CN104589320B - The swingable parallel rod synchronous telescoping mechanism of gear driven type - Google Patents
The swingable parallel rod synchronous telescoping mechanism of gear driven type Download PDFInfo
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- CN104589320B CN104589320B CN201510034746.9A CN201510034746A CN104589320B CN 104589320 B CN104589320 B CN 104589320B CN 201510034746 A CN201510034746 A CN 201510034746A CN 104589320 B CN104589320 B CN 104589320B
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- gear
- tooth bar
- side link
- revolute pair
- telescoping mechanism
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Abstract
The swingable parallel rod synchronous telescoping mechanism of gear driven type, comprises frame, the first gear, the second gear, the 3rd gear, the first side link, the second side link, connecting rod, the first tooth bar, the second tooth bar, moving platform and motor.Described first tooth bar and the second tooth bar are parallel all the time in motion process, and under the driving of motor, realize synchronization lifting motion, and the moving platform therefore connected with two toothed rack can realize the motion of plane bidimensional translation.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 the swingable parallel rod synchronous telescoping mechanism in industrial robot field, particularly gear driven type.
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, can complete the elevating movement that moving platform keeps level 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 the swingable parallel rod synchronous telescoping mechanism of gear driven type, moving platform bidimensional translational motion in the plane can be realized.
The present invention achieves the above object by the following technical programs: the swingable parallel rod synchronous telescoping mechanism of gear driven type, comprises frame, the first gear, the second gear, the 3rd gear, the first side link, the second side link, connecting rod, the first tooth bar, the second tooth bar, moving platform and motor.
Described first gear is connected with frame by the first revolute pair, first gear is by the first gear pair and the second gear couplings, first gear is connected with the first tooth bar by the second gear pair, second gear is connected with frame by the second revolute pair, second gear is by the 3rd gear pair and the 3rd gear couplings, 3rd gear is connected with frame by the 3rd revolute pair, 3rd gear is connected with the second tooth bar by the 4th 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 4th 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 5th revolute pair, first side link is connected with frame by the 6th revolute pair, first side link is connected with connecting rod by the 7th revolute pair, second side link is connected with frame by the 8th revolute pair, second side link is connected with connecting rod by the 9th 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 the swingable parallel rod synchronous telescoping mechanism of gear driven type of the present invention.
Fig. 2 is the frame schematic diagram of the swingable parallel rod synchronous telescoping mechanism of gear driven type of the present invention.
Fig. 3 is the first side link schematic diagram of the swingable parallel rod synchronous telescoping mechanism of gear driven type of the present invention.
Fig. 4 is the second side link schematic diagram of the swingable parallel rod synchronous telescoping mechanism of gear driven type 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 and Fig. 4, the swingable parallel rod synchronous telescoping mechanism of gear driven type, comprises frame 1, first gear 2, second gear 3, the 3rd gear 4, first side link 7, second side link 8, connecting rod 9, first tooth bar 5, second tooth bar 6, moving platform 10 and motor 11.
Described first gear 2 is connected with frame 1 by the first revolute pair 12, first gear 2 is connected with the second gear 3 by the first gear pair 17, first gear 2 is connected with the first tooth bar 5 by the second gear pair 19, second gear 3 is connected with frame 1 by the second revolute pair 13, second gear 3 is connected with the 3rd gear 4 by the 3rd gear pair 18, 3rd gear 4 is connected with frame 4 by the 3rd revolute pair 14, 3rd gear 4 is connected with the second tooth bar 6 by the 4th gear pair 20, first tooth bar 5 is connected with the first side link 7 by the first moving sets 21, first tooth bar 5 is connected with moving platform 10 by the 4th revolute pair 25, second tooth bar 6 is connected with the second side link 8 by the second moving sets 22, second tooth bar 6 is connected with moving platform 10 by the 5th revolute pair 26, first side link 7 is connected with frame 1 by the 6th revolute pair 15, first side link 7 is connected with connecting rod 9 by the 7th revolute pair 23, second side link 8 is connected with frame 1 by the 8th revolute pair 16, second side link 8 is connected with connecting rod 9 by the 9th revolute pair 24.
Described motor 11 drives the second gear 3 to move, second gear 3 synchronously drives the first gear 2 and the 3rd gear 4 to move, first gear 2 and the 3rd gear 4 drive the first tooth bar 5 and the second tooth bar 6 to move respectively, first tooth bar 5 and the second tooth bar 6 drive moving platform 10 to move, and the first tooth bar 5 and the second tooth bar 6 can at the state lower swings of keeping parallelism under the effect of external force.Therefore, moving platform 10 can realize the motion of plane bidimensional translation.
Claims (1)
1. the swingable parallel rod synchronous telescoping mechanism of gear driven type, comprises frame, the first gear, the second gear, the 3rd gear, the first side link, the second side link, connecting rod, the first tooth bar, the second tooth bar, moving platform and motor, it is characterized in that:
Described first gear is connected with frame by the first revolute pair, first gear is by the first gear pair and the second gear couplings, first gear is connected with the first tooth bar by the second gear pair, second gear is connected with frame by the second revolute pair, second gear is by the 3rd gear pair and the 3rd gear couplings, 3rd gear is connected with frame by the 3rd revolute pair, 3rd gear is connected with the second tooth bar by the 4th 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 4th 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 5th revolute pair, first side link is connected with frame by the 6th revolute pair, first side link is connected with connecting rod by the 7th revolute pair, second side link is connected with frame by the 8th revolute pair, second side link is connected with connecting rod by the 9th revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034746.9A CN104589320B (en) | 2015-01-24 | 2015-01-24 | The swingable parallel rod synchronous telescoping mechanism of gear driven type |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034746.9A CN104589320B (en) | 2015-01-24 | 2015-01-24 | The swingable parallel rod synchronous telescoping mechanism of gear driven type |
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| Publication Number | Publication Date |
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| CN104589320A CN104589320A (en) | 2015-05-06 |
| CN104589320B true CN104589320B (en) | 2016-01-20 |
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| CN201510034746.9A Active CN104589320B (en) | 2015-01-24 | 2015-01-24 | The swingable parallel rod synchronous telescoping mechanism of gear driven type |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110000764A (en) * | 2019-05-03 | 2019-07-12 | 江西制造职业技术学院 | The two translation crawl robot mechanism of outer revolute pair driving of toothed belt transmission structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1313688A1 (en) * | 1986-01-10 | 1987-05-30 | Горьковский Автомобильный Завод | Manipulator |
| CN101708611B (en) * | 2009-11-09 | 2011-07-27 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN202137443U (en) * | 2011-06-14 | 2012-02-08 | 湖州高林不锈钢管制造有限公司 | Transversely feeding cutter |
| CN102554918A (en) * | 2012-01-10 | 2012-07-11 | 天津大学 | Over-constraint parallel mechanism with three degrees of freedom |
| CN104029545B (en) * | 2014-06-30 | 2016-03-30 | 东南大学 | A kind of two-dimentional automatic blackboard cleaning device |
| CN204487558U (en) * | 2015-01-24 | 2015-07-22 | 江西省机械科学研究所 | The swingable parallel rod synchronous telescoping mechanism of gear driven type |
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Effective date of registration: 20230310 Address after: 200127 room 281, building 2, No. 20, Chaoyang Road, Chedun Town, Songjiang District, Shanghai Patentee after: SHANGHAI YINGHAO MECHANICAL & ELECTRICAL EQUIPMENT Co.,Ltd. Address before: 330002 Xihu District, Nanchang City, Jiangxi Province 125 Patentee before: JIANGXI MECHANICAL SCIENCE Research Institute |
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