frame mechanism 6, the moving mechanism 10 can be further operated, the moving shell 5 is driven to move along the mounting seat 3, and the workpiece can be clamped and fixed through the clamping plate mechanism 11.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The linkage type robot arm comprises a connecting column and is characterized in that the connecting column is fixedly connected with a shell, the shell is fixedly connected with a mounting seat, driving mechanisms are arranged on the shell and the mounting seat, two movable shells are arranged on the mounting seat and are in sliding connection with the mounting seat, a main sleeve is rotationally connected in the movable shells, two rotary driving components are arranged in the movable shells, each rotary driving component comprises a movable frame mechanism, an elastic transmission mechanism and an inserting rod transmission mechanism, a gear transmission mechanism is arranged on the movable frame mechanism of one rotary driving component, the gear transmission mechanism is fixedly connected with the movable mechanism, and a clamping plate mechanism is arranged on the movable frame mechanism of the other rotary driving component;
the driving mechanism is used for driving the main sleeve to rotate, the movable frame mechanism is used for realizing connection with the elastic transmission mechanism or the inserted link transmission mechanism, the movable frame mechanism on one rotary driving assembly is used for realizing linkage of the gear transmission mechanism and the elastic transmission mechanism or the inserted link transmission mechanism, the movable frame mechanism on the other rotary driving assembly is used for realizing linkage of the clamping plate mechanism and the elastic transmission mechanism or the inserted link transmission mechanism, the gear transmission mechanism is used for realizing linkage of the movable frame mechanism and the movable mechanism, and the movable mechanism is used for driving the movable shell to move along the mounting seat.
2. The linkage robot arm according to claim 1, wherein the driving mechanism comprises a motor fixed in the housing, an output shaft of the motor is fixedly connected with a driving rotating shaft, the driving rotating shaft is rotationally connected with the housing and the mounting seat, the driving rotating shaft is fixedly connected with a first driving bevel gear, the first driving bevel gear is meshed with a second driving bevel gear, the second driving bevel gear is fixedly connected with a driving shaft, the driving shaft is rotationally connected with the mounting seat, a clamping groove is formed in the axis direction of the driving shaft, a clamping strip is fixedly connected in the main sleeve and is located in the clamping groove, and the clamping strip is slidingly connected with the driving shaft.
3. The linkage robot arm according to claim 1, wherein the movable frame mechanism comprises an electric push rod fixed on the movable shell, the electric push rod is fixedly connected with the movable frame, the movable frame is rotatably connected with the first rotating shaft, the first rotating shaft is fixedly connected with the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly connected with the movable sleeve, the movable sleeve is slidably connected with the main sleeve, a plurality of conical blocks are arranged outside the main sleeve, and a plurality of conical block grooves are formed in the movable sleeve.
4. A linked robot arm according to claim 3, wherein the elastic transmission mechanism comprises an outer sleeve ring fixed outside the main sleeve, a ring groove is arranged in the outer sleeve ring, the outer sleeve ring is rotationally connected with a rotating ring, the rotating ring is fixedly connected with a spring, one end of the spring, which is far away from the rotating ring, is fixedly connected with a movable ring, a clamping groove is arranged on the side edge of the movable ring, a plurality of clamping pieces are arranged in the outer sleeve ring and matched with the clamping groove, the movable ring is fixedly connected with a sliding ring, the sliding ring penetrates through the outer sleeve ring and is in sliding connection with the outer sleeve ring, the sliding ring is rotationally connected with a mounting frame, the sliding ring is fixedly connected with a third bevel gear, the third bevel gear is meshed with a fourth bevel gear, the fourth bevel gear is fixedly connected with a gear shaft, the gear shaft is rotationally connected with the mounting frame, and the fourth bevel gear is meshed with a fifth bevel gear.
5. The linkage robot arm according to claim 4, wherein the plunger transmission mechanism comprises a gear installation sleeve fixedly connected with the fifth bevel gear, the gear installation sleeve is fixedly connected with a plurality of plungers, and a plurality of slots are formed in the moving sleeve at positions corresponding to the plungers.
6. A linked robot arm as claimed in claim 3, wherein the gear transmission mechanism comprises a gear shaft seat fixed on the movable frame, the first shaft being fixedly connected to the second shaft, the second shaft being fixedly connected to a sixth bevel gear, the sixth bevel gear engaging the seventh bevel gear.
7. The linked robot arm of claim 6, wherein the movement mechanism comprises a third shaft fixedly connected to the seventh bevel gear, the third shaft is rotatably connected to the gear shaft seat, the third shaft is fixedly connected to the gear, the gear engages the rack, and the rack is fixed to the mount.
8. A linked robot arm according to claim 3, wherein the clamping plate mechanism comprises a moving block groove formed in the bottom of the moving shell, the moving block is slidably connected in the moving block groove on the moving shell, the moving block is fixedly connected with a connecting rod, one end of the connecting rod, which is far away from the moving block, is fixedly connected with a clamping frame, the clamping frame is rotationally connected with a threaded rod, the threaded rod is coaxially and fixedly connected with the first rotating shaft, the threaded rod is in threaded connection with two clamping plates, threaded holes formed in the two clamping plates are mutually reverse threads, and the clamping plates are slidably connected with the clamping frame.
9. The linked robotic arm of claim 8, wherein the clamping plates are in an open arc configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310272693.9A CN115990906B (en) | 2023-03-21 | 2023-03-21 | Linkage robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310272693.9A CN115990906B (en) | 2023-03-21 | 2023-03-21 | Linkage robot arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115990906A CN115990906A (en) | 2023-04-21 |
| CN115990906B true CN115990906B (en) | 2023-05-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310272693.9A Active CN115990906B (en) | 2023-03-21 | 2023-03-21 | Linkage robot arm |
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| Country | Link |
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| CN (1) | CN115990906B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020196114A (en) * | 2019-06-02 | 2020-12-10 | 舒泳軍 | Laser=based gripping facility |
| CN113459149A (en) * | 2021-07-21 | 2021-10-01 | 谢龙勤 | Explosive-handling mechanical claw |
| CN115318494A (en) * | 2022-09-06 | 2022-11-11 | 嘉兴正弦电气有限公司 | Cabinet body paint spraying antirust device for production of hybrid power compensation cabinet |
| CN115351526A (en) * | 2022-09-06 | 2022-11-18 | 合肥中宝机械制造有限公司 | Improved mold distribution manipulator for laminated wallboard component and use method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6853226B2 (en) * | 2018-09-11 | 2021-03-31 | ファナック株式会社 | Gripping device for robots |
-
2023
- 2023-03-21 CN CN202310272693.9A patent/CN115990906B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020196114A (en) * | 2019-06-02 | 2020-12-10 | 舒泳軍 | Laser=based gripping facility |
| CN113459149A (en) * | 2021-07-21 | 2021-10-01 | 谢龙勤 | Explosive-handling mechanical claw |
| CN115318494A (en) * | 2022-09-06 | 2022-11-11 | 嘉兴正弦电气有限公司 | Cabinet body paint spraying antirust device for production of hybrid power compensation cabinet |
| CN115351526A (en) * | 2022-09-06 | 2022-11-18 | 合肥中宝机械制造有限公司 | Improved mold distribution manipulator for laminated wallboard component and use method thereof |
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| Publication number | Publication date |
|---|---|
| CN115990906A (en) | 2023-04-21 |
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