CN109015616A - Spatial cell robot based on rack pinion - Google Patents
Spatial cell robot based on rack pinion Download PDFInfo
- Publication number
- CN109015616A CN109015616A CN201811136311.5A CN201811136311A CN109015616A CN 109015616 A CN109015616 A CN 109015616A CN 201811136311 A CN201811136311 A CN 201811136311A CN 109015616 A CN109015616 A CN 109015616A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- bevel gear
- gear
- incomplete
- groove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 239000000203 mixture Substances 0.000 claims abstract description 7
- 238000000819 phase cycle Methods 0.000 claims description 3
- 230000000712 assembly Effects 0.000 abstract description 4
- 238000000429 assembly Methods 0.000 abstract description 4
- 230000001413 cellular effect Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000000926 separation method Methods 0.000 abstract description 2
- 210000004027 cell Anatomy 0.000 description 21
- 239000000956 alloy Substances 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000002570 interstitial cell Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of cellular machineries people based on rack pinion, by sliding block, cross guide rail, guide rail strut, support plate, guide assembly, the bevel gear of with groove, incomplete bevel gear, servo motor, rack gear, housing end plug, transmission shaft, the composition such as incomplete roller gear.Servo motor drives incomplete roller gear and incomplete bevel gear to rotate synchronously, while mobile with carry-over bar, and then the cross guide rail being connected with rack gear and guide assembly is pushed to move forward, and completes linear drives work；When the toothed portion of incomplete bevel gear and groove bevel gear are intermeshed, four groups of guide assemblies are moved radially along the groove of housing end plug, complete rotate driving work；When two spatial cell robots being connected disconnect, servo motor reversion, incomplete roller gear and with rack gear collective effect, four groups of guide assemblies start to retract, and return to initial position, the separation for completing spatial cell robot disconnects work.
Description
Technical field
The present invention relates to a kind of spatial cell robot mechanism based on rack pinion.
Background technique
Since the 1990s, self-reorganization robot is rapidly developed in the U.S. and Japan, and bindiny mechanism is
Self-reorganization robot cell module key composition, based on the self-reorganization robot of different connection types, self-reorganization robot it is steady
Qualitative and safety is all different.Mainly there is electromagnetic type in bindiny mechanism used by domestic existing self-reorganization robot at present, remembers
Recall alloy and mechanical.Since electromagnetic type bindiny mechanism volume is big, anti-shear ability is poor, and fever is big, and difficult in magnetic environment
It has reconstructed and has moved, memorial alloy is although small in size, but it is big to consume energy, it is difficult to adapt to the self-powered environment of module.
Summary of the invention
The object of the present invention is to provide a kind of cellular machineries people based on rack pinion.
Basic technical scheme is: the bindiny mechanism of spatial cell robot based on rack-and-pinion is by servo motor, motor branch
Fagging, incomplete roller gear, rack gear, transmission shaft, incomplete bevel gear, support plate, cross guide rail, sliding block, guide rail strut, ditch
Slot bevel gear, the composition such as housing end plug.Servo motor is connected with motor support plate, and the driving source as spatial cell robot fills
It sets, transmission shaft is connected with servo motor, and incomplete roller gear and incomplete bevel gear are co-axially mounted, by changing servo motor
Energization phase sequence, between cell connection disconnection power is provided；One end of rack gear is connected with cross guide rail, by incomplete
Roller gear rotation band carry-over bar moves forward, while cross guide rail being driven to move forward；Sliding block is connected composition with guide rail strut
Guide assembly, guide rail strut are mounted in cross guide rail sliding slot, and cross guide rail can drive guide assembly to move in a straight line；Groove cone
Gear is mounted on spatial cell robot lateral bolster fagging, and by the sinusoidal groove on groove bevel gear, guide rail strut begins
It is tangent with sinusoidal groove eventually, by the rotation of groove bevel gear, guide assembly can be driven to move radially；Housing end plug passes through spiral shell
Nail is connected with support plate, constitutes the joint face mechanism of spatial cell robot.
The beneficial effects of the present invention are:
1. mechanism ensure that the reliability of connection using cubic card slot type, it is ensured that the robot constituted has reconstruct, fortune
Ability that is dynamic and executing task.
2. mechanism can realize that module quickly connects, rack pinion ensures to have enough torques and intensity to one
Fixed number purpose adjacent block is operated, and the movement velocity of robot is effectively improved.
3. mechanism is because by a whole set of mechanical structure, affected by environment small, the lower saving cost of energy consumption.
Detailed description of the invention
Mechanism is further illustrated with reference to the accompanying drawing.
Attached drawing 1: the spatial cell robot overall schematic based on rack-and-pinion；
Attached drawing 2: the robotically-driven partial schematic diagram of spatial cell based on rack-and-pinion；
Attached drawing 3: the spatial cell robot fixture block component diagram based on rack-and-pinion.
In figure: 1. sliding block, 2. cross guide rail, 3. guide rail strut, 4. locking nut, 5. support plate, 6. guide assembly, 7. with groove
The incomplete cylinder of 8. 13. transmission shaft of incomplete 9. servo motor of bevel gear 10. rack gear, 11. housing end plug, 12. screw of bevel gear 14.
Gear .15 motor support plate.
Specific embodiment
The following is further explained with reference to the attached drawings specific structure and embodiment of the invention.
Structure composition of the invention as shown in Figure 1, Figure 2 and Figure 3.Spatial cell robot based on rack-and-pinion connects machine
Structure is by sliding block (1), cross guide rail (2), guide rail strut (3), locking nut (4), support plate (5), guide assembly (6), with groove
Bevel gear (7), incomplete bevel gear (8), servo motor (9), rack gear (10), housing end plug (11), screw (12), transmission shaft
(13), incomplete roller gear (14), motor support plate (15) composition.Servo motor (9) is connected with motor support plate, as sky
Between cellular machineries people power plant, transmission shaft (13) is connected with servo motor (9), incomplete roller gear (14) and endless
Full bevel gear (8) is co-axially mounted, and by changing the energization phase sequence of servo motor (9), the connection disconnection between cell provides dynamic
Power；One end of rack gear (10) is connected with cross guide rail (2), by incomplete roller gear (14) rotate band carry-over bar (10) to
Preceding movement, while cross guide rail (2) being driven to move forward；Sliding block (1) is connected with guide rail strut constitutes guide assembly, guide rail strut
It is mounted in cross guide rail (2) sliding slot, cross guide rail (2) can drive guide assembly to move in a straight line；Groove bevel gear (7) installation
On spatial cell robot lateral bolster fagging, by the sinusoidal groove on groove bevel gear (7), guide rail strut is always and just
String shape groove is tangent, by the rotation of groove bevel gear (7), guide assembly can be driven to move radially；Housing end plug (11) passes through
Screw (12) is connected with support plate, constitutes the joint face mechanism of spatial cell robot.
The course of work of the present invention is as follows:
Spatial cell machine man-hour based on rack-and-pinion, servo motor (9) drive are mounted on transmission shaft (13) not
Complete roller gear (14) and incomplete bevel gear (8) rotate synchronously, incomplete roller gear (14) rotation band carry-over bar (10)
It is mobile, while pushing the cross guide rail (2) being connected with rack gear (10) and four groups of guide rails being mounted in cross guide rail (2) sliding slot
Component moves forward, when guide assembly is moved to certain distance, the toothed portion and rack gear of incomplete roller gear (14)
(10) engagement is completed, and toothless part starts to be in contact with rack gear (10), and spatial cell robot completes linear drives work at this time；
When the toothed portion of incomplete bevel gear (8) and groove bevel gear (7) are intermeshed, interstitial cell starts turning driving work
Make, under the drive of groove bevel gear (7), four groups of guide assemblies are moved radially along the groove of housing end plug (11)；When guide rail branch
When bar (3) reaches the terminal position of groove bevel gear (7) sinusoidal groove, the front end fixture block of guide assembly is embedded into coupled
In the groove of another spatial cell robot housing end plug (11) connect, the locking for completing spatial cell robot connects work；
When two spatial cell robots being connected disconnect, servo motor (9) reversion, under the drive of groove bevel gear (7), four
Group guide assembly (6) is drawn close along the radial groove of connection housing end plug (11) to housing end plug center, and sinusoidal ditch is reached
Behind the beginning position of slot；Under incomplete roller gear (14) and collective effect with rack gear (10), four groups of guide assemblies start
It retracts, returns to initial position, the separation for completing spatial cell robot disconnects work.
Claims (1)
1. the bindiny mechanism of spatial cell robot based on rack-and-pinion is by sliding block, cross guide rail, guide rail strut, locking nut,
Support plate, guide assembly, the bevel gear of with groove, incomplete bevel gear, servo motor, rack gear, housing end plug, screw, transmission
Axis, incomplete roller gear, motor support plate composition, servo motor is connected with motor support plate, as spatial cell robot
Power plant, transmission shaft is connected with servo motor, and incomplete roller gear and incomplete bevel gear are co-axially mounted, by changing
The energization phase sequence for becoming servo motor, the connection disconnection between cell provide power；One end of rack gear is connected with cross guide rail,
Band carry-over bar is rotated by incomplete roller gear to move forward, while cross guide rail being driven to move forward；Sliding block and guide rail branch
Bar, which is connected, constitutes guide assembly, and guide rail strut is mounted in cross guide rail sliding slot, and cross guide rail can drive guide assembly to do straight line
Movement；Groove bevel gear is mounted on spatial cell robot lateral bolster fagging, by the sinusoidal groove on groove bevel gear,
Guide rail strut is tangent with sinusoidal groove always, by the rotation of groove bevel gear, guide assembly can be driven to move radially；Shell
End cap is connected by screw with support plate, and the joint face mechanism of spatial cell robot is constituted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811136311.5A CN109015616B (en) | 2018-09-28 | 2018-09-28 | Space cell robot based on gear rack transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811136311.5A CN109015616B (en) | 2018-09-28 | 2018-09-28 | Space cell robot based on gear rack transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109015616A true CN109015616A (en) | 2018-12-18 |
| CN109015616B CN109015616B (en) | 2023-11-24 |
Family
ID=64615094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811136311.5A Active CN109015616B (en) | 2018-09-28 | 2018-09-28 | Space cell robot based on gear rack transmission |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015616B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113788164A (en) * | 2021-09-14 | 2021-12-14 | 哈尔滨理工大学 | Space truss connecting device with bidirectional locking function |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH106270A (en) * | 1996-06-24 | 1998-01-13 | Fanuc Ltd | Industrial robot |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN105058421A (en) * | 2015-08-26 | 2015-11-18 | 北京航空航天大学 | Compact type mechanical arm joint module integrating two degrees of freedom |
| CN105479456A (en) * | 2016-01-11 | 2016-04-13 | 安徽工业大学 | Movable four-axis robot |
| CN106097870A (en) * | 2016-06-17 | 2016-11-09 | 上海理工大学 | A kind of gear enveloping device automatically |
| CN208826633U (en) * | 2018-09-28 | 2019-05-07 | 哈尔滨理工大学 | Spatial cell robot based on rack pinion |
-
2018
- 2018-09-28 CN CN201811136311.5A patent/CN109015616B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH106270A (en) * | 1996-06-24 | 1998-01-13 | Fanuc Ltd | Industrial robot |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN105058421A (en) * | 2015-08-26 | 2015-11-18 | 北京航空航天大学 | Compact type mechanical arm joint module integrating two degrees of freedom |
| CN105479456A (en) * | 2016-01-11 | 2016-04-13 | 安徽工业大学 | Movable four-axis robot |
| CN106097870A (en) * | 2016-06-17 | 2016-11-09 | 上海理工大学 | A kind of gear enveloping device automatically |
| CN208826633U (en) * | 2018-09-28 | 2019-05-07 | 哈尔滨理工大学 | Spatial cell robot based on rack pinion |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113788164A (en) * | 2021-09-14 | 2021-12-14 | 哈尔滨理工大学 | Space truss connecting device with bidirectional locking function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109015616B (en) | 2023-11-24 |
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