CN104589343A - Gear-driven electric cylinder heavy-duty two-dimensional translational manipulator - Google Patents
Gear-driven electric cylinder heavy-duty two-dimensional translational manipulator Download PDFInfo
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- CN104589343A CN104589343A CN201510034771.7A CN201510034771A CN104589343A CN 104589343 A CN104589343 A CN 104589343A CN 201510034771 A CN201510034771 A CN 201510034771A CN 104589343 A CN104589343 A CN 104589343A
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Abstract
The invention relates to a gear-driven electric cylinder heavy-duty two-dimensional translational manipulator, which comprises a frame, a first gear, a second gear, a third gear, a first bevel gear, a second bevel gear, a first outer rod, a second outer rod, a first lead screw, a second lead screw, a first nut rod, a second nut rod, a movable platform, a motor and a linear actuator. The gear-driven electric cylinder heavy-duty two-dimensional translational manipulator can move and carry out the planar two-dimensional translational motion of the movable platform under the drive of the motor and the linear actuator. The gear-driven electric cylinder heavy-duty two-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 electric cylinder heavy duty two translation manipulators.
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, adds the cooperation of linear actuator, can complete moving platform two translational motions 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 gear drive electric cylinder heavy duty two translation manipulators, the motion of moving platform bidimensional translation in the plane can be realized.
The present invention achieves the above object by the following technical programs: gear drive electric cylinder heavy duty two translation manipulators, comprise frame, the first gear, the second gear, the 3rd gear, the first bevel gear, the second bevel gear, the first outer bar, the second outer bar, the first screw mandrel, the second screw mandrel, the first Nut pole, the second Nut pole, moving platform, motor and linear actuator.
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 bevel gear 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 bevel gear by the 4th gear pair, first bevel gear is connected with the first outer bar by the 4th revolute pair, first bevel gear and the first screw mandrel are consolidated, second bevel gear is connected with the second outer bar by the 5th revolute pair, second bevel gear and the second screw mandrel are consolidated, first outer bar is connected with frame by the 6th revolute pair, second outer bar is connected with frame by the 7th revolute pair, first screw mandrel is connected with the first Nut pole by screw pair, second screw mandrel is connected with the second Nut pole by the second screw pair, first Nut pole is connected with the first outer bar by the first moving sets, first Nut pole is connected with moving platform by the 8th revolute pair, second Nut pole is connected with the second outer bar by the second moving sets, second Nut pole is connected with moving platform by the 9th revolute pair, moving platform is connected with linear actuator by the tenth revolute pair, linear actuator is connected with frame by the 11 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 of the present invention heavy duty two translation manipulators.
Fig. 2 is the frame schematic diagram of gear drive electric cylinder of the present invention heavy duty two translation manipulators.
Fig. 3 is the internal structure schematic diagram of gear drive electric cylinder of the present invention heavy duty two translation manipulators.
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 and Fig. 3, gear drive electric cylinder heavy duty two translation manipulators, comprise frame 1, first gear 2, second gear 3, outer bar 8, first screw mandrel 11, second screw mandrel 12, first Nut pole 9, second Nut pole 10 of the 3rd gear 4, first bevel gear 5, second bevel gear the 6, first outer bar 7, second, moving platform 13, motor 31 and linear actuator 32.
Described first gear 2 is connected with frame 1 by the first revolute pair 14, first gear 2 is connected with the second gear 3 by the first gear pair 19, first gear 2 is connected with the first bevel gear 5 by the second gear pair 20, second gear 3 is connected with frame 1 by the second revolute pair 15, second gear 3 is connected with the 3rd gear 4 by the 3rd gear pair 21, 3rd gear 4 is connected with frame 1 by the 3rd revolute pair 16, 3rd gear 4 is connected with the second bevel gear 6 by the 4th gear pair 22, first bevel gear 5 is connected with the first outer bar 7 by the 4th revolute pair 23, first bevel gear 5 and the first screw mandrel 11 are consolidated, second bevel gear 6 is connected with the second outer bar 8 by the 5th revolute pair 24, second bevel gear 6 and the second screw mandrel 12 are consolidated, first outer bar 7 is connected with frame 1 by the 6th revolute pair 17, second outer bar 8 is connected with frame 1 by the 7th revolute pair 18, first screw mandrel 11 is connected with the first Nut pole 9 by screw pair 25, second screw mandrel 12 is connected with the second Nut pole 10 by the second screw pair 26, first Nut pole 9 is connected with the first outer bar 7 by the first moving sets 27, first Nut pole 9 is connected with moving platform 13 by the 8th revolute pair 29, second Nut pole 10 is connected with the second outer bar 8 by the second moving sets 28, second Nut pole 10 is connected with moving platform 13 by the 9th revolute pair 30, moving platform 13 is connected with linear actuator 32 by the tenth revolute pair 33, linear actuator 32 is connected with frame 1 by the 11 revolute pair 34.
Under the driving of described motor 31 and linear actuator 32, the motion of moving platform plane two translation can be realized.
Claims (1)
1. gear drive electric cylinder heavy duty two translation manipulators, comprise frame, the first gear, the second gear, the 3rd gear, the first bevel gear, the second bevel gear, the first outer bar, the second outer bar, the first screw mandrel, the second screw mandrel, the first Nut pole, the second Nut pole, moving platform, motor and linear actuator, 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 bevel gear 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 bevel gear by the 4th gear pair, first bevel gear is connected with the first outer bar by the 4th revolute pair, first bevel gear and the first screw mandrel are consolidated, second bevel gear is connected with the second outer bar by the 5th revolute pair, second bevel gear and the second screw mandrel are consolidated, first outer bar is connected with frame by the 6th revolute pair, second outer bar is connected with frame by the 7th revolute pair, first screw mandrel is connected with the first Nut pole by screw pair, second screw mandrel is connected with the second Nut pole by the second screw pair, first Nut pole is connected with the first outer bar by the first moving sets, first Nut pole is connected with moving platform by the 8th revolute pair, second Nut pole is connected with the second outer bar by the second moving sets, second Nut pole is connected with moving platform by the 9th revolute pair, moving platform is connected with linear actuator by the tenth revolute pair, linear actuator is connected with frame by the 11 revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034771.7A CN104589343B (en) | 2015-01-24 | 2015-01-24 | Gear drive electric cylinder heavy duty two translation manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034771.7A CN104589343B (en) | 2015-01-24 | 2015-01-24 | Gear drive electric cylinder heavy duty two translation manipulators |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104589343A true CN104589343A (en) | 2015-05-06 |
| CN104589343B CN104589343B (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510034771.7A Expired - Fee Related CN104589343B (en) | 2015-01-24 | 2015-01-24 | Gear drive electric cylinder heavy duty two translation manipulators |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544471A (en) * | 2018-04-12 | 2018-09-18 | 南京理工大学 | A kind of two-dimensional translation parallel institution of big working space |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2741730Y (en) * | 2004-09-08 | 2005-11-23 | 温兆麟 | Two freedom moving plane shunting mechanism |
| 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 |
| US20110126660A1 (en) * | 2009-11-30 | 2011-06-02 | Gm Global Technology Operations, Inc. | Force limiting device and method |
| CN204525478U (en) * | 2015-01-24 | 2015-08-05 | 江西省机械科学研究所 | Gear drive electric cylinder heavy duty two translation manipulators |
-
2015
- 2015-01-24 CN CN201510034771.7A patent/CN104589343B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2741730Y (en) * | 2004-09-08 | 2005-11-23 | 温兆麟 | Two freedom moving plane shunting mechanism |
| 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 |
| US20110126660A1 (en) * | 2009-11-30 | 2011-06-02 | Gm Global Technology Operations, Inc. | Force limiting device and method |
| CN204525478U (en) * | 2015-01-24 | 2015-08-05 | 江西省机械科学研究所 | Gear drive electric cylinder heavy duty two translation manipulators |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544471A (en) * | 2018-04-12 | 2018-09-18 | 南京理工大学 | A kind of two-dimensional translation parallel institution of big working space |
| CN108544471B (en) * | 2018-04-12 | 2021-07-23 | 南京理工大学 | Two-dimensional translation parallel mechanism with large working space |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104589343B (en) | 2016-04-20 |
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Granted publication date: 20160420 Termination date: 20220124 |
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