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 PDFInfo
- 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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- telescopic rod
- revolute pair
- sliding sleeve
- gear
- ring gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Transmission Devices (AREA)
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
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610316794.1A CN105798882B (en) | 2016-05-15 | 2016-05-15 | A kind of reciprocating positioning mobile device of planet wheel drive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610316794.1A CN105798882B (en) | 2016-05-15 | 2016-05-15 | A kind of reciprocating positioning mobile device of planet wheel drive |
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| Publication Number | Publication Date |
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| CN105798882A CN105798882A (en) | 2016-07-27 |
| CN105798882B true CN105798882B (en) | 2019-07-02 |
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| CN201610316794.1A Active CN105798882B (en) | 2016-05-15 | 2016-05-15 | A kind of reciprocating positioning mobile device of planet wheel drive |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN107363759A (en) * | 2017-09-06 | 2017-11-21 | 昆山昌禾精密电子有限公司 | A kind of regulation panel assembly being conveniently adjusted |
| 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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| CN105798882A (en) | 2016-07-27 |
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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. |
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