CN105856218B - A kind of apery type planar multiple-articulation robot based on belt transmission - Google Patents
A kind of apery type planar multiple-articulation robot based on belt transmission Download PDFInfo
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- CN105856218B CN105856218B CN201610338940.0A CN201610338940A CN105856218B CN 105856218 B CN105856218 B CN 105856218B CN 201610338940 A CN201610338940 A CN 201610338940A CN 105856218 B CN105856218 B CN 105856218B
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- belt
- connecting shaft
- fixed pulley
- thoracic cavity
- belt wheel
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Classifications
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of apery type planar multiple-articulation robot based on belt transmission, the apery type planar multiple-articulation robot based on belt transmission is provided with connecting shaft in each motion parts junction, the connecting shaft is fixed together with each motion parts corresponding to apery type planar multiple-articulation robot, and movable belt wheel and fixed pulley are provided with connecting shaft；Motor is connected by belt with movable belt wheel and fixed pulley, is connected between the movable belt wheel and fixed pulley of different connecting shafts by belt.The present invention is directed to the apery type planar multiple-articulation amusement robot often used in the occasions such as exhibition, the kinds of drive such as the gear in original design are replaced with belt, in order to which controlled motor is all placed on base, mitigate the load on robot motion's part, the structure design difficulty of robot is reduced, while makes its motion more flexible.
Description
Technical field
The invention belongs to robot transmission technical field, more particularly to a kind of apery type plane based on belt transmission to close more
Save robot.
Background technology
Robot is the multi-disciplinary products such as integral traffic control opinion, mechano-electronic, computer, material and bionics, industry,
Medical science, agricultural, construction industry have important use in the even field such as military affairs.From application environment, robot can be divided into two
Major class, i.e.,：Industrial robot and specialized robot.Industrial robot is the multi-joint manipulator or more towards industrial technical field
Degree of freedom robot.Specialized robot is then in addition to industrial robot, for nonmanufacturing industry and serves the various of the mankind
Sophisticated machine people, such as amusement robot., can be as people, certain animal, child for the purpose of amusement robot is viewed and admired, entertained for people
Personage in words or science fiction etc..The function of robot, including walking or execution, can have language ability, can sing,
There is certain perception.Such as robot singer, Soccer robot, toy robot, Dancing Robot.Set as robot
An important component in meter, the design of transmission system are particularly significant.
At present robot frequently with the kind of drive have Chain conveyer, ball-screw-transmission, rack pinion, worm and gear
The kinds of drive such as transmission；But most of amusement robot, due to need to only complete the action of complexity, and to kinematic accuracy requirement not
Height, so as in the design, using the above-mentioned kind of drive robot architecture be made to design complex, accessories manufacturing is difficult, raw
Produce excessive cycle.
The content of the invention
It is an object of the invention to provide a kind of apery type planar multiple-articulation robot based on belt transmission, it is intended to solves
There is structure design complex in the kind of drive that amusement robot uses at present, accessories manufacturing is difficult, and the production cycle is long
Problem.
The present invention is achieved in that a kind of apery type planar multiple-articulation robot based on belt transmission, described to be based on
The apery type planar multiple-articulation robot of belt transmission is provided with connecting shaft in each motion parts junction, and the connecting shaft is with imitating
Each motion parts corresponding to human-like planar multiple-articulation robot are fixed together, and movable belt wheel is provided with connecting shaft and is consolidated
Determine belt wheel；Motor is connected by belt with movable belt wheel and fixed pulley, the movable belt wheel and fixed pulley of different connecting shafts it
Between connected by belt.
Further, the motor is arranged on the base of apery type planar multiple-articulation robot.
Further, the fixed pulley is connected with connecting shaft, has a trough of belt, for carrying the skin of connection upper level
Band, rotated by belt driving and the connecting shaft that fixed pulley is connected.
Further, the movable belt wheel freely rotates relative to connecting shaft, has two bands of inner side trough of belt and outside trough of belt
Groove, for carrying the belt of connection upper level and next stage, the transmission between two-stage belt is realized by movable belt wheel.
Further, the apery type planar multiple-articulation robot based on belt transmission is by left and right two similar transmissions
Chain is formed, and distinguishes the motion for being only used for controlling right leg, right thigh, right large arm and right forearm in right driving-chain.
Further, in the Left Drive chain, there are four groups of activity belt wheels in the connecting shaft of left leg and base and one group is fixed
Belt wheel, fixed pulley are connected by belt with motor, drive the motion of left leg, outside trough of belt and the electricity of four groups of activity belt wheels
Machine is connected, and inner side trough of belt passes through belt and the inner side trough of belt of corresponding three groups of activity belt wheels in left large and small leg connecting shaft and one group
Fixed pulley is connected, and power is transferred into next stage activity belt wheel and left large and small leg connecting shaft respectively.
Further, in the Left Drive chain, the fixed pulley driving left thigh motion on left thigh, shank connecting shaft, three
The outside trough of belt of the movable belt wheel of group by belt three groups of activities belt wheel outer side band groove corresponding with left thigh and thoracic cavity connecting shaft,
Power is transferred to next stage activity belt wheel.
Further, left thigh and thoracic cavity connecting shaft are connected with left thigh and thoracic cavity by bearing, and left thigh connects with thoracic cavity
Axle freely rotates relative to left thigh and thoracic cavity, and three groups of activity belt wheel inner band grooves pass through belt and left large arm and thoracic cavity connecting shaft
The inner side trough of belt of upper corresponding two groups of activity belt wheels and one group of fixed pulley are connected, and power is transferred into next stage activity respectively
Belt wheel and left large arm and thoracic cavity connecting shaft.
Further, left large arm drives left large arm to move with the fixed pulley in the connecting shaft of thoracic cavity, one of which activity belt wheel
Outside trough of belt is connected by belt with corresponding fixed pulley in left big and small arms connecting shaft, and power is transferred into left big and small arms
Connecting shaft；The outside trough of belt of another group of activity belt wheel fixed pulley corresponding with the connecting shaft in head and thoracic cavity is connected, will
Power is transferred to head and thoracic cavity connecting shaft.
Further, head and the motion of the fixed pulley drive head in the connecting shaft of thoracic cavity；In left large arm, forearm connecting shaft
Fixed pulley drive left arm movements.
Further, due to being driven step by step with similitude, it is illustrated here with the oscillating motion on head：
Motor is rotated by belt drive left leg one group of active belt wheel corresponding with base connecting shaft；Left leg and bottom
Movable belt wheel in seat connecting shaft is rotated by corresponding one group of active belt wheel in the left large and small leg connecting shaft of belt drive；Zuo great,
Movable belt wheel in shank connecting shaft is rotated by belt drive left thigh one group of active belt wheel corresponding with the connecting shaft of thoracic cavity；
Left thigh passes through the one group of activity corresponding with the connecting shaft of thoracic cavity of the left large arm of belt drive with the movable belt wheel in the connecting shaft of thoracic cavity
Belt wheel rotates；Left large arm passes through belt drive head and consolidating in the connecting shaft of thoracic cavity with the movable belt wheel of this group in the connecting shaft of thoracic cavity
Determine belt wheel rotation；Head is connected with the connected belt wheel at the connecting shaft of thoracic cavity with the connecting shaft, while head is also consolidated with the connecting shaft
Even, the rotation of such fixed pulley will drive head that oscillating motion occurs.
Apery type planar multiple-articulation robot provided by the invention based on belt transmission, its head, large arm, forearm, chest
Chamber, thigh, shank are cavity structures, and the kinds of drive such as the gear in original design are replaced with belt, in order to control electricity
Machine is all placed on base, is mitigated the load on robot motion's part, is reduced the structure design difficulty of robot, while make it
Motion is more flexible.
The present invention has the following advantages：
1. motor is all on base, easy to assembly, the quality of robot motion's part is alleviated, makes it lighter
It is skilful flexible, only need low-power machine to drive.
2. motor does not have to be directly installed on joint, the joint designs of robot are simplified.
3. using belt transmission, reliable transmission, form is simple, and cost is cheap, is easily installed.
4th, different driving motor control different parts, each position motion is comparatively independent, is advantageously implemented between position
Cooperative motion.
5th, using cavity structure, the stability and security of transmission are favorably improved.
6th, using being driven step by step, the distance of transmission is extended, it is ensured that the accuracy being driven in long driving-chain.
7th, revolute pair is simple in construction, convenient for production, and each motion parts are easily achieved by revolute pair connection.
Brief description of the drawings
Fig. 1 is the apery type planar multiple-articulation robot structural representation provided in an embodiment of the present invention based on belt transmission
Figure.
Fig. 2 is the installation diagram of a revolute pair provided in an embodiment of the present invention.
Fig. 3 is connecting axle structure schematic diagram provided in an embodiment of the present invention.
Fig. 4 is fixed pulley structural representation provided in an embodiment of the present invention.
Fig. 5 is movable pulley structure schematic diagram provided in an embodiment of the present invention.
Fig. 6 is revolute pair provided in an embodiment of the present invention and belt scheme of installation profile.
Fig. 7 is Left Drive chain revolute pair provided in an embodiment of the present invention and belt scheme of installation left view.
Fig. 8 is right driving-chain revolute pair provided in an embodiment of the present invention and belt scheme of installation right view.
Fig. 9 is revolute pair and belt scheme of installation top view in big and small arms driving-chain provided in an embodiment of the present invention.
Figure 10 is base rotation pair provided in an embodiment of the present invention and belt scheme of installation.
Figure 11 is head oscillating motion transmission schematic diagram provided in an embodiment of the present invention.
In figure：1st, head；2nd, forearm；3rd, large arm；4th, thoracic cavity；5th, thigh；6th, shank；7th, base；8th, fixed pulley；9th, even
Spindle；10th, belt；11st, movable belt wheel；12nd, motor；13rd, bearing；14th, flat key；15th, keyway；16th, trip bolt.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The structure of the present invention is explained in detail below in conjunction with the accompanying drawings.
Referring to Fig. 1, apery type planar multiple-articulation robot in the present invention is by head 1, forearm 2, large arm 3, thoracic cavity 4, big
Leg 5, shank 6 and base 7 form.
Referring to Fig. 2, connected between each joint by revolute pair, its revolute pair is by connecting shaft 9, fixed pulley 8, movable belt wheel
11 compositions.
It is the schematic diagram of connecting shaft 9 referring to Fig. 3.
Referring to Fig. 4, fixed pulley 8 is connected with connecting shaft 9, has a trough of belt, for carrying the belt of connection upper level
10, the connecting shaft 9 being connected by the driving of belt 10 with fixed pulley 8 rotates.
Referring to Fig. 5, movable belt wheel 11 can freely rotate relative to connecting shaft 9, have inner side trough of belt and outside trough of belt two
Individual trough of belt, for carrying the belt 10 of connection upper level and next stage, the transmission between two-stage belt is realized by movable belt wheel 11.
Connecting shaft 9 and corresponding each motion parts, such as head, large arm, forearm are fixed together, when 9 turns of connecting shaft
When dynamic, these motion parts can be around the corresponding synchronous axial system of connecting shaft 9.Motor 12, which rotates, passes through belt 10 and active belt at different levels
Wheel 11 realizes the transmission step by step between belt, finally drives fixed pulley 8 by belt 10, power is transferred into corresponding connecting shaft 9,
So that the motion parts being connected with the connecting shaft 9 rotate.The rotation in each joint is required for an independent motor
Driving, motor 12 are all arranged on base 7, and the rotation of each motor can drive a joint to carry out independent motion.
Referring to Fig. 6, the robot in the present invention is integrally made up of left and right two driving-chains：
Referring to Figure 10, in Left Drive chain, left leg in the connecting shaft 9 of base 7 with having four groups of activity belt wheels 11 and one group
Fixed pulley 8, fixed pulley 8 are directly connected by belt 10 with motor 12, drive the motion of left leg, four groups of activity belt wheels
11 outside trough of belt is connected with motor 12, and inner side trough of belt passes through belt 10 and corresponding three groups of activities in left large and small leg connecting shaft
The inner side trough of belt of belt wheel 11 and one group of fixed pulley 8 are connected, respectively by power be transferred to next stage activity belt wheel 11 and a left side it is big,
Shank connecting shaft 9.
Referring to Fig. 7, the fixed pulley 8 in left large and small leg connecting shaft drives left thigh motion, three groups of activity belt wheels 11 it is outer
Side trough of belt is passed power by the outside trough of belt of three groups of activity belt wheels 11 corresponding with left thigh and thoracic cavity connecting shaft 9 of belt 10
It is handed to next stage activity belt wheel 11.
Left thigh and thoracic cavity connecting shaft 9 and left thigh and thoracic cavity are all connected by bearing 13, left thigh and thoracic cavity connecting shaft 9
Can freely it be rotated relative to left thigh and thoracic cavity, three groups of inner side troughs of belt of activity belt wheel 11 pass through belt 10 and left large arm and thoracic cavity
The inner side trough of belt of corresponding two groups of activity belt wheels 11 and one group of fixed pulley 8 are connected in connecting shaft 9, are respectively transferred to power
Next stage activity belt wheel and left large arm and thoracic cavity connecting shaft.
Left large arm drives left large arm to move with the fixed pulley 8 in the connecting shaft of thoracic cavity, the outside of one of which activity belt wheel 11
Trough of belt is connected by belt fixed pulley 8 corresponding with left big and small arms connecting shaft, and power is transferred into left big and small arms connects
Spindle.The outside trough of belt of another group of activity belt wheel 11 fixed pulley 8 corresponding with the connecting shaft in head and thoracic cavity is connected, will
Power is transferred to head and thoracic cavity connecting shaft.
Referring to Fig. 6, head and the motion of the drive head of fixed pulley 11 in the connecting shaft of thoracic cavity.
Referring to Fig. 9, the fixed pulley 11 in left big and small arms connecting shaft drives left arm movements.
Referring to Fig. 8, participate in Fig. 9, referring to Figure 10, right driving-chain is similar with Left Drive chain, distinguishes and is only used in right driving-chain
Control the motion of right leg, right thigh, right large arm and right forearm.
Robot head, large arm, forearm, thoracic cavity, thigh, shank in the present invention are cavity structures, and belt is in cavity
Interior operation, add the security and reliability of operation of robot.
It is that transmission schematic diagram is waved on head in the present invention, due to being driven step by step with similitude, here with regard to head referring to Figure 11
The swinging rotary in portion is illustrated：
Motor is rotated by belt drive left leg one group of active belt wheel corresponding with base connecting shaft.
Left leg passes through corresponding in the left large and small leg connecting shaft of belt drive with the movable belt wheel of this group in base connecting shaft
One group of active belt wheel rotates.
The movable belt wheel of this group in left large and small leg connecting shaft is corresponding with the connecting shaft of thoracic cavity by belt drive left thigh
One group of active belt wheel rotates.
Left thigh passes through phase in the left large arm of belt drive and thoracic cavity connecting shaft with the movable belt wheel of this group in the connecting shaft of thoracic cavity
The one group of active belt wheel answered rotates.
Left large arm passes through belt drive head and consolidating in the connecting shaft of thoracic cavity with the movable belt wheel of this group in the connecting shaft of thoracic cavity
Determine belt wheel rotation.
Head is connected with the connected belt wheel at the connecting shaft of thoracic cavity with the connecting shaft, while head is also connected with the connecting shaft,
So the rotation of fixed pulley will drive head that oscillating motion occurs.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (5)
1. a kind of apery type planar multiple-articulation robot based on belt transmission, it is characterised in that described based on belt transmission
Apery type planar multiple-articulation robot is provided with connecting shaft in each motion parts junction, and the connecting shaft and apery type plane are more
Each motion parts corresponding to articulated robot are fixed together, and movable belt wheel and fixed pulley are provided with connecting shaft；Electricity
Machine is connected by belt with movable belt wheel and fixed pulley, passes through belt between the movable belt wheel and fixed pulley of different connecting shafts
Connection；
The apery type planar multiple-articulation robot based on belt transmission is made up of left and right two driving-chains, and right driving-chain is used
To control right leg, right thigh, right large arm and the motion of right forearm；Left Drive chain is used for controlling left leg, left thigh, Zuo great
The motion of arm, left forearm and head；
In the Left Drive chain, there are four groups of activity belt wheels and one group of fixed pulley, fixing band in the connecting shaft of left leg and base
Wheel is connected by belt with motor, drives the motion of left leg, the outside trough of belt of four groups of activity belt wheels is connected with motor, inner side
Trough of belt is connected by belt with the inner side trough of belt of corresponding three groups of activity belt wheels and one group of fixed pulley in left large and small leg connecting shaft
Connect, power is transferred to next stage activity belt wheel and left large and small leg connecting shaft respectively；
In the Left Drive chain, the driving left thigh motion of fixed pulley on left thigh, shank connecting shaft, three groups of activity belt wheels
Outside trough of belt is connected by belt three groups of activity belt wheel outer side bands groove corresponding with left thigh and thoracic cavity connecting shaft, and power is passed
It is handed to next stage activity belt wheel；
Left thigh and thoracic cavity connecting shaft are connected with left thigh and thoracic cavity by bearing, and left thigh and thoracic cavity connecting shaft are relative to left big
Leg and thoracic cavity freely rotate, and three groups of activity belt wheel inner band grooves are corresponding with left large arm and thoracic cavity connecting shaft two groups by belt
The inner side trough of belt of movable belt wheel and one group of fixed pulley are connected, and power is transferred into next stage activity belt wheel and left large arm respectively
With thoracic cavity connecting shaft；
Left large arm drives left large arm to move with the fixed pulley in the connecting shaft of thoracic cavity, and one of which activity belt wheel outer side band groove passes through
Belt is connected with corresponding fixed pulley in left big and small arms connecting shaft, and power is transferred into left big and small arms connecting shaft；It is another
The outside trough of belt fixed pulley corresponding with the connecting shaft in head and thoracic cavity of the movable belt wheel of group is connected, and power is transferred into head
Portion and thoracic cavity connecting shaft.
2. the apery type planar multiple-articulation robot based on belt transmission as claimed in claim 1, it is characterised in that the electricity
Machine is arranged on the base of apery type planar multiple-articulation robot.
3. the apery type planar multiple-articulation robot based on belt transmission as claimed in claim 1, it is characterised in that described solid
Determine belt wheel to be connected with connecting shaft, there is a trough of belt, for carrying the belt of connection upper level, pass through belt driving and fixing band
The connected connecting shaft of wheel rotates.
4. the apery type planar multiple-articulation robot based on belt transmission as claimed in claim 1, it is characterised in that the work
Movable belt pulley is freely rotated relative to connecting shaft, has two troughs of belt of inner side trough of belt and outside trough of belt, and upper level is connected for carrying
With the belt of next stage, the transmission between two-stage belt is realized by movable belt wheel.
5. the apery type planar multiple-articulation robot based on belt transmission as claimed in claim 1, it is characterised in that head with
The motion of fixed pulley drive head in the connecting shaft of thoracic cavity；Fixed pulley in left large arm, forearm connecting shaft drives left forearm
Motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610338940.0A CN105856218B (en) | 2016-05-20 | 2016-05-20 | A kind of apery type planar multiple-articulation robot based on belt transmission |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610338940.0A CN105856218B (en) | 2016-05-20 | 2016-05-20 | A kind of apery type planar multiple-articulation robot based on belt transmission |
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| CN105856218A CN105856218A (en) | 2016-08-17 |
| CN105856218B true CN105856218B (en) | 2018-01-26 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426212B (en) * | 2016-11-21 | 2019-07-23 | 肇庆学院 | A kind of family doorway shoe chest puts shoes robot with autonomous |
| CN108186285B (en) * | 2018-01-18 | 2024-05-03 | 浙江理工大学 | Rehabilitation device combining swing rod type cam and multi-stage gear train and working flow thereof |
| CN110340871A (en) * | 2019-07-12 | 2019-10-18 | 江苏科技大学 | A kind of head multi-angle rotation structure of artificial intelligence robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW510847B (en) * | 1999-09-28 | 2002-11-21 | Tazmo Co Ltd | Horizontal multi-joint industrial robot |
| CN1474738A (en) * | 2000-11-17 | 2004-02-11 | ���＼�й�ҵ��ʽ���� | Leg Structure of legged movable robot |
| CN204622059U (en) * | 2015-04-27 | 2015-09-09 | 杨顺淼 | A kind of intelligent simulation robot on duty |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110017500A (en) * | 2009-08-14 | 2011-02-22 | 삼성전자주식회사 | Control device for legged mobile robot and control method thereof |
| JP5945419B2 (en) * | 2012-01-10 | 2016-07-05 | 本田技研工業株式会社 | Leg motion trajectory generator for legged mobile robots. |
| TWM510847U (en) * | 2015-08-05 | 2015-10-21 | 優克材料科技股份有限公司 | Three-dimensional printing apparutus |
-
2016
- 2016-05-20 CN CN201610338940.0A patent/CN105856218B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW510847B (en) * | 1999-09-28 | 2002-11-21 | Tazmo Co Ltd | Horizontal multi-joint industrial robot |
| CN1474738A (en) * | 2000-11-17 | 2004-02-11 | ���＼�й�ҵ��ʽ���� | Leg Structure of legged movable robot |
| CN204622059U (en) * | 2015-04-27 | 2015-09-09 | 杨顺淼 | A kind of intelligent simulation robot on duty |
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| CN105856218A (en) | 2016-08-17 |
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