CN109968331A - The two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure - Google Patents
The two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure Download PDFInfo
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- CN109968331A CN109968331A CN201910376503.1A CN201910376503A CN109968331A CN 109968331 A CN109968331 A CN 109968331A CN 201910376503 A CN201910376503 A CN 201910376503A CN 109968331 A CN109968331 A CN 109968331A
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- revolute pair
- driving wheel
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- synchronous belt
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 230000005611 electricity Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 10
- 238000003466 welding Methods 0.000 description 3
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- 230000015572 biosynthetic process Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables 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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure, including rack, the first driving wheel, the second driving wheel, third driving wheel, the 4th driving wheel, the 5th driving wheel, the 6th driving wheel, the first synchronous belt, the second synchronous belt, third synchronous belt, the first swing rod, the second swing rod, third swing rod, the 4th swing rod, the first connecting elements, the second connecting elements, connecting rod, moving platform, servo motor and electric cylinder.Under the driving of servo motor and electric cylinder, moving platform can realize plane two-freedom translational motion.It is the configuration of the present invention is simple, compact, have many advantages, such as that space occupied is small, flexible movements.
Description
Technical field
The present invention relates to two translation grippers of the electric cylinder of industrial robot field, especially toothed belt transmission structure driving
Device robot mechanism.
Background technique
From the 1950s, robot is just applied to industrial circle, has played great work in industrial circle
With effectively reducing the production cost of factory, improve production efficiency.Industrial applied robot has many aspects, such as welding,
Assembly, stacking, crawl etc..The mechanical structure used by the robot of different field is applied also to differ widely, welding robot
Five or six axis are needed to realize the motion of space curve of end welding gun, and robot palletizer then only needs four axis that can complete to give birth to
Produce the stacking task of on-line goods.In industrial application, there is so a kind of task, it is needed article from a ground
Another place is put by side, and does not need to make article run-off the straight campaign during putting.It can according to actual demand
This kind of robot is divided into four kinds: the first is the crawl in plane, i.e., need to only complete two translational motions of article planar；
Second is also needed on the basis of completing two translational motions by one angle of article rotating；The third is article to be completed in sky
Between on three translational motions；4th kind is also to need on the basis of completion three is translatable by one angle of article rotating.In order to reduce
The freedom degree of robot generally adds one or more groups of parallelogram sturcutres using joint connection mode to realize robot end again
The horizontal movement of actuator is held, robot palletizer and high speed crawl parallel robot mostly use this class formation in the market.But it is this kind of
Structure is because needing to be mounted in articulated robot, admittedly cause that robot architecture is too fat to move, space occupied is big.The present invention is using same
It walks V belt translation and becomes the long parallelogram sturcutre of bar, achievable moving platform two-freedom translational motion in the plane has structure
Compact, the advantages that space occupied is small, high load capability.
Summary of the invention
The purpose of the present invention is to provide a kind of two translation crawl machine of the electric cylinder of toothed belt transmission structure driving is man-machine
Structure is, it can be achieved that the bidimensional translational motion of moving platform in the plane.
The present invention reaches above-mentioned purpose by the following technical programs: two translation of electric cylinder driving of toothed belt transmission structure is grabbed
Take robot mechanism, including rack (1), the first driving wheel (4), the second driving wheel (5), third driving wheel (8), the 4th driving wheel
(9), the 5th driving wheel (10), the 6th driving wheel (11), the first synchronous belt (6), the second synchronous belt (7), third synchronous belt (12),
First swing rod (2), the second swing rod (3), third swing rod (13), the 4th swing rod (14), the first connecting elements (15), the second connection structure
Part (16), connecting rod (18), moving platform (17), servo motor (19) and electric cylinder (20).
First swing rod (2) is connect by the first revolute pair (32) with rack (1), and the first swing rod (2) passes through the second revolute pair
(21) it is connect with the first driving wheel (4), the first swing rod (2) is connect by third revolute pair (29) with connecting rod (18), the first pendulum
Bar (2) is connect by first movement secondary (25) with third swing rod (13), and the second swing rod (3) passes through the 4th revolute pair (31) and rack
(1) it connects, the second swing rod (3) is connect by the 5th revolute pair (22) with the second driving wheel (5), and the second swing rod (3) passes through the 6th
Revolute pair (30) is connect with connecting rod (18), and the second swing rod (3) is connect by the second prismatic pair (26) with the 4th swing rod (14),
First driving wheel (4) is coupled by the first synchronous belt (6) with third driving wheel (8), third driving wheel (8) and the 5th driving wheel
(10) it is consolidated, the 5th driving wheel (10) is coupled by third synchronous belt (12) with the 6th driving wheel (11), the 6th transmission
Wheel (11) is consolidated with the 4th driving wheel (9), and the 4th driving wheel (9) passes through the second synchronous belt (7) and the second driving wheel (5)
Connection, third swing rod (13) are consolidated by the first connecting elements (15) with the first synchronous belt (6), and third swing rod (13) is logical
It crosses the 7th revolute pair (27) to connect with moving platform (17), the 4th swing rod (14) passes through the second connecting elements (16) and the second synchronous belt
(7) it is consolidated, the 4th swing rod (14) is connect by the 8th revolute pair (28) with moving platform (17), and the first drive rod (33) is logical
It crosses the 9th revolute pair (35) to connect with rack (1), the first drive rod (33) passes through the tenth revolute pair (36) and the second drive rod
(34) it connects, the second drive rod (34) is connect by the 7th revolute pair (27) with moving platform (17), and servo motor (19) is mounted on
It is connect in rack (1) and with the 6th driving wheel (11), electric cylinder (20) one end passes through the 7th revolute pair (27) and moving platform (17)
Connection, electric cylinder (20) other end are connect by the 9th revolute pair (33) with rack (1).
First revolute pair (32), the second revolute pair (21), third revolute pair (29), the 4th revolute pair (31), the 5th
Revolute pair (22), the 6th revolute pair (30), the 7th revolute pair (27) and the 8th revolute pair (28) pivot center be parallel to each other,
One revolute pair (32) and the second revolute pair (21) axial line distance and the 4th revolute pair (31) and the 5th revolute pair (22) axial line distance
It is equal, the first revolute pair (32) and third revolute pair (29) axial line distance and the second revolute pair (21) and the 6th revolute pair (30) axis
Linear distance is equal, the first revolute pair (32) and the 4th revolute pair (31) axial line distance, the second revolute pair (21) and the 6th revolute pair
(30) axial line distance, third revolute pair (29) and the 5th revolute pair (22) axial line distance and the 7th revolute pair (27) and eight revolution are dynamic
Secondary (28) axial line distance is equal, the first revolute pair (32) and the 7th revolute pair (27) axial line distance and the 4th revolute pair (31) and the
Eight revolute pairs (28) axial line distance is equal.
The servo motor (19), which is mounted on rack (1), drives the movement of the 6th driving wheel (11), the 6th driving wheel (11)
It is consolidated with the 4th driving wheel (9) and drives the movement of the 4th driving wheel (9), the 6th driving wheel (11) is driven by third synchronous belt (12)
Dynamic 5th driving wheel (10) movement, the 5th driving wheel (10) and third driving wheel (8) consolidate and third driving wheel (8) are driven to transport
Dynamic, third driving wheel (8) passes through second by the first synchronous belt (6) driving the first driving wheel (4) movement, the 4th driving wheel (9)
Synchronous belt (7) drives the second driving wheel (5) movement, and the first synchronous belt (6) drives third swing rod by the first connecting elements (15)
(13) move, the second synchronous belt (7) by the second connecting elements (16) drive the 4th swing rod (14) movement, third swing rod (13) and
4th swing rod (14), which moves synchronously, drives moving platform (17) to realize the translational motion along secondary (25) direction of motion of first movement.
Electric cylinder (20) driving moving platform (17) movement, realizes moving platform (17) around the parallel of the first revolute pair (32)
Rotational motion.
Of the invention has the prominent advantages that:
1, mechanism compact overall structure, space occupied are small；
2, manipulator inertia is small, kinematics and dynamics performance is good.
Detailed description of the invention
Fig. 1 is the first knot of the two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure of the present invention
Structure schematic diagram.
Fig. 2 is the second knot of the two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure of the present invention
Structure schematic diagram.
Fig. 3 is that the two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure of the present invention conceals rack
First structure diagram afterwards.
Fig. 4 is that the two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure of the present invention conceals rack
The second structural schematic diagram afterwards.
Fig. 5 is the first fortune of the two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure of the present invention
Dynamic status diagram.
Fig. 6 is the second fortune of the two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure of the present invention
Dynamic status diagram.
Fig. 7 is the third fortune of the two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure of the present invention
Dynamic status diagram.
Fig. 8 is the 4th fortune of the two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure of the present invention
Dynamic status diagram.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawings and embodiments.
Comparative diagram 1, Fig. 2, Fig. 3 and Fig. 4, the two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure,
Including rack (1), the first driving wheel (4), the second driving wheel (5), third driving wheel (8), the 4th driving wheel (9), the 5th transmission
Take turns (10), the 6th driving wheel (11), the first synchronous belt (6), the second synchronous belt (7), third synchronous belt (12), the first swing rod (2),
Second swing rod (3), third swing rod (13), the 4th swing rod (14), the first connecting elements (15), the second connecting elements (16), connection
Bar (18), moving platform (17), servo motor (19) and electric cylinder (20).
First swing rod (2) is connect by the first revolute pair (32) with rack (1), and the first swing rod (2) passes through the second revolute pair
(21) it is connect with the first driving wheel (4), the first swing rod (2) is connect by third revolute pair (29) with connecting rod (18), the first pendulum
Bar (2) is connect by first movement secondary (25) with third swing rod (13), and the second swing rod (3) passes through the 4th revolute pair (31) and rack
(1) it connects, the second swing rod (3) is connect by the 5th revolute pair (22) with the second driving wheel (5), and the second swing rod (3) passes through the 6th
Revolute pair (30) is connect with connecting rod (18), and the second swing rod (3) is connect by the second prismatic pair (26) with the 4th swing rod (14),
First driving wheel (4) is coupled by the first synchronous belt (6) with third driving wheel (8), third driving wheel (8) and the 5th driving wheel
(10) it is consolidated, the 5th driving wheel (10) is coupled by third synchronous belt (12) with the 6th driving wheel (11), the 6th transmission
Wheel (11) is consolidated with the 4th driving wheel (9), and the 4th driving wheel (9) passes through the second synchronous belt (7) and the second driving wheel (5)
Connection, third swing rod (13) are consolidated by the first connecting elements (15) with the first synchronous belt (6), and third swing rod (13) is logical
It crosses the 7th revolute pair (27) to connect with moving platform (17), the 4th swing rod (14) passes through the second connecting elements (16) and the second synchronous belt
(7) it is consolidated, the 4th swing rod (14) is connect by the 8th revolute pair (28) with moving platform (17), and the first drive rod (33) is logical
It crosses the 9th revolute pair (35) to connect with rack (1), the first drive rod (33) passes through the tenth revolute pair (36) and the second drive rod
(34) it connects, the second drive rod (34) is connect by the 7th revolute pair (27) with moving platform (17), and servo motor (19) is mounted on
It is connect in rack (1) and with the 6th driving wheel (11), electric cylinder (20) one end passes through the 7th revolute pair (27) and moving platform (17)
Connection, electric cylinder (20) other end are connect by the 9th revolute pair (33) with rack (1).
First revolute pair (32), the second revolute pair (21), third revolute pair (29), the 4th revolute pair (31), the 5th
Revolute pair (22), the 6th revolute pair (30), the 7th revolute pair (27) and the 8th revolute pair (28) pivot center be parallel to each other,
One revolute pair (32) and the second revolute pair (21) axial line distance and the 4th revolute pair (31) and the 5th revolute pair (22) axial line distance
It is equal, the first revolute pair (32) and third revolute pair (29) axial line distance and the second revolute pair (21) and the 6th revolute pair (30) axis
Linear distance is equal, the first revolute pair (32) and the 4th revolute pair (31) axial line distance, the second revolute pair (21) and the 6th revolute pair
(30) axial line distance, third revolute pair (29) and the 5th revolute pair (22) axial line distance and the 7th revolute pair (27) and eight revolution are dynamic
Secondary (28) axial line distance is equal, the first revolute pair (32) and the 7th revolute pair (27) axial line distance and the 4th revolute pair (31) and the
Eight revolute pairs (28) axial line distance is equal.
The servo motor (19), which is mounted on rack (1), drives the movement of the 6th driving wheel (11), the 6th driving wheel (11)
It is consolidated with the 4th driving wheel (9) and drives the movement of the 4th driving wheel (9), the 6th driving wheel (11) is driven by third synchronous belt (12)
Dynamic 5th driving wheel (10) movement, the 5th driving wheel (10) and third driving wheel (8) consolidate and third driving wheel (8) are driven to transport
Dynamic, third driving wheel (8) passes through second by the first synchronous belt (6) driving the first driving wheel (4) movement, the 4th driving wheel (9)
Synchronous belt (7) drives the second driving wheel (5) movement, and the first synchronous belt (6) drives third swing rod by the first connecting elements (15)
(13) move, the second synchronous belt (7) by the second connecting elements (16) drive the 4th swing rod (14) movement, third swing rod (13) and
4th swing rod (14), which moves synchronously, drives moving platform (17) to realize the translational motion along secondary (25) direction of motion of first movement.
Electric cylinder (20) driving moving platform (17) movement, realizes moving platform (17) around the parallel of the first revolute pair (32)
Rotational motion.
Fig. 5, Fig. 6, Fig. 7 and Fig. 8 are that the two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure is realized
The state diagram of difference movement.
Claims (1)
1. the two translation crawl robot mechanism of electric cylinder driving of toothed belt transmission structure, including rack (1), the first driving wheel
(4), the second driving wheel (5), third driving wheel (8), the 4th driving wheel (9), the 5th driving wheel (10), the 6th driving wheel (11),
First synchronous belt (6), the second synchronous belt (7), third synchronous belt (12), the first swing rod (2), the second swing rod (3), third swing rod
(13), the 4th swing rod (14), the first connecting elements (15), the second connecting elements (16), connecting rod (18), moving platform (17), watch
Take motor (19) and electric cylinder (20), it is characterised in that:
First swing rod (2) is connect by the first revolute pair (32) with rack (1), and the first swing rod (2) passes through the second revolute pair (21)
It is connect with the first driving wheel (4), the first swing rod (2) is connect by third revolute pair (29) with connecting rod (18), the first swing rod (2)
It is connect by first movement secondary (25) with third swing rod (13), the second swing rod (3) is connected by the 4th revolute pair (31) and rack (1)
It connects, the second swing rod (3) is connect by the 5th revolute pair (22) with the second driving wheel (5), and the second swing rod (3) passes through the 6th revolute pair
(30) it is connect with connecting rod (18), the second swing rod (3) is connect by the second prismatic pair (26) with the 4th swing rod (14), and first passes
Driving wheel (4) is coupled by the first synchronous belt (6) with third driving wheel (8), and third driving wheel (8) and the 5th driving wheel (10) consolidate
Together, the 5th driving wheel (10) is coupled with the 6th driving wheel (11) by third synchronous belt (12), the 6th driving wheel (11) and
4th driving wheel (9) is consolidated, and the 4th driving wheel (9) is coupled by the second synchronous belt (7) with the second driving wheel (5), the
Three swing rods (13) are consolidated by the first connecting elements (15) with the first synchronous belt (6), and third swing rod (13) passes through the 7th
Revolute pair (27) is connect with moving platform (17), and the 4th swing rod (14) is solid by the second connecting elements (16) and the second synchronous belt (7)
Together, the 4th swing rod (14) is connect with moving platform (17) by the 8th revolute pair (28) knot, and the first drive rod (33) passes through the
Nine revolute pairs (35) are connect with rack (1), and the first drive rod (33) is connected by the tenth revolute pair (36) and the second drive rod (34)
It connects, the second drive rod (34) is connect by the 7th revolute pair (27) with moving platform (17), and servo motor (19) is mounted on rack (1)
It above and with the 6th driving wheel (11) connect, electric cylinder (20) one end is connect by the 7th revolute pair (27) with moving platform (17), electricity
Dynamic cylinder (20) other end is connect by the 9th revolute pair (33) with rack (1),
First revolute pair (32), the second revolute pair (21), third revolute pair (29), the 4th revolute pair (31), the 5th rotation
The pivot center of secondary (22), the 6th revolute pair (30), the 7th revolute pair (27) and the 8th revolute pair (28) is parallel to each other, and first turn
Dynamic pair (32) and the second revolute pair (21) axial line distance are equal with the 4th revolute pair (31) and the 5th revolute pair (22) axial line distance,
First revolute pair (32) and third revolute pair (29) axial line distance and the second revolute pair (21) and the 6th revolute pair (30) axis away from
From equal, the first revolute pair (32) and the 4th revolute pair (31) axial line distance, the second revolute pair (21) and the 6th revolute pair (30)
Axial line distance, third revolute pair (29) and the 5th revolute pair (22) axial line distance and the 7th revolute pair (27) and the 8th revolute pair
(28) axial line distance is equal, the first revolute pair (32) and the 7th revolute pair (27) axial line distance and the 4th revolute pair (31) and the 8th
Revolute pair (28) axial line distance is equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910376503.1A CN109968331B (en) | 2019-05-03 | 2019-05-03 | Electric cylinder driving two-translation grabbing robot with synchronous belt transmission structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910376503.1A CN109968331B (en) | 2019-05-03 | 2019-05-03 | Electric cylinder driving two-translation grabbing robot with synchronous belt transmission structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109968331A true CN109968331A (en) | 2019-07-05 |
| CN109968331B CN109968331B (en) | 2024-02-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910376503.1A Active CN109968331B (en) | 2019-05-03 | 2019-05-03 | Electric cylinder driving two-translation grabbing robot with synchronous belt transmission structure |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101992397A (en) * | 2010-10-12 | 2011-03-30 | 常州大学 | Biaxial numerical control translational type parallel operating arm |
| CN104589321A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven swingable parallel connecting rod synchronous telescoping mechanism |
| CN104589329A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Gear-driven electric cylinder high-speed two-dimensional translational manipulator |
| US20160368136A1 (en) * | 2014-03-18 | 2016-12-22 | Abb Schweiz Ag | Compact Parallel Kinematics Robot |
| CN107962556A (en) * | 2017-12-29 | 2018-04-27 | 勃肯特（天津）机器人技术有限公司 | Two axis parallel robots and cargo movement system |
| 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 |
| CN210061122U (en) * | 2019-05-03 | 2020-02-14 | 江西制造职业技术学院 | Electric cylinder driving two-translation grabbing robot mechanism with synchronous belt transmission structure |
-
2019
- 2019-05-03 CN CN201910376503.1A patent/CN109968331B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101992397A (en) * | 2010-10-12 | 2011-03-30 | 常州大学 | Biaxial numerical control translational type parallel operating arm |
| US20160368136A1 (en) * | 2014-03-18 | 2016-12-22 | Abb Schweiz Ag | Compact Parallel Kinematics Robot |
| CN104589321A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven swingable parallel connecting rod synchronous telescoping mechanism |
| CN104589329A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Gear-driven electric cylinder high-speed two-dimensional translational manipulator |
| CN107962556A (en) * | 2017-12-29 | 2018-04-27 | 勃肯特（天津）机器人技术有限公司 | Two axis parallel robots and cargo movement system |
| 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 |
| CN210061122U (en) * | 2019-05-03 | 2020-02-14 | 江西制造职业技术学院 | Electric cylinder driving two-translation grabbing robot mechanism with synchronous belt transmission structure |
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| CN109968331B (en) | 2024-02-20 |
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