CN104589327A - Holosymmetric belt-driven electric cylinder three-dimensional translational motion mechanical hand - Google Patents
Holosymmetric belt-driven electric cylinder three-dimensional translational motion mechanical hand Download PDFInfo
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- CN104589327A CN104589327A CN201510034760.9A CN201510034760A CN104589327A CN 104589327 A CN104589327 A CN 104589327A CN 201510034760 A CN201510034760 A CN 201510034760A CN 104589327 A CN104589327 A CN 104589327A
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Abstract
The invention discloses a Holosymmetric belt-driven electric cylinder three-dimensional translational motion mechanical hand. The three-dimensional translational motion mechanical hand comprises a rack, a first supporting chain, a second supporting chain, a third supporting chain, a first motor, a second motor, a third motor and a movable platform, wherein synchronous lifting motion of two electric cylinders in each of the first supporting chain, the second supporting chain and the third supporting chain can be respectively realized under the driving of the first motor, the second motor and the third motor. According to the Holosymmetric belt-driven electric cylinder three-dimensional translational motion mechanical hand, disclosed by the invention, the three-dimensional translational motion of the movable platform in space can be realized; the three-dimensional translational motion mechanical hand has the advantages that the structure is simple and compact, the occupation space is small, the motion is flexible, and the like.
Description
Technical field
The present invention relates to industrial robot field, particularly holohedral symmetry band drives electric cylinder 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 three side chains to connect frame and moving platform, and every bar side chain can realize being synchronized with the movement of two electric cylinders, 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 holohedral symmetry band to drive electric cylinder three translation manipulator, the motion of the spatial three-dimensional translational of moving platform can be realized.
The present invention achieves the above object by the following technical programs: holohedral symmetry band drives electric cylinder three translation manipulator, comprises frame, the first side chain, the second side chain, the 3rd side chain 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, second connecting axle of the second side chain is connected with moving platform by the 4th revolute pair, 3rd support of the 3rd side chain is connected with frame by the 5th revolute pair, and the 3rd connecting axle of the 3rd side chain is connected with moving platform by the 6th revolute pair.
Described first side chain comprises the first support, one zero one drive, one zero two drive, first band, one zero one bevel gear, one zero two bevel gear, one zero one outer bar, one zero two outer bar, one zero one screw mandrel, one zero two screw mandrel, one zero one Nut pole, one zero two Nut pole and the first connecting axle, one zero one drive is connected with the first support by the one zero one revolute pair, one zero one drive is connected with the one zero two drive by the first band, one zero one drive is connected with the one zero one bevel gear by the one zero one gear pair, one zero two drive is connected with the first support by the one zero two revolute pair, one zero two drive is by the one zero two gear pair and the one zero plug tap gear couplings, one zero one bevel gear is connected with the one zero one outer bar by the one zero three revolute pair, one zero one bevel gear and the one zero one screw mandrel are consolidated, one zero two bevel gear is connected with the one zero two outer bar by the one zero four revolute pair, one zero two bevel gear and the one zero two screw mandrel are consolidated, one zero one outer bar is connected with the first support by the one zero five revolute pair, one zero two outer bar is connected with the first support by the one zero six revolute pair, one zero one screw mandrel is connected with the one zero one Nut pole by the one zero one screw pair, one zero two screw mandrel is connected with the one zero two Nut pole by the one zero two screw pair, one zero one Nut pole is connected with the one zero one outer bar by the one zero one moving sets, one zero one Nut pole is connected with the first connecting axle by the one zero seven revolute pair, one zero two Nut pole is connected with the one zero two outer bar by the one zero two moving sets, one zero two Nut pole is connected with the first connecting axle by the one zero eight revolute pair.
Described second side chain comprises the second support, 201 drive, 202 drive, second band, 201 bevel gear, 202 bevel gear, 201 outer bar, 202 outer bar, 201 screw mandrel, 202 screw mandrel, 201 Nut pole, 202 Nut pole and the second connecting axle, 201 drive is connected with the second support by the 201 revolute pair, 201 drive is connected with the 202 drive by the second band, 201 drive is connected with the 201 bevel gear by the 201 gear pair, 202 drive is connected with the second support by the 202 revolute pair, 202 drive is by the 202 gear pair and the 20 plug tap gear couplings, 201 bevel gear is connected with the 201 outer bar by the 203 revolute pair, 201 bevel gear and the 201 screw mandrel are consolidated, 202 bevel gear is connected with the 202 outer bar by the 204 revolute pair, 202 bevel gear and the 202 screw mandrel are consolidated, 201 outer bar is connected with the second support by the 205 revolute pair, 202 outer bar is connected with the second support by the 206 revolute pair, 201 screw mandrel is connected with the 201 Nut pole by the 201 screw pair, 202 screw mandrel is connected with the 202 Nut pole by the 202 screw pair, 201 Nut pole is connected with the 201 outer bar by the 201 moving sets, 201 Nut pole is connected with the second connecting axle by the 207 revolute pair, 202 Nut pole is connected with the 202 outer bar by the 202 moving sets, 202 Nut pole is connected with the second connecting axle by the 208 revolute pair.
Described 3rd side chain comprises the 3rd support, 301 drive, 302 drive, 3rd band, 301 bevel gear, 302 bevel gear, 301 outer bar, 302 outer bar, 301 screw mandrel, 302 screw mandrel, 301 Nut pole, 302 Nut pole and the 3rd connecting axle, 301 drive is connected with the 3rd support by the 301 revolute pair, 301 drive is connected with the 302 drive by the 3rd band, 301 drive is connected with the 301 bevel gear by the 301 gear pair, 302 drive is connected with the 3rd support by the 302 revolute pair, 302 drive is by the 302 gear pair and the 30 plug tap gear couplings, 301 bevel gear is connected with the 301 outer bar by the 303 revolute pair, 301 bevel gear and the 301 screw mandrel are consolidated, 302 bevel gear is connected with the 302 outer bar by the 304 revolute pair, 302 bevel gear and the 302 screw mandrel are consolidated, 301 outer bar is connected with the 3rd support by the 305 revolute pair, 302 outer bar is connected with the 3rd support by the 306 revolute pair, 301 screw mandrel is connected with the 301 Nut pole by the 301 screw pair, 302 screw mandrel is connected with the 302 Nut pole by the 302 screw pair, 301 Nut pole is connected with the 301 outer bar by the 301 moving sets, 301 Nut pole is connected with the 3rd connecting axle by the 307 revolute pair, 302 Nut pole is connected with the 302 outer bar by the 302 moving sets, 302 Nut pole is connected with the 3rd connecting axle by the 308 revolute pair.
Outstanding advantages of the present invention is:
1, whole mechanism compact conformation, 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 that holohedral symmetry band of the present invention drives electric cylinder three translation manipulator.
Fig. 2 is that holohedral symmetry band of the present invention drives electric cylinder three translation manipulator first branched structure schematic diagram.
Fig. 3 is that holohedral symmetry band of the present invention drives electric cylinder three translation manipulator second branched structure schematic diagram.
Fig. 4 is that holohedral symmetry band of the present invention drives electric cylinder three translation manipulator the 3rd branched structure schematic diagram.
Fig. 5 is the first support schematic diagram that holohedral symmetry band of the present invention drives electric cylinder three translation manipulator first side chain.
Fig. 6 is the second support schematic diagram that holohedral symmetry band of the present invention drives electric cylinder three translation manipulator second side chain.
Fig. 7 is the 3rd support schematic diagram that holohedral symmetry band of the present invention drives electric cylinder three translation manipulator the 3rd side chain.
Fig. 8 is the internal structure schematic diagram that holohedral symmetry band of the present invention drives electric cylinder three translation manipulator first side chain.
Fig. 9 is the internal structure schematic diagram that holohedral symmetry band of the present invention drives electric cylinder three translation manipulator second side chain.
Figure 10 is the internal structure schematic diagram that holohedral symmetry band of the present invention drives electric cylinder three translation manipulator the 3rd side chain.
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, Fig. 7, Fig. 8, Fig. 9 and Figure 10, holohedral symmetry band drives electric cylinder three translation manipulator, comprises frame 1, first side chain, the second side chain, the 3rd side chain, the first motor 2, second motor 3, the 3rd motor 4 and moving platform 5.
First support 101 of described first side chain is connected with frame 1 by the first revolute pair 128, first connecting axle 113 of the first side chain is connected with moving platform 5 by the second revolute pair 6, second support 201 of the second side chain is connected with frame 1 by the 3rd revolute pair 228, second connecting axle 213 of the second side chain is connected with moving platform 5 by the 4th revolute pair 7,3rd support 301 of the 3rd side chain is connected with frame 1 by the 3rd revolute pair 328, and the 3rd connecting axle 313 of the 3rd side chain is connected with moving platform 5 by the 4th revolute pair 8.
Described first side chain comprises the first support 101, one zero one drive 102, one zero two drive 103, first band 104, one zero one bevel gear 105, one zero two bevel gear 106, one zero one outer bar 107, one zero two outer bar 108, one zero one screw mandrel 111, one zero two screw mandrel 112, one zero one Nut pole 109, one zero two Nut pole 110 and the first connecting axle 113, one zero one drive 102 is connected with the first support 101 by the one zero one revolute pair 114, one zero one drive 102 is connected with the one zero two drive 103 by the first band 104, one zero one drive 102 is connected with the one zero one bevel gear 105 by the one zero one gear pair 118, one zero two drive 103 is connected with the first support 101 by the one zero two revolute pair 115, one zero two drive 103 is connected with the one zero two bevel gear 106 by the one zero two gear pair 119, one zero one bevel gear 105 is connected with the one zero one outer bar 107 by the one zero three revolute pair 120, one zero one bevel gear the 105 and the 1 screw mandrel 111 is consolidated, one zero two bevel gear 106 is connected with the one zero two outer bar 108 by the one zero four revolute pair 121, one zero two bevel gear the 106 and the 1 screw mandrel 112 is consolidated, one zero one outer bar 107 is connected with the first support 101 by the one zero five revolute pair 116, one zero two outer bar 108 is connected with the first support 101 by the one zero six revolute pair 117, one zero one screw mandrel 111 is connected with the one zero one Nut pole 109 by the one zero one screw pair 122, one zero two screw mandrel 112 is connected with the one zero two Nut pole 110 by the one zero two screw pair 123, one zero one Nut pole 109 is connected with the one zero one outer bar 107 by the one zero one moving sets 124, one zero one Nut pole 109 is connected with the first connecting axle 113 by the one zero seven revolute pair 126, one zero two Nut pole 110 is connected with the one zero two outer bar 108 by the one zero two moving sets 125, one zero two Nut pole 110 is connected with the first connecting axle 113 by the one zero eight revolute pair 127.
Described second side chain comprises the second support 201, 201 drive 202, 202 drive 203, second band 204, 201 bevel gear 205, 202 bevel gear 206, 201 outer bar 207, 202 outer bar 208, 201 screw mandrel 211, 202 screw mandrel 212, 201 Nut pole 209, 202 Nut pole 210 and the second connecting axle 213, 201 drive 202 is connected with the second support 201 by the 201 revolute pair 214, 201 drive 202 is connected with the 202 drive 203 by the second band 204, 201 drive 202 is connected with the 201 bevel gear 205 by the 201 gear pair 218, 202 drive 203 is connected with the second support 201 by the 202 revolute pair 215, 202 drive 203 is connected with the 202 bevel gear 206 by the 202 gear pair 219, 201 bevel gear 205 is connected with the 201 outer bar 207 by the 203 revolute pair 220, 201 bevel gear the 205 and the 201 screw mandrel 211 is consolidated, 202 bevel gear 206 is connected with the 202 outer bar 208 by the 204 revolute pair 221, 202 bevel gear the 206 and the 202 screw mandrel 212 is consolidated, 201 outer bar 207 is connected with the second support 201 by the 205 revolute pair 216, 202 outer bar 208 is connected with the second support 201 by the 206 revolute pair 217, 201 screw mandrel 211 is connected with the 201 Nut pole 209 by the 201 screw pair 222, 202 screw mandrel 212 is connected with the 202 Nut pole 210 by the 202 screw pair 223, 201 Nut pole 209 is connected with the 201 outer bar 207 by the 201 moving sets 224, 201 Nut pole 209 is connected with the second connecting axle 213 by the 207 revolute pair 226, 202 Nut pole 210 is connected with the 202 outer bar 208 by the 202 moving sets 225, 202 Nut pole 210 is connected with the second connecting axle 213 by the 208 revolute pair 227.
Described 3rd side chain comprises the 3rd support 301, 301 drive 302, 302 drive 303, 3rd band 304, 301 bevel gear 305, 302 bevel gear 306, 301 outer bar 307, 302 outer bar 308, 301 screw mandrel 311, 302 screw mandrel 312, 301 Nut pole 309, 302 Nut pole 310 and the 3rd connecting axle 313, 301 drive 302 is connected with the 3rd support 301 by the 301 revolute pair 314, 301 drive 302 is connected with the 302 drive 303 by the 3rd band 304, 301 drive 302 is connected with the 301 bevel gear 305 by the 301 gear pair 318, 302 drive 303 is connected with the 3rd support 301 by the 302 revolute pair 315, 302 drive 303 is connected with the 302 bevel gear 306 by the 302 gear pair 319, 301 bevel gear 305 is connected with the 301 outer bar 307 by the 303 revolute pair 320, 301 bevel gear the 305 and the 301 screw mandrel 311 is consolidated, 302 bevel gear 306 is connected with the 302 outer bar 308 by the 304 revolute pair 321, 302 bevel gear the 306 and the 302 screw mandrel 312 is consolidated, 301 outer bar 307 is connected with the 3rd support 301 by the 305 revolute pair 316, 302 outer bar 308 is connected with the 3rd support 301 by the 306 revolute pair 317, 301 screw mandrel 311 is connected with the 301 Nut pole 309 by the 301 screw pair 322, 302 screw mandrel 312 is connected with the 302 Nut pole 310 by the 302 screw pair 323, 301 Nut pole 309 is connected with the 301 outer bar 307 by the 301 moving sets 324, 301 Nut pole 309 is connected with the 3rd connecting axle 313 by the 307 revolute pair 326, 302 Nut pole 310 is connected with the 302 outer bar 308 by the 302 moving sets 325, 302 Nut pole 310 is connected with the 3rd connecting axle 313 by the 308 revolute pair 327.
Described first motor 2 drives the one zero two drive 103 of the first side chain to move, second motor 3 drives the 202 drive 203 of the second side chain to move, 3rd motor 4 drives the 302 drive 303 of the 3rd side chain to move, and can realize the motion of the spatial three-dimensional translational of moving platform 5.
Claims (1)
1. holohedral symmetry band drives electric cylinder three translation manipulator, comprises frame, the first side chain, the second side chain, the 3rd 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, 3rd support of the 3rd side chain is connected with frame by the 5th revolute pair, 3rd connecting axle of the 3rd side chain is connected with moving platform by the 6th revolute pair
Described first side chain comprises the first support, one zero one drive, one zero two drive, first band, one zero one bevel gear, one zero two bevel gear, one zero one outer bar, one zero two outer bar, one zero one screw mandrel, one zero two screw mandrel, one zero one Nut pole, one zero two Nut pole and the first connecting axle, one zero one drive is connected with the first support by the one zero one revolute pair, one zero one drive is connected with the one zero two drive by the first band, one zero one drive is connected with the one zero one bevel gear by the one zero one gear pair, one zero two drive is connected with the first support by the one zero two revolute pair, one zero two drive is by the one zero two gear pair and the one zero plug tap gear couplings, one zero one bevel gear is connected with the one zero one outer bar by the one zero three revolute pair, one zero one bevel gear and the one zero one screw mandrel are consolidated, one zero two bevel gear is connected with the one zero two outer bar by the one zero four revolute pair, one zero two bevel gear and the one zero two screw mandrel are consolidated, one zero one outer bar is connected with the first support by the one zero five revolute pair, one zero two outer bar is connected with the first support by the one zero six revolute pair, one zero one screw mandrel is connected with the one zero one Nut pole by the one zero one screw pair, one zero two screw mandrel is connected with the one zero two Nut pole by the one zero two screw pair, one zero one Nut pole is connected with the one zero one outer bar by the one zero one moving sets, one zero one Nut pole is connected with the first connecting axle by the one zero seven revolute pair, one zero two Nut pole is connected with the one zero two outer bar by the one zero two moving sets, one zero two Nut pole is connected with the first connecting axle by the one zero eight revolute pair,
Described second side chain comprises the second support, 201 drive, 202 drive, second band, 201 bevel gear, 202 bevel gear, 201 outer bar, 202 outer bar, 201 screw mandrel, 202 screw mandrel, 201 Nut pole, 202 Nut pole and the second connecting axle, 201 drive is connected with the second support by the 201 revolute pair, 201 drive is connected with the 202 drive by the second band, 201 drive is connected with the 201 bevel gear by the 201 gear pair, 202 drive is connected with the second support by the 202 revolute pair, 202 drive is by the 202 gear pair and the 20 plug tap gear couplings, 201 bevel gear is connected with the 201 outer bar by the 203 revolute pair, 201 bevel gear and the 201 screw mandrel are consolidated, 202 bevel gear is connected with the 202 outer bar by the 204 revolute pair, 202 bevel gear and the 202 screw mandrel are consolidated, 201 outer bar is connected with the second support by the 205 revolute pair, 202 outer bar is connected with the second support by the 206 revolute pair, 201 screw mandrel is connected with the 201 Nut pole by the 201 screw pair, 202 screw mandrel is connected with the 202 Nut pole by the 202 screw pair, 201 Nut pole is connected with the 201 outer bar by the 201 moving sets, 201 Nut pole is connected with the second connecting axle by the 207 revolute pair, 202 Nut pole is connected with the 202 outer bar by the 202 moving sets, 202 Nut pole is connected with the second connecting axle by the 208 revolute pair,
Described 3rd side chain comprises the 3rd support, 301 drive, 302 drive, 3rd band, 301 bevel gear, 302 bevel gear, 301 outer bar, 302 outer bar, 301 screw mandrel, 302 screw mandrel, 301 Nut pole, 302 Nut pole and the 3rd connecting axle, 301 drive is connected with the 3rd support by the 301 revolute pair, 301 drive is connected with the 302 drive by the 3rd band, 301 drive is connected with the 301 bevel gear by the 301 gear pair, 302 drive is connected with the 3rd support by the 302 revolute pair, 302 drive is by the 302 gear pair and the 30 plug tap gear couplings, 301 bevel gear is connected with the 301 outer bar by the 303 revolute pair, 301 bevel gear and the 301 screw mandrel are consolidated, 302 bevel gear is connected with the 302 outer bar by the 304 revolute pair, 302 bevel gear and the 302 screw mandrel are consolidated, 301 outer bar is connected with the 3rd support by the 305 revolute pair, 302 outer bar is connected with the 3rd support by the 306 revolute pair, 301 screw mandrel is connected with the 301 Nut pole by the 301 screw pair, 302 screw mandrel is connected with the 302 Nut pole by the 302 screw pair, 301 Nut pole is connected with the 301 outer bar by the 301 moving sets, 301 Nut pole is connected with the 3rd connecting axle by the 307 revolute pair, 302 Nut pole is connected with the 302 outer bar by the 302 moving sets, 302 Nut pole is connected with the 3rd connecting axle by the 308 revolute pair.
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| CN201510034760.9A CN104589327B (en) | 2015-01-24 | 2015-01-24 | Holohedral symmetry band drives electric cylinder three translation manipulator |
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| CN201510034760.9A CN104589327B (en) | 2015-01-24 | 2015-01-24 | Holohedral symmetry band drives electric cylinder three translation manipulator |
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Citations (7)
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| JPH03264280A (en) * | 1990-03-13 | 1991-11-25 | Toshiba Corp | Industrial robot |
| CN1827312A (en) * | 2006-04-18 | 2006-09-06 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| KR20110061026A (en) * | 2009-12-01 | 2011-06-09 | 포테닛 주식회사 | 3 degrees of freedom parallel link platform to be able to change singularity |
| CN103659793A (en) * | 2012-09-04 | 2014-03-26 | 哈尔滨工业大学深圳研究生院 | Three-horizontal-moving parallel mechanism with single branch chains containing closed rings |
| CN103817685A (en) * | 2014-02-25 | 2014-05-28 | 河南科技大学 | Three-translation parallel mechanism and branched chain thereof |
| GB2512059A (en) * | 2013-03-18 | 2014-09-24 | Rolls Royce Plc | Machine tool |
| CN204487559U (en) * | 2015-01-24 | 2015-07-22 | 江西省机械科学研究所 | Holohedral symmetry band drives electric cylinder three translation manipulator |
-
2015
- 2015-01-24 CN CN201510034760.9A patent/CN104589327B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03264280A (en) * | 1990-03-13 | 1991-11-25 | Toshiba Corp | Industrial robot |
| CN1827312A (en) * | 2006-04-18 | 2006-09-06 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| KR20110061026A (en) * | 2009-12-01 | 2011-06-09 | 포테닛 주식회사 | 3 degrees of freedom parallel link platform to be able to change singularity |
| CN103659793A (en) * | 2012-09-04 | 2014-03-26 | 哈尔滨工业大学深圳研究生院 | Three-horizontal-moving parallel mechanism with single branch chains containing closed rings |
| GB2512059A (en) * | 2013-03-18 | 2014-09-24 | Rolls Royce Plc | Machine tool |
| CN103817685A (en) * | 2014-02-25 | 2014-05-28 | 河南科技大学 | Three-translation parallel mechanism and branched chain thereof |
| CN204487559U (en) * | 2015-01-24 | 2015-07-22 | 江西省机械科学研究所 | Holohedral symmetry band drives electric cylinder three translation manipulator |
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