CN104589315B - V belt translation heavy duty two translation manipulators - Google Patents
V belt translation heavy duty two translation manipulators Download PDFInfo
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- CN104589315B CN104589315B CN201510034737.XA CN201510034737A CN104589315B CN 104589315 B CN104589315 B CN 104589315B CN 201510034737 A CN201510034737 A CN 201510034737A CN 104589315 B CN104589315 B CN 104589315B
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- drive
- translation
- tooth bar
- side link
- revolute pair
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Abstract
V belt translation heavy duty two translation manipulators, comprise frame, the first drive, the second drive, the first side link, the second side link, connecting rod, the first tooth bar, the second tooth bar, moving platform, motor, band and linear actuator.Described V belt translation heavy duty two translation manipulators move under the driving of motor and linear actuator, can realize the motion of moving platform bidimensional translation in the plane.Structure of the present invention is simple, compact, has occupation of land space little, the advantages such as flexible movements.
Description
Technical field
The present invention relates to industrial robot field, particularly V belt translation heavy duty two translation manipulators.
Background technology
From the 1950's, robot is just applied to industrial circle, has now played great effect at industrial circle, has effectively reduced the production cost of factory, improve production efficiency.Industrial applied robot has a lot of aspect, as welding, assembling, piling, crawl etc.The frame for movement that the robot being applied in different field adopts also differs widely, and welding robot needs five or six axles to realize the motion of space curve of end welding gun, and robot palletizer then only needs four axles just can complete the piling task of producing on-line goods.In industrial application, have so class task, it needs article to put another place from a place, and does not need to make article run-off the straight campaign in the process of putting.This kind of robot can be divided into four kinds by the demand according to reality: the first is the crawl in plane, namely only need complete article two translational motions planar; The second also needs article rotating angle on the basis completing two translational motions; The third to complete article three translational motions spatially; 4th kind is also need article rotating angle on the basis completing three translations.In order to reduce the free degree of robot, the general joint connection mode that adopts adds one or more groups parallelogram sturcutre again to realize the horizontal movement of end effector of robot, and on market, robot palletizer and high speed capture this class formation of the many employings of parallel robot.But this class formation is because of in needs are arranged on articulated robot, admittedly cause, robot architecture is too fat to move, to take up an area space large.The present invention adopts a motor to realize the synchronization telescope function of parallelogram one group of parallel rod, adds the cooperation of linear actuator, can complete moving platform two translational motions in the plane, has compact conformation, takes up an area the advantages such as space is little, high load capability.
Summary of the invention
The object of the present invention is to provide V belt translation heavy duty two translation manipulators, moving platform bidimensional translational motion in the plane can be realized.
The present invention achieves the above object by the following technical programs: V belt translation heavy duty two translation manipulators, comprise frame, the first drive, the second drive, the first side link, the second side link, connecting rod, the first tooth bar, the second tooth bar, moving platform, motor, band and linear actuator.
Described first drive is connected with frame by the first revolute pair, first drive is connected with the second drive by band, first drive is connected with the first tooth bar by the first gear pair, second drive is connected with frame by the second revolute pair, second drive is connected with the second tooth bar by the second gear pair, first tooth bar is connected with the first side link by the first moving sets, first tooth bar is connected with moving platform by the 3rd revolute pair, second tooth bar is connected with the second side link by the second moving sets, second tooth bar is connected with moving platform by the 4th revolute pair, first side link is connected with frame by the 5th revolute pair, first side link is connected with connecting rod by the 6th revolute pair, second side link is connected with frame by the 7th revolute pair, second side link is connected with connecting rod by the 8th revolute pair, moving platform is connected with linear actuator by the 9th revolute pair, linear actuator is connected with frame by the tenth revolute pair.
Outstanding advantages of the present invention is:
1, a motor realizes being synchronized with the movement of two toothed rack, whole mechanism compact conformation, and occupation of land space is little;
2, manipulator inertia is little, kinematics and dynamics performance is good.
Accompanying drawing explanation
Fig. 1 is the structural representation of V belt translation of the present invention heavy duty two translation manipulators.
Fig. 2 is the frame schematic diagram of V belt translation of the present invention heavy duty two translation manipulators.
Fig. 3 is the first side link schematic diagram of V belt translation of the present invention heavy duty two translation manipulators.
Fig. 4 is the second side link schematic diagram of V belt translation of the present invention heavy duty two translation manipulators.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, V belt translation heavy duty two translation manipulators, comprise frame 1, first drive 2, second drive 3, first side link 6, second side link 7, connecting rod 8, first tooth bar 4, second tooth bar 5, moving platform 9, motor 10, band 11 and linear actuator 24.
Described first drive 2 is connected with frame 1 by the first revolute pair 12, first drive 2 is connected with the second drive 3 by band 11, first drive 2 is connected with the first tooth bar 4 by the first gear pair 16, second drive 3 is connected with frame 1 by the second revolute pair 13, second drive 3 is connected with the second tooth bar 5 by the second gear pair 17, first tooth bar 4 is connected with the first side link 6 by the first moving sets 18, first tooth bar 4 is connected with moving platform 9 by the 3rd revolute pair 22, second tooth bar 5 is connected with the second side link 7 by the second moving sets 19, second tooth bar 5 is connected with moving platform 9 by the 4th revolute pair 23, first side link 6 is connected with frame 1 by the 5th revolute pair 14, first side link 6 is connected with connecting rod 8 by the 6th revolute pair 20, second side link 7 is connected with frame 1 by the 7th revolute pair 15, second side link 7 is connected with connecting rod by the 8th revolute pair 21, moving platform 9 is connected with linear actuator 24 by the 9th revolute pair 26, linear actuator 24 is connected with frame 1 by the tenth revolute pair 25.
Described motor 10 drives the second drive 3 to move, second drive 3 drives the first drive 2 to be synchronized with the movement by band 11, first drive 2 and the second drive 3 drive the first tooth bar 4 and the second tooth bar 5 to move respectively, first tooth bar 4 and the second tooth bar 5 drive moving platform 9 to move, linear actuator 24 drives moving platform 9 to move by stretching motion, and moving platform 9 can realize plane two translational motion.
Claims (1)
1. V belt translation heavy duty two translation manipulators, comprise frame, the first drive, the second drive, the first side link, the second side link, connecting rod, the first tooth bar, the second tooth bar, moving platform, motor, band and linear actuator, it is characterized in that:
Described first drive is connected with frame by the first revolute pair, first drive is connected with the second drive by band, first drive is connected with the first tooth bar by the first gear pair, second drive is connected with frame by the second revolute pair, second drive is connected with the second tooth bar by the second gear pair, first tooth bar is connected with the first side link by the first moving sets, first tooth bar is connected with moving platform by the 3rd revolute pair, second tooth bar is connected with the second side link by the second moving sets, second tooth bar is connected with moving platform by the 4th revolute pair, first side link is connected with frame by the 5th revolute pair, first side link is connected with connecting rod by the 6th revolute pair, second side link is connected with frame by the 7th revolute pair, second side link is connected with connecting rod by the 8th revolute pair, moving platform is connected with linear actuator by the 9th revolute pair, linear actuator is connected with frame by the tenth revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034737.XA CN104589315B (en) | 2015-01-24 | 2015-01-24 | V belt translation heavy duty two translation manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034737.XA CN104589315B (en) | 2015-01-24 | 2015-01-24 | V belt translation heavy duty two translation manipulators |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104589315A CN104589315A (en) | 2015-05-06 |
| CN104589315B true CN104589315B (en) | 2016-02-24 |
Family
ID=53115542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510034737.XA Expired - Fee Related CN104589315B (en) | 2015-01-24 | 2015-01-24 | V belt translation heavy duty two translation manipulators |
Country Status (1)
| Country | Link |
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| CN (1) | CN104589315B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5248923A (en) * | 1989-10-03 | 1993-09-28 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Manipulator using plane pulse motor |
| CN1903521A (en) * | 2006-07-31 | 2007-01-31 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| CN102229142A (en) * | 2011-06-22 | 2011-11-02 | 于复生 | Five-degree-of-freedom electric manipulator |
| CN103273481A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Parallel mechanism with two-degree-of-free translation function |
| CN204487553U (en) * | 2015-01-24 | 2015-07-22 | 江西省机械科学研究所 | V belt translation heavy duty two translation manipulators |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1155458C (en) * | 2001-12-31 | 2004-06-30 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| US9259274B2 (en) * | 2008-09-30 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Passive preload and capstan drive for surgical instruments |
-
2015
- 2015-01-24 CN CN201510034737.XA patent/CN104589315B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5248923A (en) * | 1989-10-03 | 1993-09-28 | Kabushiki Kaisha Yaskawa Denki Seisakusho | Manipulator using plane pulse motor |
| CN1903521A (en) * | 2006-07-31 | 2007-01-31 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| CN102229142A (en) * | 2011-06-22 | 2011-11-02 | 于复生 | Five-degree-of-freedom electric manipulator |
| CN103273481A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Parallel mechanism with two-degree-of-free translation function |
| CN204487553U (en) * | 2015-01-24 | 2015-07-22 | 江西省机械科学研究所 | V belt translation heavy duty two translation manipulators |
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| CN104589315A (en) | 2015-05-06 |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20160224 Termination date: 20220124 |