CN105798882B - A kind of reciprocating positioning mobile device of planet wheel drive - Google Patents

A kind of reciprocating positioning mobile device of planet wheel drive Download PDF

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Publication number
CN105798882B
CN105798882B CN201610316794.1A CN201610316794A CN105798882B CN 105798882 B CN105798882 B CN 105798882B CN 201610316794 A CN201610316794 A CN 201610316794A CN 105798882 B CN105798882 B CN 105798882B
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China
Prior art keywords
telescopic rod
revolute pair
rod
sliding sleeve
gear
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CN201610316794.1A
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CN105798882A (en
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不公告发明人
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TAICANG JIA RUI PRECISION MOULD Co.,Ltd.
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Guangxi Province Ningxuxi Technology Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions

Abstract

A kind of reciprocating positioning mobile device of planet wheel drive, the root of first scraper bowl and the second scraper bowl is installed together, large arm lower end is connected on pedestal, first telescopic rod one end is connected on pedestal, first jiao of connection of the first telescopic rod other end and triangular connecting plate, second jiao of triangular connecting plate is connected in large arm, the third angle of triangular connecting plate is connect with second telescopic rod one end, in the shaft of second telescopic rod other end connection, third telescopic rod lower end is connected on pedestal, third telescopic rod upper end is connected on the first sliding sleeve, first sliding sleeve is sleeved on the second telescopic rod.The present apparatus has many advantages, such as that compact-sized, flexible movements, occupied area are small, working space is big.

Description

A kind of reciprocating positioning mobile device of planet wheel drive
Technical field
The present invention relates to machinery field, the reciprocating positioning mobile device of specifically a kind of planet wheel drive.
Background technique
Increased by the demand picked that mechanical arm carries out object.Pick refer to from the multiple objects accumulated in a jumble according to One object of secondary holding is simultaneously transported to specified place.In the case where being picked to the object accumulated in a jumble, for being arranged The cost spatially of each parts feeder, the temporal cost for operating each parts feeder have time-varying more.
Traditional mechanical arm has many advantages, such as that structure is simple, at low cost, working space is big, still, in contrast cascade machine Device people's rigidity is low, may not apply to high speed, the occasion carried greatly;Stacking leads to that robot arm weight is big, poor rigidity, inertia Greatly, the problems such as joint error is accumulative, mechanism dynamic performance is poor, it is difficult to meet the requirement that high speed carries stacking.With motor The development of technology and the raising of control technology, controllable mechanical mechanism provide wide development space for engineering machinery, also exist New requirements at the higher level are proposed in service performance.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of reciprocating positioning mobile devices of planet wheel drive.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of reciprocating positioning mobile device of planet wheel drive, including the first scraper bowl, the second scraper bowl, large arm, pedestal, One telescopic rod, triangular connecting plate, the second telescopic rod, third telescopic rod, the first sliding sleeve, the first ring gear, the first sun gear, first Planetary gear, first connecting rod, the 4th telescopic rod, second connecting rod, third sliding sleeve, the second ring gear, the second sun gear, the second planet Gear, third connecting rod, the 5th telescopic rod, fourth link, the 4th sliding sleeve and walking mechanism,
The root of first scraper bowl and the second scraper bowl is installed together by revolute pair one,
Large arm lower end is connected on pedestal by revolute pair two, and first telescopic rod one end is connected to pedestal by revolute pair three On, the first telescopic rod other end is connect by first jiao of revolute pair four and triangular connecting plate, and second jiao of triangular connecting plate leads to Revolute pair five to be crossed to be connected in large arm, the third angle of triangular connecting plate is connect by revolute pair six with second telescopic rod one end, the The two telescopic rod other ends are connected in the shaft of revolute pair one, and third telescopic rod lower end is connected on pedestal, on third telescopic rod End is connected on the first sliding sleeve by revolute pair seven, and the first sliding sleeve is sleeved on the second telescopic rod,
First ring gear is fixed in large arm, and the first sun gear is mounted on the center of the first ring gear by revolute pair eight, First planetary gear is mounted between the first ring gear and the first sun gear, and first connecting rod one end is connected to the by revolute pair nine On one planetary gear, the first connecting rod other end is connect by revolute pair ten with the 4th telescopic rod one end, the 4th telescopic rod other end It is connected to the first scraper bowl back by revolute pair 11, second connecting rod one end is connected to the second telescopic rod by revolute pair 12 On, the second connecting rod other end is connected on third sliding sleeve by revolute pair 13, and third sliding sleeve is sleeved on the 4th telescopic rod,
Second ring gear is fixed in large arm, and the second sun gear is mounted in the second ring gear by revolute pair 14 The heart, the second planetary gear are mounted between the second ring gear and the second sun gear, and third connecting rod one end is connected by revolute pair 15 It connects on the second planetary gear, the third connecting rod other end is connect by revolute pair 16 with the 5th telescopic rod one end, and the 5th is flexible The bar other end is connected to the second scraper bowl back by revolute pair 17, and fourth link one end is connected to second by revolute pair 18 On telescopic rod, the fourth link other end is connected on the 4th sliding sleeve by revolute pair 19, and it is flexible that the 4th sliding sleeve is sleeved on the 5th On bar, pedestal is connected in walking mechanism by revolute pair 20.
Compared with prior art, the present invention have the utility model has the advantages that
The present invention is with no accumulated error, precision is higher, compact-sized, large carrying capacity, rigidity are high and end effector The features such as inertia is small, driving device can be placed in the position on fixed platform or close to fixed platform, and such motion parts are light-weight, speed Height, dynamic response is good, has that working space is big, rigidity is high, bearing capacity is strong, inertia is small and end effector precision height etc. is excellent Point can be applied in the complex jobs such as welding, spraying, carrying, handling, assembly, stacking, effectively be improved labor efficiency, and produced It improves a lot in terms of quality and stability.Not only big, flexible movements, high reliablity with working space, while also having The advantages that manufacturing cost is low, and maintenance is simple.
Detailed description of the invention
Fig. 1 is the main view of the reciprocating positioning mobile device of planet wheel drive of the present invention.
Fig. 2 is the rearview of the reciprocating positioning mobile device of planet wheel drive of the present invention.
Fig. 3 is the partial top view of the reciprocating positioning mobile device of planet wheel drive of the present invention.
Specific embodiment
Technical solution of the present invention is further elaborated below by embodiment.
Embodiment 1
A kind of reciprocating positioning mobile device of planet wheel drive, including the first scraper bowl 20, the second scraper bowl 21, large arm 22, Pedestal 23, the first telescopic rod 24, triangular connecting plate 25, the second telescopic rod 26, third telescopic rod 27, in the first sliding sleeve 28, first Gear ring 29, the first sun gear 30, first planetary gear 31, first connecting rod 32, the 4th telescopic rod 33, second connecting rod 34, third are sliding The 35, second ring gear 36, the second sun gear 37, the second planetary gear 38, third connecting rod 39, the 5th telescopic rod the 40, the 4th is covered to connect Bar 41, the 4th sliding sleeve 42 and walking mechanism,
The root of first scraper bowl 20 and the second scraper bowl 21 is installed together by revolute pair 1,
22 lower end of large arm is connected on pedestal 23 by revolute pair 22, and 24 one end of the first telescopic rod is connected by revolute pair 33 It connects on pedestal 23,24 other end of the first telescopic rod is connect by first jiao of revolute pair 44 and triangular connecting plate 25, triangle company Second jiao of fishplate bar 25 is connected in large arm 22 by revolute pair 55, the third angle of triangular connecting plate 25 by revolute pair 66 with The connection of second telescopic rod, 26 one end, 26 other end of the second telescopic rod is connected in the shaft of revolute pair 1, under third telescopic rod 27 End is connected on pedestal 23, and 27 upper end of third telescopic rod is connected on the first sliding sleeve 28 by revolute pair 77, the first 28 sets of sliding sleeve On the second telescopic rod 26,
First ring gear 29 is fixed in large arm 22, and the first sun gear 30 is mounted on the first ring gear by revolute pair 88 29 center, first planetary gear 31 are mounted between the first ring gear 29 and the first sun gear 30, and 32 one end of first connecting rod is logical It crosses revolute pair 99 to be connected in first planetary gear 31,32 other end of first connecting rod passes through revolute pair 10 and the 4th telescopic rod The connection of 33 one end, 33 other end of the 4th telescopic rod are connected to 20 back of the first scraper bowl, second connecting rod 34 by revolute pair 11 One end is connected on the second telescopic rod 26 by revolute pair 12, and 34 other end of second connecting rod is connected by revolute pair 13 On third sliding sleeve, third sliding sleeve is sleeved on the 4th telescopic rod 33,
Second ring gear 36 is fixed in large arm 22, and the second sun gear 37 is mounted on the second internal tooth by revolute pair 14 The center of circle 36, the second planetary gear 38 are mounted between the second ring gear 36 and the second sun gear 37,39 one end of third connecting rod It is connected on the second planetary gear 38 by revolute pair 15,39 other end of third connecting rod passes through revolute pair 16 and the 5th The connection of 40 one end of telescopic rod, 40 other end of the 5th telescopic rod are connected to 21 back of the second scraper bowl by revolute pair 17, and the 4th 41 one end of connecting rod is connected on the second telescopic rod 26 by revolute pair 18, and 41 other end of fourth link passes through revolute pair 19 19 are connected on the 4th sliding sleeve 35, and the 4th sliding sleeve 35 is set with the 5th telescopic rod 40 upper,
Pedestal 23 is connected in walking mechanism by revolute pair 20.

Claims (1)

1. a kind of reciprocating positioning mobile device of planet wheel drive, which is characterized in that including the first scraper bowl, the second scraper bowl, big Arm, pedestal, the first telescopic rod, triangular connecting plate, the second telescopic rod, third telescopic rod, the first sliding sleeve, the first ring gear, first Sun gear, first planetary gear, first connecting rod, the 4th telescopic rod, second connecting rod, third sliding sleeve, the second ring gear, second sun Wheel, the second planetary gear, third connecting rod, the 5th telescopic rod, fourth link, the 4th sliding sleeve and walking mechanism,
The root of first scraper bowl and the second scraper bowl is installed together by revolute pair one,
Large arm lower end is connected on pedestal by revolute pair two, and first telescopic rod one end is connected on pedestal by revolute pair three, The first telescopic rod other end connect by first jiao of revolute pair four and triangular connecting plate, and second jiao of triangular connecting plate passes through turn Dynamic pair five is connected in large arm, and the third angle of triangular connecting plate is connect by revolute pair six with second telescopic rod one end, and second stretches The contracting bar other end is connected in the shaft of revolute pair one, and third telescopic rod lower end is connected on pedestal, and third telescopic rod upper end is logical Revolute pair seven to be crossed to be connected on the first sliding sleeve, the first sliding sleeve is sleeved on the second telescopic rod,
First ring gear is fixed in large arm, and the first sun gear is mounted on the center of the first ring gear by revolute pair eight, and first Planetary gear is mounted between the first ring gear and the first sun gear, and first connecting rod one end is connected to the first row by revolute pair nine On star gear, the first connecting rod other end is connect by revolute pair ten with the 4th telescopic rod one end, and the 4th telescopic rod other end passes through Revolute pair 11 is connected to the first scraper bowl back, and second connecting rod one end is connected on the second telescopic rod by revolute pair 12, the The two connecting rod other ends are connected on third sliding sleeve by revolute pair 13, and third sliding sleeve is sleeved on the 4th telescopic rod,
Second ring gear is fixed in large arm, and the second sun gear is mounted on the center of the second ring gear by revolute pair 14, the Two planetary gears are mounted between the second ring gear and the second sun gear, and third connecting rod one end is connected to the by revolute pair 15 On two planetary gears, the third connecting rod other end is connect by revolute pair 16 with the 5th telescopic rod one end, and the 5th telescopic rod is another End is connected to the second scraper bowl back by revolute pair 17, and fourth link one end is connected to the second telescopic rod by revolute pair 18 On, the fourth link other end is connected on the 4th sliding sleeve by revolute pair 19, and the 4th sliding sleeve is sleeved on the 5th telescopic rod, bottom Seat is connected in walking mechanism by revolute pair 20.
CN201610316794.1A 2016-05-15 2016-05-15 A kind of reciprocating positioning mobile device of planet wheel drive Active CN105798882B (en)

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106313063A (en) * 2016-09-06 2017-01-11 广西大学 Electromechanically-controlled large-load palletizing robot
CN106272351A (en) * 2016-09-06 2017-01-04 广西大学 A kind of multi-functional robot palletizer
CN107673081A (en) * 2017-09-26 2018-02-09 广西南宁栩兮科技有限公司 A kind of multiple degrees of freedom robot palletizer

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CN103726532A (en) * 2013-12-17 2014-04-16 广西大学 Controllable symmetrical-and-parallel mechanism type loader
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CN105252523A (en) * 2015-11-20 2016-01-20 覃煦 Controllable mechanism type industrial robot manipulator
CN105313107A (en) * 2015-11-10 2016-02-10 南宁邃丛赋语科技开发有限责任公司 Rotatable manipulation arm with metamorphic function
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CN105328695A (en) * 2015-11-10 2016-02-17 南宁邃丛赋语科技开发有限责任公司 Controllable mechanism type movable mechanical arm
CN105397804A (en) * 2015-11-20 2016-03-16 覃珠强 Industrial robot manipulator capable of achieving multi-angle working
CN105522556A (en) * 2016-01-25 2016-04-27 佛山市南海区广工大数控装备协同创新研究院 Four-degree-of-freedom multi-loop series-parallel mechanical arm

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Publication number Priority date Publication date Assignee Title
CN103029124A (en) * 2012-12-27 2013-04-10 广西大学 Multi-degree-of-freedom controllable mechanism type stacking robot
CN103726532A (en) * 2013-12-17 2014-04-16 广西大学 Controllable symmetrical-and-parallel mechanism type loader
CN105313107A (en) * 2015-11-10 2016-02-10 南宁邃丛赋语科技开发有限责任公司 Rotatable manipulation arm with metamorphic function
CN105328712A (en) * 2015-11-10 2016-02-17 南宁邃丛赋语科技开发有限责任公司 Multi-freedom-degree industrial machine operation arm mechanism
CN105328695A (en) * 2015-11-10 2016-02-17 南宁邃丛赋语科技开发有限责任公司 Controllable mechanism type movable mechanical arm
CN105252521A (en) * 2015-11-20 2016-01-20 覃煦 Multiple-degree-of-freedom industrial robot manipulator
CN105252523A (en) * 2015-11-20 2016-01-20 覃煦 Controllable mechanism type industrial robot manipulator
CN105397804A (en) * 2015-11-20 2016-03-16 覃珠强 Industrial robot manipulator capable of achieving multi-angle working
CN105522556A (en) * 2016-01-25 2016-04-27 佛山市南海区广工大数控装备协同创新研究院 Four-degree-of-freedom multi-loop series-parallel mechanical arm

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Effective date of registration: 20200922

Address after: 215400 phase three, Fu Qiao Industrial Zone, floating bridge town, Suzhou, Jiangsu, Taicang

Patentee after: TAICANG JIA RUI PRECISION MOULD Co.,Ltd.

Address before: 530022 the Guangxi Zhuang Autonomous Region Nanning Qingxiu District National Road No. 131 Hangyang international city building 2, room 1712

Patentee before: GUANGXI NANNING XUXI TECHNOLOGY Co.,Ltd.