CN104589331B - Gear drive electric cylinder three translation manipulator - Google Patents

Gear drive electric cylinder three translation manipulator Download PDF

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Publication number
CN104589331B
CN104589331B CN201510034769.XA CN201510034769A CN104589331B CN 104589331 B CN104589331 B CN 104589331B CN 201510034769 A CN201510034769 A CN 201510034769A CN 104589331 B CN104589331 B CN 104589331B
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gear
revolute pair
pair
bar
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CN104589331A (en
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郑小民
王红州
邹晓晖
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JIANGXI MACHINERY SCIENCE INST
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JIANGXI MACHINERY SCIENCE INST
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Abstract

Gear drive electric cylinder 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 side chain and the second side chain can realize the synchronization lifting motion of two electric cylinders in respective side chain respectively under the driving of the first motor and the second motor.Described gear drive electric cylinder three translation manipulator can realize the motion of moving platform three-dimensional translating spatially.Structure of the present invention is simple, compact, has occupation of land space little, the advantages such as flexible movements.

Description

Gear drive electric cylinder three translation manipulator
Technical field
The present invention relates to industrial robot field, particularly gear drive 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 two 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 gear drive electric cylinder 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 electric cylinder 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 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 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 bevel gear 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 by the one zero four 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 four 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 five 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 six revolute pair, one zero two outer bar is connected with the first support by the one zero seven 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 eight 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 nine revolute pair.
Described second side chain comprises the second support, 201 gear, 202 gear, 203 gear, 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 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 bevel gear 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 by the 204 gear pair and the 20 plug tap gear couplings, 201 bevel gear is connected with the 201 outer bar by the 204 revolute pair, 201 bevel gear and the 201 screw mandrel are consolidated, 202 bevel gear is connected with the 202 outer bar by the 205 revolute pair, 202 bevel gear and the 202 screw mandrel are consolidated, 201 outer bar is connected with the second support by the 206 revolute pair, 202 outer bar is connected with the second support by the 207 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 208 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 209 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 of gear drive electric cylinder three translation manipulator of the present invention.
Fig. 2 is gear drive electric cylinder three translation manipulator first branched structure schematic diagram of the present invention.
Fig. 3 is gear drive electric cylinder three translation manipulator second branched structure schematic diagram of the present invention.
Fig. 4 is the first support schematic diagram of gear drive electric cylinder three translation manipulator first side chain of the present invention.
Fig. 5 is the second support schematic diagram of gear drive electric cylinder three translation manipulator second side chain of the present invention.
Fig. 6 is the internal structure schematic diagram of gear drive electric cylinder three translation manipulator first side chain of the present invention.
Fig. 7 is the internal structure schematic diagram of gear drive electric cylinder 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 electric cylinder 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 101 of described first side chain is connected with frame 1 by the first revolute pair 131, 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 231, and the second connecting axle 213 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 101, one zero one gear 102, one zero two gear 103, one zero three gear 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 gear 102 is connected with the first support 101 by the one zero one revolute pair 114, one zero one gear 102 is connected with the one zero two gear 103 by the one zero one gear pair 119, one zero one gear 102 is connected with the one zero one bevel gear 105 by the one zero two gear pair 120, one zero two gear 103 is connected with the first support 101 by the one zero two revolute pair 115, one zero two gear 103 is connected with the one zero three gear 104 by the one zero three gear pair 121, one zero three gear 104 is connected with the first support 101 by the one zero three revolute pair 116, one zero three gear 104 is connected with the one zero two bevel gear 106 by the one zero four gear pair 122, one zero one bevel gear 105 is connected with the one zero one outer bar 107 by the one zero four revolute pair 123, 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 five revolute pair 124, 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 six revolute pair 117, one zero two outer bar 108 is connected with the first support 101 by the one zero seven revolute pair 118, one zero one screw mandrel 111 is connected with the one zero one Nut pole 109 by the one zero one screw pair 125, one zero two screw mandrel 112 is connected with the one zero two Nut pole 110 by the one zero two screw pair 126, one zero one Nut pole 109 is connected with the one zero one outer bar 107 by the one zero one moving sets 127, one zero one Nut pole 109 is connected with the first connecting axle 113 by the one zero eight revolute pair 129, one zero two Nut pole 110 is connected with the one zero two outer bar 108 by the one zero two moving sets 128, one zero two Nut pole 110 is connected with the first connecting axle 113 by the one zero nine revolute pair 130.
Described second side chain comprises the second support 201, 201 gear 202, 202 gear 203, 203 gear 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 gear 202 is connected with the second support 201 by the 201 revolute pair 214, 201 gear 202 is connected with the 202 gear 203 by the 201 gear pair 219, 201 gear 202 is connected with the 201 bevel gear 205 by the 202 gear pair 220, 202 gear 203 is connected with the second support 201 by the 202 revolute pair 215, 202 gear 203 is connected with the 203 gear 204 by the 203 gear pair 221, 203 gear 204 is connected with the second support 201 by the 203 revolute pair 216, 203 gear 204 is connected with the 202 bevel gear 206 by the 204 gear pair 222, 201 bevel gear 205 is connected with the 201 outer bar 207 by the 204 revolute pair 223, 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 205 revolute pair 224, 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 206 revolute pair 217, 202 outer bar 208 is connected with the second support 201 by the 207 revolute pair 218, 201 screw mandrel 211 is connected with the 201 Nut pole 209 by the 201 screw pair 225, 202 screw mandrel 212 is connected with the 202 Nut pole 210 by the 202 screw pair 226, 201 Nut pole 209 is connected with the 201 outer bar 207 by the 201 moving sets 227, 201 Nut pole 209 is connected with the second connecting axle 213 by the 208 revolute pair 229, 202 Nut pole 210 is connected with the 202 outer bar 208 by the 202 moving sets 228, 202 Nut pole 210 is connected with the second connecting axle 213 by the 209 revolute pair 230.
Described first motor 2 drives the one zero two gear 103 of the first side chain to move, second motor 3 drives the 1 of the first side chain the outer bar 108 to move, 3rd motor 4 drives the 202 gear 203 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 electric cylinder 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 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 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 bevel gear 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 by the one zero four 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 four 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 five 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 six revolute pair, one zero two outer bar is connected with the first support by the one zero seven 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 eight 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 nine revolute pair,
Described second side chain comprises the second support, 201 gear, 202 gear, 203 gear, 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 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 bevel gear 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 by the 204 gear pair and the 20 plug tap gear couplings, 201 bevel gear is connected with the 201 outer bar by the 204 revolute pair, 201 bevel gear and the 201 screw mandrel are consolidated, 202 bevel gear is connected with the 202 outer bar by the 205 revolute pair, 202 bevel gear and the 202 screw mandrel are consolidated, 201 outer bar is connected with the second support by the 206 revolute pair, 202 outer bar is connected with the second support by the 207 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 208 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 209 revolute pair.
CN201510034769.XA 2015-01-24 2015-01-24 Gear drive electric cylinder three translation manipulator Active CN104589331B (en)

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Publication number Priority date Publication date Assignee Title
EP0005581A1 (en) * 1978-04-14 1979-11-28 Westinghouse Electric Corporation Remotely controlled tool-positioning table and method for its operation
US6457792B1 (en) * 1999-11-29 2002-10-01 Xerox Corporation Method for effecting actions over vertical surfaces
CN1769005A (en) * 2005-11-23 2006-05-10 天津理工大学 Large-workspace three-dimensional moving parallel robot mechansim
CN103223667B (en) * 2012-12-27 2015-04-01 广西大学 Parallel mechanism containing prr open-loop subchain and prrrp closed-loop subchain
CN103264386B (en) * 2013-04-19 2015-09-30 南京理工大学 Three Degree Of Freedom high-speed translation motion parallel connection mechanism
CN103921267B (en) * 2014-03-18 2016-04-13 上海交通大学 Four-footed all-around mobile mechanical arm
CN204525450U (en) * 2015-01-24 2015-08-05 江西省机械科学研究所 Gear drive electric cylinder three translation manipulator

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