CN104589319A - Gear-driven three-dimensional translational manipulator - Google Patents
Gear-driven three-dimensional translational manipulator Download PDFInfo
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- CN104589319A CN104589319A CN201510034745.4A CN201510034745A CN104589319A CN 104589319 A CN104589319 A CN 104589319A CN 201510034745 A CN201510034745 A CN 201510034745A CN 104589319 A CN104589319 A CN 104589319A
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Abstract
The invention relates to a gear-driven three-dimensional translational manipulator, which comprises a frame, a first support articulator, a second support articulator, a first motor, a second motor, a third motor and a movable platform. The first support articulator and the second support articulator can respectively carry out the synchronous lifting motion of two racks in each support articulator under the drive of the first motor and the second motor. The gear-driven three-dimensional translational manipulator can carry out the spatial three-dimensional translational motion of the movable platform. The gear-driven three-dimensional translational manipulator has the advantages of simple and compact structure, small occupied floor space, agile action and the like.
Description
Technical field
The present invention relates to industrial robot field, particularly gear drive three translation manipulator.
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 two side chains to connect frame and moving platform, and every bar side chain can realize being synchronized with the movement of two toothed rack, and moving platform can complete the motion of three-dimensional translating spatially, 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 gear drive three translation manipulator, moving platform three-dimensional translating motion spatially can be realized.
The present invention achieves the above object by the following technical programs: gear drive three translation manipulator, comprises frame, the first side chain, the second side chain, the first motor, the second motor, the 3rd motor and moving platform.
First support of described first side chain is connected with frame by the first revolute pair, first connecting axle of the first side chain is connected with moving platform by the second revolute pair, second support of the second side chain is connected with frame by the 3rd revolute pair, and the second connecting axle of the second side chain is connected with moving platform by the 4th revolute pair.
Described first side chain comprises the first support, one zero one gear, one zero two gear, one zero three gear, one zero one side link, one zero two side link, first connecting rod, one zero one tooth bar, one zero two tooth bar and the first connecting axle, one zero one gear is connected with the first support by the one zero one revolute pair, one zero one gear is by the one zero one gear pair and the one zero two gear couplings, one zero one gear is connected with the one zero one tooth bar by the one zero two gear pair, one zero two gear is connected with the first support by the one zero two revolute pair, one zero two gear is by the one zero three gear pair and the one zero three gear couplings, one zero three gear is connected with the first support by the one zero three revolute pair, one zero three gear is connected with the one zero two tooth bar by the one zero four gear pair, one zero one tooth bar is connected with the one zero one side link by the one zero one moving sets, one zero one tooth bar is connected with the first connecting axle by the one zero four revolute pair, one zero two tooth bar is connected with the one zero two side link by the one zero two moving sets, one zero two tooth bar is connected with the first connecting axle by the one zero five revolute pair, one zero one side link is connected with the first support by the one zero six revolute pair, one zero one side link is connected with first connecting rod by the one zero seven revolute pair, one zero two side link is connected with the first support by the one zero eight revolute pair, one zero two side link is connected with first connecting rod by the one zero nine revolute pair.
Described second side chain comprises the second support, 201 gear, 202 gear, 203 gear, 201 side link, 202 side link, second connecting rod, 201 tooth bar, 202 tooth bar and the second connecting axle, 201 gear is connected with the second support by the 201 revolute pair, 201 gear is by the 201 gear pair and the 202 gear couplings, 201 gear is connected with the 201 tooth bar by the 202 gear pair, 202 gear is connected with the second support by the 202 revolute pair, 202 gear is by the 203 gear pair and the 203 gear couplings, 203 gear is connected with the second support by the 203 revolute pair, 203 gear is connected with the 202 tooth bar by the 204 gear pair, 201 tooth bar is connected with the 201 side link by the 201 moving sets, 201 tooth bar is connected with the second connecting axle by the 204 revolute pair, 202 tooth bar is connected with the 202 side link by the 202 moving sets, 202 tooth bar is connected with the second connecting axle by the 205 revolute pair, 201 side link is connected with the second support by the 206 revolute pair, 201 side link is connected with second connecting rod by the 207 revolute pair, 202 side link is connected with the second support by the 208 revolute pair, 202 side link is connected with second connecting rod by the 209 revolute pair.
Outstanding advantages of the present invention is:
1, two side chains realize the spatial three-dimensional translational of moving platform, whole mechanism compact conformation, and it is little to take up an area space;
2, manipulator inertia is little, kinematics and dynamics performance is good;
3, moving platform can install multiple actuator, applied range.
Accompanying drawing explanation
Fig. 1 is the structural representation of gear drive three translation manipulator of the present invention.
Fig. 2 is gear drive three translation manipulator first branched structure schematic diagram of the present invention.
Fig. 3 is gear drive three translation manipulator second branched structure schematic diagram of the present invention.
Fig. 4 is the first support schematic diagram of gear drive three translation manipulator first side chain of the present invention.
Fig. 5 is the second support schematic diagram of gear drive three translation manipulator second side chain of the present invention.
Fig. 6 is the one zero one side link and the one zero two side link schematic diagram of gear drive three translation manipulator first side chain of the present invention.
Fig. 7 is the 201 side link and the 202 side link schematic diagram of gear drive three translation manipulator second side chain of the present invention.
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, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, gear drive three translation manipulator, comprises frame 1, first side chain, the second side chain, the first motor 2, second motor 3, the 3rd motor 4 and moving platform 5.
First support 102 of described first side chain is connected with frame 1 by the first revolute pair 101, first connecting axle 111 of the first side chain is connected with moving platform 5 by the second revolute pair 6, second support 202 of the second side chain is connected with frame 1 by the 3rd revolute pair 201, and the second connecting axle 211 of the second side chain is connected with moving platform 5 by the 4th revolute pair 7.
Described first side chain comprises the first support 102, one zero one gear 103, one zero two gear 104, one zero three gear 105, one zero one side link 108, one zero two side link 109, first connecting rod 110, one zero one tooth bar 106, one zero two tooth bar 107 and the first connecting axle 111, one zero one gear 103 is connected with the first support 102 by the one zero one revolute pair 112, one zero one gear 103 is connected with the one zero two gear 104 by the one zero one gear pair 117, one zero one gear 103 is connected with the one zero one tooth bar 106 by the one zero two gear pair 118, one zero two gear 104 is connected with the first support 102 by the one zero two revolute pair 113, one zero two gear 104 is connected with the one zero three gear 105 by the one zero three gear pair 119, one zero three gear 105 is connected with the first support 102 by the one zero three revolute pair 114, one zero three gear 105 is connected with the one zero two tooth bar 107 by the one zero four gear pair 120, one zero one tooth bar 106 is connected with the one zero one side link 108 by the one zero one moving sets 121, one zero one tooth bar 106 is connected with the first connecting axle 111 by the one zero four revolute pair 125, one zero two tooth bar 107 is connected with the one zero two side link 109 by the one zero two moving sets 122, one zero two tooth bar 107 is connected with the first connecting axle 111 by the one zero five revolute pair 126, one zero one side link 108 is connected with the first support 102 by the one zero six revolute pair 115, one zero one side link 108 is connected with first connecting rod 110 by the one zero seven revolute pair 123, one zero two side link 109 is connected with the first support 102 by the one zero eight revolute pair 116, one zero two side link 109 is connected with first connecting rod 110 by the one zero nine revolute pair 124.
Described second side chain comprises the second support 202, 201 gear 203, 202 gear 204, 203 gear 205, 201 side link 208, 202 side link 209, second connecting rod 210, 201 tooth bar 206, 202 tooth bar 207 and the second connecting axle 211, 201 gear 203 is connected with the second support 202 by the 201 revolute pair 212, 201 gear 203 is connected with the 202 gear 204 by the 201 gear pair 217, 201 gear 203 is connected with the 201 tooth bar 206 by the 202 gear pair 218, 202 gear 204 is connected with the second support 202 by the 202 revolute pair 213, 202 gear 204 is connected with the 203 gear 205 by the 203 gear pair 219, 203 gear 205 is connected with the second support 202 by the 203 revolute pair 214, 203 gear 205 is connected with the 202 tooth bar 207 by the 204 gear pair 220, 201 tooth bar 206 is connected with the 201 side link 208 by the 201 moving sets 221, 201 tooth bar 206 is connected with the second connecting axle 211 by the 204 revolute pair 225, 202 tooth bar 207 is connected with the 202 side link 209 by the 202 moving sets 222, 202 tooth bar 207 is connected with the second connecting axle 211 by the 205 revolute pair 226, 201 side link 208 is connected with the second support 202 by the 206 revolute pair 215, 201 side link 208 is connected with second connecting rod 210 by the 207 revolute pair 223, 202 side link 209 is connected with the second support 202 by the 208 revolute pair 216, 202 side link 209 is connected with second connecting rod 210 by the 209 revolute pair 224.
Described first motor 2 drives the one zero two gear 104 of the first side chain to move, second motor 3 drives the 202 gear 204 of the second side chain to move, 3rd motor 4 drives the 201 side link 208 of the second side chain to move, and can realize the motion of the spatial three-dimensional translational of moving platform 5.
Claims (1)
1. gear drive three translation manipulator, comprises frame, the first side chain, the second side chain, the first motor, the second motor, the 3rd motor and moving platform, it is characterized in that:
First support of described first side chain is connected with frame by the first revolute pair, first connecting axle of the first side chain is connected with moving platform by the second revolute pair, second support of the second side chain is connected with frame by the 3rd revolute pair, second connecting axle of the second side chain is connected with moving platform by the 4th revolute pair
Described first side chain comprises the first support, one zero one gear, one zero two gear, one zero three gear, one zero one side link, one zero two side link, first connecting rod, one zero one tooth bar, one zero two tooth bar and the first connecting axle, one zero one gear is connected with the first support by the one zero one revolute pair, one zero one gear is by the one zero one gear pair and the one zero two gear couplings, one zero one gear is connected with the one zero one tooth bar by the one zero two gear pair, one zero two gear is connected with the first support by the one zero two revolute pair, one zero two gear is by the one zero three gear pair and the one zero three gear couplings, one zero three gear is connected with the first support by the one zero three revolute pair, one zero three gear is connected with the one zero two tooth bar by the one zero four gear pair, one zero one tooth bar is connected with the one zero one side link by the one zero one moving sets, one zero one tooth bar is connected with the first connecting axle by the one zero four revolute pair, one zero two tooth bar is connected with the one zero two side link by the one zero two moving sets, one zero two tooth bar is connected with the first connecting axle by the one zero five revolute pair, one zero one side link is connected with the first support by the one zero six revolute pair, one zero one side link is connected with first connecting rod by the one zero seven revolute pair, one zero two side link is connected with the first support by the one zero eight revolute pair, one zero two side link is connected with first connecting rod by the one zero nine revolute pair,
Described second side chain comprises the second support, 201 gear, 202 gear, 203 gear, 201 side link, 202 side link, second connecting rod, 201 tooth bar, 202 tooth bar and the second connecting axle, 201 gear is connected with the second support by the 201 revolute pair, 201 gear is by the 201 gear pair and the 202 gear couplings, 201 gear is connected with the 201 tooth bar by the 202 gear pair, 202 gear is connected with the second support by the 202 revolute pair, 202 gear is by the 203 gear pair and the 203 gear couplings, 203 gear is connected with the second support by the 203 revolute pair, 203 gear is connected with the 202 tooth bar by the 204 gear pair, 201 tooth bar is connected with the 201 side link by the 201 moving sets, 201 tooth bar is connected with the second connecting axle by the 204 revolute pair, 202 tooth bar is connected with the 202 side link by the 202 moving sets, 202 tooth bar is connected with the second connecting axle by the 205 revolute pair, 201 side link is connected with the second support by the 206 revolute pair, 201 side link is connected with second connecting rod by the 207 revolute pair, 202 side link is connected with the second support by the 208 revolute pair, 202 side link is connected with second connecting rod by the 209 revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034745.4A CN104589319B (en) | 2015-01-24 | 2015-01-24 | Gear drive three translation manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034745.4A CN104589319B (en) | 2015-01-24 | 2015-01-24 | Gear drive three translation manipulator |
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| Publication Number | Publication Date |
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| CN104589319A true CN104589319A (en) | 2015-05-06 |
| CN104589319B CN104589319B (en) | 2016-04-20 |
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| CN201510034745.4A Expired - Fee Related CN104589319B (en) | 2015-01-24 | 2015-01-24 | Gear drive three translation manipulator |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03131489A (en) * | 1989-10-16 | 1991-06-05 | Fujitsu Ltd | Two-finger hand |
| CN1300658A (en) * | 1999-12-23 | 2001-06-27 | 东北大学电脑技术中心 | Robotic machine-tool |
| US20030121351A1 (en) * | 2001-05-31 | 2003-07-03 | Clement Gosselin | Cartesian parallel manipulators |
| RU2412798C2 (en) * | 2009-05-19 | 2011-02-27 | Российская академия наук Учреждение Российской академии наук Институт машиноведения им. А.А. Благонравова РАН | Space mechanism |
| WO2013014720A1 (en) * | 2011-07-22 | 2013-01-31 | 株式会社安川電機 | Parallel link robot |
| CN204487554U (en) * | 2015-01-24 | 2015-07-22 | 江西省机械科学研究所 | Gear drive three translation manipulator |
-
2015
- 2015-01-24 CN CN201510034745.4A patent/CN104589319B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03131489A (en) * | 1989-10-16 | 1991-06-05 | Fujitsu Ltd | Two-finger hand |
| CN1300658A (en) * | 1999-12-23 | 2001-06-27 | 东北大学电脑技术中心 | Robotic machine-tool |
| US20030121351A1 (en) * | 2001-05-31 | 2003-07-03 | Clement Gosselin | Cartesian parallel manipulators |
| RU2412798C2 (en) * | 2009-05-19 | 2011-02-27 | Российская академия наук Учреждение Российской академии наук Институт машиноведения им. А.А. Благонравова РАН | Space mechanism |
| WO2013014720A1 (en) * | 2011-07-22 | 2013-01-31 | 株式会社安川電機 | Parallel link robot |
| CN204487554U (en) * | 2015-01-24 | 2015-07-22 | 江西省机械科学研究所 | Gear drive three translation manipulator |
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| Publication number | Publication date |
|---|---|
| CN104589319B (en) | 2016-04-20 |
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Granted publication date: 20160420 Termination date: 20220124 |