CN104589321B - The swingable parallel rod synchronous telescoping mechanism of V belt translation formula - Google Patents
The swingable parallel rod synchronous telescoping mechanism of V belt translation formula Download PDFInfo
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- CN104589321B CN104589321B CN201510034748.8A CN201510034748A CN104589321B CN 104589321 B CN104589321 B CN 104589321B CN 201510034748 A CN201510034748 A CN 201510034748A CN 104589321 B CN104589321 B CN 104589321B
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- tooth bar
- drive
- side link
- revolute pair
- telescoping mechanism
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Abstract
The swingable parallel rod synchronous telescoping mechanism of V belt translation formula, comprises 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 and band.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 industrial robot field, particularly the swingable parallel rod synchronous telescoping mechanism of V belt translation formula.
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 V belt translation formula, 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 V belt translation formula, comprises 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 and band.
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.
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 V belt translation formula of the present invention.
Fig. 2 is the frame schematic diagram of the swingable parallel rod synchronous telescoping mechanism of V belt translation formula of the present invention.
Fig. 3 is the first side link schematic diagram of the swingable parallel rod synchronous telescoping mechanism of V belt translation formula of the present invention.
Fig. 4 is the second side link schematic diagram of the swingable parallel rod synchronous telescoping mechanism of V belt translation formula 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 V belt translation formula, comprises 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 and band 11.
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.
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, and the first tooth bar 4 and the second tooth bar 5 can at the state lower swings of keeping parallelism under the effect of external force.Therefore, moving platform 9 can realize the motion of plane bidimensional translation.
Claims (1)
1. the swingable parallel rod synchronous telescoping mechanism of V belt translation formula, comprises 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 and band, 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034748.8A CN104589321B (en) | 2015-01-24 | 2015-01-24 | The swingable parallel rod synchronous telescoping mechanism of V belt translation formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034748.8A CN104589321B (en) | 2015-01-24 | 2015-01-24 | The swingable parallel rod synchronous telescoping mechanism of V belt translation formula |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104589321A CN104589321A (en) | 2015-05-06 |
| CN104589321B true CN104589321B (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510034748.8A Expired - Fee Related CN104589321B (en) | 2015-01-24 | 2015-01-24 | The swingable parallel rod synchronous telescoping mechanism of V belt translation formula |
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| CN (1) | CN104589321B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107792643A (en) * | 2017-10-25 | 2018-03-13 | 南通大学 | For the material fetching device in the pipeline system with wheel rim roller class material |
| CN110000765B (en) * | 2019-05-03 | 2024-05-10 | 江西制造职业技术学院 | High-speed two-translation grabbing robot mechanism with synchronous belt transmission structure |
| CN109968331B (en) * | 2019-05-03 | 2024-02-20 | 江西制造职业技术学院 | Electric cylinder driving two-translation grabbing robot with synchronous belt transmission structure |
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 |
| CN204487556U (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 V belt translation formula |
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 CN201510034748.8A patent/CN104589321B/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 |
| CN204487556U (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 V belt translation formula |
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| CN104589321A (en) | 2015-05-06 |
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Granted publication date: 20160420 Termination date: 20220124 |