CN211278407U

CN211278407U - Novel connecting rod type robot

Info

Publication number: CN211278407U
Application number: CN202021398223.5U
Authority: CN
Inventors: 秦志宏; 翟福林; 秦树
Original assignee: Beijing Create Future Technology Co ltd
Current assignee: Beijing Create Future Technology Co ltd
Priority date: 2020-07-16
Filing date: 2020-07-16
Publication date: 2020-08-18
Anticipated expiration: 2030-07-16

Abstract

The utility model relates to a novel connecting rod formula robot, include the chassis and remove the wheel, be provided with control module and power on the chassis, the center department on chassis is provided with the roating seat, the roating seat is connected with the driving motor who installs terminal surface under the chassis, there is the fixing base upper end face of roating seat through bolted connection, swing joint has connecting rod arm mechanism on the fixing base. The beneficial effects of the utility model reside in that, a novel connecting rod formula robot is provided, the rotation through driving motor one drives the roating seat and rotates, the roating seat drives connecting rod mechanical arm mechanism and fixed plate through the fixing base and rotates, driving motor three rotates drive fluted disc two and rotates, the rotation of fluted disc two drives a reverse rotation of fluted disc, the rotation through fluted disc one and fluted disc two drives two and presss from both sides tight arm relative motion, the V nature structure through pressing from both sides tight arm is tight to the article self-adaptation of different shapes, the handling efficiency of a novel connecting rod formula robot is improved.

Description

Novel connecting rod type robot

Technical Field

The utility model relates to a novel connecting rod formula robot.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings.

The existing robot can only clamp articles with small shape change, when the existing robot clamps the articles with large shape change, the phenomenon of looseness easily occurs between a clamping arm and the articles, multiple times of clamping is needed through adjustment, and the carrying efficiency of the robot is reduced.

SUMMERY OF THE UTILITY MODEL

In view of the above problems in the prior art, the main object of the present invention is to provide a novel link type robot.

The technical scheme of the utility model is like this:

the utility model provides a novel connecting rod formula robot, includes the chassis and removes the wheel, be provided with control module and power on the chassis, the center department on chassis is provided with the roating seat, the roating seat is connected with the driving motor one of installing terminal surface under the chassis, there is the fixing base terminal surface of roating seat through bolted connection, swing joint has connecting rod mechanical arm mechanism on the fixing base, connecting rod mechanical arm mechanism's first end is connected with the driving motor second of installing on the fixing base, and there is the fixed plate second end through bolted connection, the lower terminal surface swing joint of fixed plate has two tight arms of clamp, two the tip of pressing from both sides tight arm is fixed connection fluted disc one and fluted disc two respectively, the axle center of fluted disc two with install the three fixed connection of driving motor at the fixed plate up.

Wherein: the first fluted disc is meshed with the second fluted disc.

Wherein: the clamping arm is of a V-shaped structure.

Wherein: the first driving motor, the second driving motor and the third driving motor are electrically connected with the control module, and the control module is electrically connected with the power supply.

Wherein: the connecting rod mechanical arm mechanism comprises a main connecting rod, two auxiliary connecting rods, a first main transverse rod, a first auxiliary transverse rod, a triangular connecting piece, two angular connecting pieces and a second auxiliary transverse rod, wherein chutes are formed in the first main transverse rod and the second auxiliary transverse rod, the first ends of the main connecting rod and the two auxiliary connecting rods are hinged to a fixing seat, the second end of the main connecting rod and one of the auxiliary connecting rods is hinged to two corners of the triangular connecting piece, the other corner of the triangular connecting piece is hinged to the first auxiliary transverse rod, the second end of the other auxiliary connecting rod is hinged to the first end of the second auxiliary transverse rod, the second end of the second auxiliary transverse rod is connected with a fixing plate through bolts, the second ends of the first main transverse rod and the first auxiliary transverse rod are hinged to the two angular connecting pieces respectively, and the first end of the first main transverse rod is hinged.

Wherein: the main connecting rod and the triangular connecting piece are respectively positioned at two sides of the first main transverse rod, and the hinged shaft penetrates through the sliding groove to be in sliding connection with the sliding groove.

The utility model has the advantages of it is following and beneficial effect: the rotation of the first driving motor drives the rotating seat to rotate, the rotating seat drives the connecting rod mechanical arm mechanism and the fixed plate to rotate through the fixed seat, the rotation of the third driving motor drives the second fluted disc to rotate, the rotation of the second fluted disc drives the first fluted disc to rotate reversely, the rotation of the first fluted disc and the second fluted disc drives the two clamping arms to move relatively, and the V-shaped structures of the clamping arms are used for adaptively clamping objects with different shapes, so that the carrying efficiency of the novel connecting rod type robot is improved;

the rotation of the driving motor II drives the first end of the main connecting rod to rotate, so that the second end of the main connecting rod slides along the sliding groove, the triangular connecting piece rotates, the auxiliary connecting rod is driven by the rotation of the triangular connecting piece to rotate in a self-adaptive mode, and the auxiliary connecting rod is driven by the rotation of the auxiliary connecting rod to link the auxiliary cross rod II, so that the angle adjustment of the connecting rod mechanical arm mechanism is realized, and the stability and the bearing effect of the connecting rod mechanical arm mechanism are improved.

Drawings

Fig. 1 is a schematic view of a three-dimensional structure of a novel connecting rod type robot provided by an embodiment of the present invention.

Fig. 2 is a schematic view of a bottom view structure of a novel link-type robot according to an embodiment of the present invention.

Fig. 3 is a schematic view of a top view structure of a novel link type robot provided by an embodiment of the present invention.

Fig. 4 is a left side view structural schematic diagram of the novel connecting rod type robot provided by the embodiment of the present invention.

Fig. 5 is a schematic view of a right side structure of a novel link type robot provided by an embodiment of the present invention.

Illustration of the drawings:

1. a chassis; 2. a moving wheel; 3. a link arm mechanism; 301. a main link; 302. an auxiliary connecting rod; 303. a first main cross bar; 304. a first auxiliary cross bar; 305. a triangular connecting sheet; 306. two corner connecting sheets; 307. a second auxiliary cross bar; 308. a chute; 4. a fixing plate; 5. a clamp arm; 6. driving a motor III; 7. a second driving motor; 8. a control module; 9. a first fluted disc; 10. a second fluted disc; 11. a power source; 12. driving a motor I; 13. a rotating base; 14. a fixed seat.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The invention will be further described with reference to the drawings and specific examples.

As shown in fig. 1: the embodiment of the utility model provides a novel connecting rod type robot, including chassis 1 and moving wheel 2, moving wheel 2 is installed on chassis 1 through the steering linkage, be provided with control module 8 and power 11 on chassis 1, the center department of chassis 1 is provided with roating seat 13, control module 8 adopts STM32F103C8T6 main control chip, be convenient for control robot real-time operating condition and parameter adjustment, roating seat 13 is connected with driving motor one 12 installed at the lower terminal surface of chassis 1, the up end of roating seat 13 is connected with fixing base 14 through the bolt, swing joint has connecting rod mechanical arm mechanism 3 on fixing base 14, the first end of connecting rod mechanical arm mechanism 3 is connected with driving motor two 7 installed on fixing base 14, the second end is connected with fixed plate 4 through the bolt, the linkage of the many connecting rods of driving rod mechanical arm mechanism 3 is driven through the rotation of driving motor two 7, thereby realize the motion of connecting rod mechanical arm mechanism 3, the lower end face of the fixed plate 4 is movably connected with two clamping arms 5, the end portions of the two clamping arms 5 are respectively and fixedly connected with a first fluted disc 9 and a second fluted disc 10, the axle center of the second fluted disc 10 is fixedly connected with a third driving motor 6 arranged on the upper end face of the fixed plate 4, and the third driving motor 6 provides driving force for the rotation of the second fluted disc 10.

Specifically, as shown in fig. 2, the first toothed disc 9 and the second toothed disc 10 are meshed and connected, rotation of the second toothed disc 10 drives the first toothed disc 9 to rotate reversely, and rotation of the first toothed disc 9 and the second toothed disc 10 drives the two clamping arms 5 to move relatively, so that clamping and releasing of the object are achieved.

Specifically, as shown in fig. 3, the clamping arm 5 has a V-shaped structure, which is convenient for clamping articles of different shapes.

Specifically, as shown in fig. 1, the first driving motor 12, the second driving motor 7, and the third driving motor 6 are electrically connected to the control module 8, the control module 8 is electrically connected to the power source 11, the power source 11 supplies power to the control module 8, and the control module 8 controls the first driving motor 12, the second driving motor 7, and the third driving motor 6 to operate.

Specifically, as shown in fig. 1, the link robot mechanism 3 includes a main link 301, two auxiliary links 302, a first main crossbar 303, a first auxiliary crossbar 304, a triangular link 305, a second triangular link 306 and a second auxiliary crossbar 307, each of the first main crossbar 303 and the second auxiliary crossbar 307 has a sliding slot 308, first ends of the main link 301 and the two auxiliary links 302 are hinged to the fixing base 14, a second end of one of the main link 301 and the one of the auxiliary link 302 is hinged to two of the triangular link 305, the other one of the triangular link 305 is hinged to the first auxiliary crossbar 304, a second end of the other one of the auxiliary links 302 is hinged to a first end of the second auxiliary crossbar 307, a second end of the second auxiliary crossbar 307 is connected to the fixing plate 4 by a bolt, second ends of the first main crossbar 303 and the one of the auxiliary crossbar 304 are hinged to the two of the two corner links 306, a first end of the first main crossbar 303 is hinged to a second end of the main link 301, the main link 301 and the triangular link 305 are located on two sides of, and the hinge shaft penetrates through the sliding chute 308 to be connected with the sliding chute, the output shaft of the second driving motor 7 is fixedly connected with the first end of the main connecting rod 301, and the main connecting rod 301 is driven to rotate angularly through the rotation of the second driving motor 7.

The working principle is as follows: when the angle adjusting mechanism is used, the power supply 11 supplies power to the control module 8, the control module 8 controls the first driving motor 12, the second driving motor 7 and the third driving motor 6 to work, the rotation of the second driving motor 7 drives the first end of the main connecting rod 301 to rotate, so that the second end of the main connecting rod 301 slides along the sliding groove 308, the triangular connecting piece 305 rotates, the rotation of the triangular connecting piece 305 drives the auxiliary connecting rod 302 to rotate in a self-adaptive mode, the rotation of the auxiliary connecting rod 302 drives the second auxiliary cross rod 307 to link, the angle adjustment of the link mechanical arm mechanism 3 is achieved, and the stability and the bearing effect of the link mechanical arm mechanism 3 are improved; the rotation of driving motor one 12 drives roating seat 13 and rotates, roating seat 13 drives connecting rod mechanical arm mechanism 3 and fixed plate 4 through fixing base 14 and rotates, driving motor three 6's rotation drives fluted disc two 10 and rotates, and the rotation of fluted disc two 10 drives fluted disc one 9 reverse rotation, drives two tight arm 5 relative motion of clamp through the rotation of fluted disc one 9 and fluted disc two 10 to the realization is to the centre gripping of article, has improved the handling efficiency of connecting rod formula robot.

Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. The utility model provides a novel connecting rod formula robot, includes chassis (1) and removal wheel (2), be provided with control module (8) and power (11) on chassis (1), its characterized in that: a rotating seat (13) is arranged at the center of the chassis (1), the rotating seat (13) is connected with a first driving motor (12) arranged on the lower end surface of the chassis (1), the upper end surface of the rotating seat (13) is connected with a fixed seat (14) through a bolt, the fixed seat (14) is movably connected with a connecting rod mechanical arm mechanism (3), the first end of the connecting rod mechanical arm mechanism (3) is connected with a second driving motor (7) arranged on a fixed seat (14), the second end is connected with a fixed plate (4) through a bolt, the lower end surface of the fixed plate (4) is movably connected with two clamping arms (5), the end parts of the two clamping arms (5) are respectively and fixedly connected with a first fluted disc (9) and a second fluted disc (10), the axis of the second fluted disc (10) is fixedly connected with a third driving motor (6) arranged on the upper end face of the fixed plate (4).

2. The novel link robot as claimed in claim 1, wherein the first toothed disc (9) and the second toothed disc (10) are engaged.

3. The link robot as claimed in claim 1, characterised in that the gripping arm (5) is of V-shaped construction.

4. The novel connecting rod type robot as claimed in claim 1, wherein the first driving motor (12), the second driving motor (7) and the third driving motor (6) are electrically connected with the control module (8), and the control module (8) is electrically connected with the power supply (11).

5. The novel link type robot as claimed in claim 1, wherein the link robot mechanism (3) comprises a main link (301), two secondary links (302), a first main cross bar (303), a first secondary cross bar (304), a triangular link (305), two corner links (306) and a second secondary cross bar (307), each of the first main cross bar (303) and the second secondary cross bar (307) has a sliding slot (308), the first ends of the main link (301) and the two secondary links (302) are hinged to the fixing base (14), the main link (301) is hinged to the second end of one of the secondary links (302) and two corners of the triangular link (305), the other corner of the triangular link (305) is hinged to the first secondary cross bar (304), the second end of the other secondary link (302) is hinged to the first end of the second secondary cross bar (307), and the second end of the second secondary cross bar (307) is connected to the fixing plate (4) through a bolt, the second ends of the first main cross rod (303) and the first auxiliary cross rod (304) are respectively hinged with the two corner connecting pieces (306), and the first end of the first main cross rod (303) is hinged with the second end of the main connecting rod (301).

6. The novel link type robot as claimed in claim 5, wherein the main link (301) and the triangular connecting piece (305) are respectively located at two sides of the first main cross bar (303), and the hinge shaft penetrates through the sliding groove (308) to be slidably connected with the sliding groove.