CN110000762A - The flat one turn of crawl robot mechanism of the three of toothed belt transmission structure - Google Patents

The flat one turn of crawl robot mechanism of the three of toothed belt transmission structure Download PDF

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Publication number
CN110000762A
CN110000762A CN201910377192.0A CN201910377192A CN110000762A CN 110000762 A CN110000762 A CN 110000762A CN 201910377192 A CN201910377192 A CN 201910377192A CN 110000762 A CN110000762 A CN 110000762A
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China
Prior art keywords
revolute pair
driving wheel
swing rod
connect
pair
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CN201910377192.0A
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Chinese (zh)
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CN110000762B (en
Inventor
占晓煌
王红州
邹晓晖
陈润六
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Jiangxi Manufacturing Polytechnic College
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Jiangxi Manufacturing Polytechnic College
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Priority to CN201910377192.0A priority Critical patent/CN110000762B/en
Publication of CN110000762A publication Critical patent/CN110000762A/en
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Publication of CN110000762B publication Critical patent/CN110000762B/en
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    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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 flat one turn of crawl robot mechanism of the three of toothed belt transmission structure, including rack, the first branch, the second branch, third branch, the 4th branch, moving platform structure.Every branch is driven by a servo motor, and four servo motor cooperative movements can realize three flat one turn of four-degree-of-freedom movements of small synchronizing wheel in moving platform structure.It is the configuration of the present invention is simple, compact, have many advantages, such as that space occupied is small, flexible movements.

Description

The flat one turn of crawl robot mechanism of the three of toothed belt transmission structure
Technical field
The present invention relates to the flat one turn of crawl machine of industrial robot field, especially the three of toothed belt transmission structure is man-machine Structure.
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 uses four Group toothed belt transmission and become the long parallelogram sturcutre of bar, small synchronizing wheel spatially three flat one turn of four selfs on achievable moving platform It is moved by degree, has many advantages, such as that compact-sized, space occupied is small, high load capability.
Summary of the invention
The purpose of the present invention is to provide a kind of three flat one turn of crawl robot mechanism of toothed belt transmission structure, it can be achieved that The three-dimensional translating movement of moving platform spatially.
The present invention reaches above-mentioned purpose by the following technical programs: the flat one turn of crawl robot of the three of toothed belt transmission structure Mechanism, including rack (1), the first branch (3), the second branch (4), third branch (5), the 4th branch (6), moving platform structure (2).
The moving platform structure (2) is by the first translational piece (021), the second translational piece (022), third translational piece (023), Four translational pieces (024), small synchronizing wheel (025), big synchronizing wheel (026) and synchronous belt (027), big synchronizing wheel (026) are fixedly arranged at On two translational pieces (022), big synchronizing wheel (026) is coupled by synchronous belt (027) with small synchronizing wheel (025), small synchronizing wheel (025) It is connect by the 0th 9 revolute pair (028) with the first translational piece (021), the first translational piece (021) passes through the 0th 10 revolute pair (029) it is connect with third translational piece (023), third translational piece (023) passes through the 0th revolute pair (030) and the second translational piece one by one (022) it connects, the second translational piece (022) is connect by the 0th 12 revolute pair (032) with the 4th translational piece (024), Siping City Moving part (024) is connect by the 0th 13 revolute pair (031) with the first translational piece (021),
0th 10 revolute pair (029), the 0th revolute pair (030), the 0th 12 revolute pair (032), the 0th 13 one by one Revolute pair (031) axis is parallel to each other, the 0th 10 revolute pair (029) and the 0th revolute pair (030) turns auxiliary shaft line-spacing one by one It is equal with the 0th 13 revolute pair (031) axial line distance from the 0th 12 revolute pair (032), the 0th 13 revolute pair (031) With the 0th 10 revolute pair (029) axial line distance and the 0th one by one revolute pair (030) and the 0th 12 revolute pair (032) axis away from From equal,
First branch (3) is by the first support frame (101), the one one driving wheel (104), the one or two driving wheel (105), first Three driving wheels (108), the one or four driving wheel (109), the one or five driving wheel (110), the one or six driving wheel (111), first are together Step band (106), the one or two synchronous belt (107), the one or three synchronous belt (112), the one one swing rod (102), the one or two swing rod (103), the one or three swing rod (113), the one or four swing rod (114), the one one connecting elements (115), the one or two connecting elements (116), the one one connecting rod (118), the first catch bar (117), first servo motor (119) composition, the one one swing rod (102) It is connect by the one one revolute pair (130) with the first support frame (101), the one one swing rod (102) passes through the one or two revolute pair (120) it is connect with the one one driving wheel (104), the one one swing rod (102) is connect by the one or three revolute pair (128) with the 1st Bar (118) connection, the one one swing rod (102) are connect by the one one prismatic pair (124) with the one or three swing rod (113), and the one or two Swing rod (103) is connect by the one or four revolute pair (131) with the first support frame (101), and the one or two swing rod (103) passes through the one or five Revolute pair (121) is connect with the one or two driving wheel (105), and the one or two swing rod (103) passes through the one or six revolute pair (129) and first One connecting rod (118) connection, the one or two swing rod (103) are connected by the one or two prismatic pair (125) with the one or four swing rod (114) It connects, the one one driving wheel (104) is coupled by the one one synchronous belt (106) with the one or three driving wheel (108), the one or three driving wheel (108) it is consolidated with the one or five driving wheel (110), the one or five driving wheel (110) passes through the one or three synchronous belt (112) and the One or six driving wheels (111) connection, the one or six driving wheel (111) are consolidated with the one or four driving wheel (109), the one or four transmission Wheel (109) is coupled by the one or two synchronous belt (107) with the one or two driving wheel (105), and the one or three swing rod (113) passes through the 1st Connecting elements (115) is consolidated with the one one synchronous belt (106), and the one or three swing rod (113) passes through the one or seven revolute pair (126) it is connect with the first catch bar (117), the one or four swing rod (114) is synchronous with the one or two by the one or two connecting elements (116) Band (107) is consolidated, and the one or four swing rod (114) is connect by the one or eight revolute pair (127) with the first catch bar (117), First servo motor (119) is mounted on the first support frame (101) and connect with the one or six driving wheel (111), the first support frame (101) connect with rack (1) by the 0th 1 revolute pair (11), the first catch bar (117) pass through the 0th 5 revolute pair (21) and First translational piece (021) connection.
One one revolute pair (130), the one or two revolute pair (120), the one or three revolute pair (128), the one or four rotation Secondary (131), the one or five revolute pair (121), the one or six revolute pair (129), the one or seven revolute pair (126) and the one or eight revolute pair (127) pivot center is parallel to each other, the one one revolute pair (130) and the one or two revolute pair (120) axial line distance and the one or four Revolute pair (131) and the one or five revolute pair (121) axial line distance are equal, the one one revolute pair (130) and the one or three revolute pair (128) axial line distance is equal with the one or two revolute pair (120) and the one or six revolute pair (129) axial line distance, the one one revolute pair (130) and the one or four revolute pair (131) axial line distance, the one or two revolute pair (120) and the one or six revolute pair (129) axis away from From, the one or three revolute pair (128) and the one or five revolute pair (121) axial line distance and the one or seven revolute pair (126) and the first eight revolution Dynamic pair (127) axial line distance is equal, the one one revolute pair (130) and the one or seven revolute pair (126) axial line distance and the one or four turn Dynamic pair (131) and the one or eight revolute pair (127) axial line distance are equal.
Second branch (4) by the second support frame (201), the 2nd 1 driving wheel (204), the two or two driving wheel (205), Two or three driving wheel (208), the two or four driving wheel (209), the two or five driving wheel (210), the two or six driving wheel (211), second One synchronous belt (206), the two or two synchronous belt (207), the two or three synchronous belt (212), the 2nd 1 swing rod (202), the two or two swing rod (203), the two or three swing rod (213), the two or four swing rod (214), the 2nd 1 connecting elements (215), the two or two connecting elements (216), the 2nd 1 connecting rod (218), the second catch bar (217), the second servo motor (219) composition, the 2nd 1 swing rod (202) It is connect by the 2nd 1 revolute pair (230) with the second support frame (201), the 2nd 1 swing rod (202) passes through the two or two revolute pair (220) it is connect with the 2nd 1 driving wheel (204), the 2nd 1 swing rod (202) is connect by the two or three revolute pair (228) with the 2nd 1 Bar (218) connection, the 2nd 1 swing rod (202) are connect by the 2nd 1 prismatic pair (224) with the two or three swing rod (213), and the two or two Swing rod (203) is connect by the two or four revolute pair (231) with the second support frame (201), and the two or two swing rod (203) passes through the two or five Revolute pair (221) is connect with the two or two driving wheel (205), and the two or two swing rod (203) passes through the two or six revolute pair (229) and second One connecting rod (218) connection, the two or two swing rod (203) are connected by the two or two prismatic pair (225) with the two or four swing rod (214) It connects, the 2nd 1 driving wheel (204) is coupled by the 2nd 1 synchronous belt (206) with the two or three driving wheel (208), the two or three driving wheel (208) it is consolidated with the two or five driving wheel (210), the two or five driving wheel (210) passes through the two or three synchronous belt (212) and the Two or six driving wheels (211) connection, the two or six driving wheel (211) are consolidated with the two or four driving wheel (209), the two or four transmission Wheel (209) is coupled by the two or two synchronous belt (207) with the two or two driving wheel (205), and the two or three swing rod (213) passes through the 2nd 1 Connecting elements (215) is consolidated with the 2nd 1 synchronous belt (206), and the two or three swing rod (213) passes through the two or seven revolute pair (226) it is connect with the second catch bar (217), the two or four swing rod (214) is synchronous with the two or two by the two or two connecting elements (216) Band (207) is consolidated, and the two or four swing rod (214) is connect by the two or eight revolute pair (227) with the second catch bar (217), Second servo motor (219) is mounted on the second support frame (201) and connect with the two or six driving wheel (211), the second support frame (201) connect with rack (1) by the 0th 2 revolute pair (12), the second catch bar (217) pass through the 0th 6 revolute pair (22) and Second translational piece (022) connection.
2nd 1 revolute pair (230), the two or two revolute pair (220), the two or three revolute pair (228), the two or four rotation Secondary (231), the two or five revolute pair (221), the two or six revolute pair (229), the two or seven revolute pair (226) and the two or eight revolute pair (227) pivot center is parallel to each other, the 2nd 1 revolute pair (230) and the two or two revolute pair (220) axial line distance and the two or four Revolute pair (231) and the two or five revolute pair (221) axial line distance are equal, the 2nd 1 revolute pair (230) and the two or three revolute pair (228) axial line distance is equal with the two or two revolute pair (220) and the two or six revolute pair (229) axial line distance, the 2nd 1 revolute pair (230) and the two or four revolute pair (231) axial line distance, the two or two revolute pair (220) and the two or six revolute pair (229) axis away from From, the two or three revolute pair (228) and the two or five revolute pair (221) axial line distance and the two or seven revolute pair (226) and the second eight revolution Dynamic pair (227) axial line distance is equal, the 2nd 1 revolute pair (230) and the two or seven revolute pair (226) axial line distance and the two or four turn Dynamic pair (231) and the two or eight revolute pair (227) axial line distance are equal.
The third branch (5) by third support frame (301), the 3rd 1 driving wheel (304), the three or two driving wheel (305), Three or three driving wheel (308), the three or four driving wheel (309), the three or five driving wheel (310), the three or six driving wheel (311), third One synchronous belt (306), the three or two synchronous belt (307), the three or three synchronous belt (312), the 3rd 1 swing rod (302), the three or two swing rod (303), the three or three swing rod (313), the three or four swing rod (314), the 3rd 1 connecting elements (315), the three or two connecting elements (316), the 3rd 1 connecting rod (318), third catch bar (317), third servo motor (319) composition, the 3rd 1 swing rod (302) It is connect by the 3rd 1 revolute pair (330) with third support frame (301), the 3rd 1 swing rod (302) passes through the three or two revolute pair (320) it is connect with the 3rd 1 driving wheel (304), the 3rd 1 swing rod (302) is connect by the three or three revolute pair (328) with the 3rd 1 Bar (318) connection, the 3rd 1 swing rod (302) are connect by the 3rd 1 prismatic pair (324) with the three or three swing rod (313), and the three or two Swing rod (303) is connect by the three or four revolute pair (331) with third support frame (301), and the three or two swing rod (303) passes through the three or five Revolute pair (321) is connect with the three or two driving wheel (305), and the three or two swing rod (303) passes through the three or six revolute pair (329) and third One connecting rod (318) connection, the three or two swing rod (303) are connected by the three or two prismatic pair (325) with the three or four swing rod (314) It connects, the 3rd 1 driving wheel (304) is coupled by the 3rd 1 synchronous belt (306) with the three or three driving wheel (308), the three or three driving wheel (308) it is consolidated with the three or five driving wheel (310), the three or five driving wheel (310) passes through the three or three synchronous belt (312) and the Three or six driving wheels (311) connection, the three or six driving wheel (311) are consolidated with the three or four driving wheel (309), the three or four transmission Wheel (309) is coupled by the three or two synchronous belt (307) with the three or two driving wheel (305), and the three or three swing rod (313) passes through the 3rd 1 Connecting elements (315) is consolidated with the 3rd 1 synchronous belt (306), and the three or three swing rod (313) passes through the three or seven revolute pair (326) it is connect with third catch bar (317), the three or four swing rod (314) is synchronous with the three or two by the three or two connecting elements (316) Band (307) is consolidated, and the three or four swing rod (314) is connect by the three or eight revolute pair (327) with third catch bar (317), Third servo motor (319) is mounted on third support frame (301) and connect with the three or six driving wheel (311), third support frame (301) connect with rack (1) by the 0th 3 revolute pair (13), third catch bar (317) pass through the 0th 7 revolute pair (23) and Second translational piece (022) connection.
3rd 1 revolute pair (330), the three or two revolute pair (320), the three or three revolute pair (328), the three or four rotation Secondary (331), the three or five revolute pair (321), the three or six revolute pair (329), the three or seven revolute pair (326) and the three or eight revolute pair (327) pivot center is parallel to each other, the 3rd 1 revolute pair (330) and the three or two revolute pair (320) axial line distance and the three or four Revolute pair (331) and the three or five revolute pair (321) axial line distance are equal, the 3rd 1 revolute pair (330) and the three or three revolute pair (328) axial line distance is equal with the three or two revolute pair (320) and the three or six revolute pair (329) axial line distance, the 3rd 1 revolute pair (330) and the three or four revolute pair (331) axial line distance, the three or two revolute pair (320) and the three or six revolute pair (329) axis away from From, the three or three revolute pair (328) and the three or five revolute pair (321) axial line distance and the three or seven revolute pair (326) and third eight revolution Dynamic pair (327) axial line distance is equal, the 3rd 1 revolute pair (330) and the three or seven revolute pair (326) axial line distance and the three or four turn Dynamic pair (331) and the three or eight revolute pair (327) axial line distance are equal.
4th branch (6) by the 4th support frame (401), the 4th 1 driving wheel (404), the four or two driving wheel (405), Four or three driving wheel (408), the four or four driving wheel (409), the four or five driving wheel (410), the four or six driving wheel (411), the 4th One synchronous belt (406), the four or two synchronous belt (407), the four or three synchronous belt (412), the 4th 1 swing rod (402), the four or two swing rod (403), the four or three swing rod (413), the four or four swing rod (414), the 4th 1 connecting elements (415), the four or two connecting elements (416), the 4th 1 connecting rod (418), the 4th catch bar (417), the 4th servo motor (419) composition, the 4th 1 swing rod (402) It is connect by the 4th 1 revolute pair (430) with the 4th support frame (401), the 4th 1 swing rod (402) passes through the four or two revolute pair (420) it is connect with the 4th 1 driving wheel (404), the 4th 1 swing rod (402) is connect by the four or three revolute pair (428) with the 4th 1 Bar (418) connection, the 4th 1 swing rod (402) are connect by the 4th 1 prismatic pair (424) with the four or three swing rod (413), and the four or two Swing rod (403) is connect by the four or four revolute pair (431) with the 4th support frame (401), and the four or two swing rod (403) passes through the four or five Revolute pair (421) is connect with the four or two driving wheel (405), and the four or two swing rod (403) passes through the four or six revolute pair (429) and the 4th One connecting rod (418) connection, the four or two swing rod (403) are connected by the four or two prismatic pair (425) with the four or four swing rod (414) It connects, the 4th 1 driving wheel (404) is coupled by the 4th 1 synchronous belt (406) with the four or three driving wheel (408), the four or three driving wheel (408) it is consolidated with the four or five driving wheel (410), the four or five driving wheel (410) passes through the four or three synchronous belt (412) and the Four or six driving wheels (411) connection, the four or six driving wheel (411) are consolidated with the four or four driving wheel (409), the four or four transmission Wheel (409) is coupled by the four or two synchronous belt (407) with the four or two driving wheel (405), and the four or three swing rod (413) passes through the 4th 1 Connecting elements (415) is consolidated with the 4th 1 synchronous belt (406), and the four or three swing rod (413) passes through the four or seven revolute pair (426) it is connect with the 4th catch bar (417), the four or four swing rod (414) is synchronous with the four or two by the four or two connecting elements (416) Band (407) is consolidated, and the four or four swing rod (414) is connect by the four or eight revolute pair (427) with the 4th catch bar (417), 4th servo motor (419) is mounted on the 4th support frame (401) and connect with the four or six driving wheel (411), the 4th support frame (401) connect with rack (1) by the 0th 4 revolute pair (14), the 4th catch bar (417) pass through the 0th 8 revolute pair (24) and First translational piece (021) connection.
4th 1 revolute pair (430), the four or two revolute pair (420), the four or three revolute pair (428), the four or four rotation Secondary (431), the four or five revolute pair (421), the four or six revolute pair (429), the four or seven revolute pair (426) and the four or eight revolute pair (427) pivot center is parallel to each other, the 4th 1 revolute pair (430) and the four or two revolute pair (420) axial line distance and the four or four Revolute pair (431) and the four or five revolute pair (421) axial line distance are equal, the 4th 1 revolute pair (430) and the four or three revolute pair (428) axial line distance is equal with the four or two revolute pair (420) and the four or six revolute pair (429) axial line distance, the 4th 1 revolute pair (430) and the four or four revolute pair (431) axial line distance, the four or two revolute pair (420) and the four or six revolute pair (429) axis away from From, the four or three revolute pair (428) and the four or five revolute pair (421) axial line distance and the four or seven revolute pair (426) and the 4th eight revolution Dynamic pair (427) axial line distance is equal, the 4th 1 revolute pair (430) and the four or seven revolute pair (426) axial line distance and the four or four turn Dynamic pair (431) and the four or eight revolute pair (427) axial line distance are equal.
The first servo motor (119), which is mounted on the first support frame (101), drives the one or six driving wheel (111) fortune Dynamic, the one or six driving wheel (111) and the one or four driving wheel (109) consolidate and drive the movement of the one or four driving wheel (109), and the one or six Driving wheel (111) by the one or three synchronous belt (112) drive the one or five driving wheel (110) movement, the one or five driving wheel (110) with One or three driving wheel (108) consolidates and drives the movement of the one or three driving wheel (108), and the one or three driving wheel (108) passes through the 1st Synchronous belt (106) drives the movement of the one one driving wheel (104), and the one or four driving wheel (109) is driven by the one or two synchronous belt (107) Dynamic one or two driving wheel (105) movement, the one one synchronous belt (106) pass through the one or three pendulum of the one one connecting elements (115) driving Bar (113) movement, the one or two synchronous belt (107) drive the movement of the one or four swing rod (114) by the one or two connecting elements (116), One or three swing rod (113) and the one or four swing rod (114), which move synchronously, drives the first catch bar (117) to realize along the one one prismatic pair (124) translational motion of the direction of motion.
Second servo motor (219), which is mounted on the second support frame (201), drives the two or six driving wheel (211) fortune Dynamic, the two or six driving wheel (211) and the two or four driving wheel (209) consolidate and drive the movement of the two or four driving wheel (209), and the two or six Driving wheel (211) by the two or three synchronous belt (212) drive the two or five driving wheel (210) movement, the two or five driving wheel (210) with Two or three driving wheel (208) consolidates and drives the movement of the two or three driving wheel (208), and the two or three driving wheel (208) passes through the 2nd 1 Synchronous belt (206) drives the movement of the 2nd 1 driving wheel (204), and the two or four driving wheel (209) is driven by the two or two synchronous belt (207) Dynamic two or two driving wheel (205) movement, the 2nd 1 synchronous belt (206) pass through the two or three pendulum of the 2nd 1 connecting elements (215) driving Bar (213) movement, the two or two synchronous belt (207) drive the movement of the two or four swing rod (214) by the two or two connecting elements (216), Two or three swing rod (213) and the two or four swing rod (214), which move synchronously, drives the second catch bar (217) to realize along the 2nd 1 prismatic pair (224) translational motion of the direction of motion.
The third servo motor (319), which is mounted on third support frame (301), drives the three or six driving wheel (311) fortune Dynamic, the three or six driving wheel (311) and the three or four driving wheel (309) consolidate and drive the movement of the three or four driving wheel (309), and the three or six Driving wheel (311) by the three or three synchronous belt (312) drive the three or five driving wheel (310) movement, the three or five driving wheel (310) with Three or three driving wheel (308) consolidates and drives the movement of the three or three driving wheel (308), and the three or three driving wheel (308) passes through the 3rd 1 Synchronous belt (306) drives the movement of the 3rd 1 driving wheel (304), and the three or four driving wheel (309) is driven by the three or two synchronous belt (307) Dynamic three or two driving wheel (305) movement, the 3rd 1 synchronous belt (306) pass through the three or three pendulum of the 3rd 1 connecting elements (315) driving Bar (313) movement, the three or two synchronous belt (307) drive the movement of the three or four swing rod (314) by the three or two connecting elements (316), Three or three swing rod (313) and the three or four swing rod (314), which move synchronously, drives third catch bar (317) to realize along the 3rd 1 prismatic pair (324) translational motion of the direction of motion.
4th servo motor (419), which is mounted on the 4th support frame (401), drives the four or six driving wheel (411) fortune Dynamic, the four or six driving wheel (411) and the four or four driving wheel (409) consolidate and drive the movement of the four or four driving wheel (409), and the four or six Driving wheel (411) by the four or three synchronous belt (412) drive the four or five driving wheel (410) movement, the four or five driving wheel (410) with Four or three driving wheel (408) consolidates and drives the movement of the four or three driving wheel (408), and the four or three driving wheel (408) passes through the 4th 1 Synchronous belt (406) drives the movement of the 4th 1 driving wheel (404), and the four or four driving wheel (409) is driven by the four or two synchronous belt (407) Dynamic four or two driving wheel (405) movement, the 4th 1 synchronous belt (406) pass through the four or three pendulum of the 4th 1 connecting elements (415) driving Bar (413) movement, the four or two synchronous belt (407) drive the movement of the four or four swing rod (414) by the four or two connecting elements (416), Four or three swing rod (413) and the four or four swing rod (414), which move synchronously, drives the 4th catch bar (417) to realize along the 4th 1 prismatic pair (424) translational motion of the direction of motion.
First catch bar (117), the second catch bar (217), third catch bar (317) and the 4th catch bar (417) Small synchronizing wheel (025) is driven to complete the movement in three flat one turns of space.
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 structure signal of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention Figure.
Fig. 2 is the rack schematic diagram of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention.
Fig. 3 is that the moving platform first of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention is illustrated Figure.
Fig. 4 is that the moving platform second of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention is illustrated Figure.
Fig. 5 is that the first branch first of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention shows It is intended to.
Fig. 6 is that the second branch first of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention shows It is intended to.
Fig. 7 is that the third branch first of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention shows It is intended to.
Fig. 8 is that the 4th branch first of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention shows It is intended to.
Fig. 9 is that the first branch second of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention shows It is intended to.
Figure 10 is the second branch second of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention Schematic diagram.
Figure 11 is the third branch second of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention Schematic diagram.
Figure 12 is the 4th branch second of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention Schematic diagram.
Figure 13 is that the first branch of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention conceals First schematic diagram of the first support frame.
Figure 14 is that the second branch of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention conceals First schematic diagram of the second support frame.
Figure 15 is that the third branch of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention conceals First schematic diagram of third support frame.
Figure 16 is that the 4th branch of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention conceals First schematic diagram of the 4th support frame.
Figure 17 is that the first branch of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention conceals Second schematic diagram of the first support frame.
Figure 18 is that the second branch of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention conceals Second schematic diagram of the second support frame.
Figure 19 is that the third branch of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention conceals Second schematic diagram of third support frame.
Figure 20 is that the 4th branch of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention conceals Second schematic diagram of the 4th support frame.
Figure 21 is the first motion state of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention Schematic diagram.
Figure 22 is the second motion state of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention Schematic diagram.
Figure 23 is the third motion state of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention Schematic diagram.
Figure 24 is the 4th motion state of three flat one turn of crawl robot mechanisms of toothed belt transmission structure of the present invention Schematic 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, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, figure 15, Figure 16, Figure 17, Figure 18, Figure 19 and Figure 20, the flat one turn of crawl robot mechanism of the three of toothed belt transmission structure, including rack (1), the first branch (3), the second branch (4), third branch (5), the 4th branch (6), moving platform structure (2).
The moving platform structure (2) is by the first translational piece (021), the second translational piece (022), third translational piece (023), Four translational pieces (024), small synchronizing wheel (025), big synchronizing wheel (026) and synchronous belt (027), big synchronizing wheel (026) are fixedly arranged at On two translational pieces (022), big synchronizing wheel (026) is coupled by synchronous belt (027) with small synchronizing wheel (025), small synchronizing wheel (025) It is connect by the 0th 9 revolute pair (028) with the first translational piece (021), the first translational piece (021) passes through the 0th 10 revolute pair (029) it is connect with third translational piece (023), third translational piece (023) passes through the 0th revolute pair (030) and the second translational piece one by one (022) it connects, the second translational piece (022) is connect by the 0th 12 revolute pair (032) with the 4th translational piece (024), Siping City Moving part (024) is connect by the 0th 13 revolute pair (031) with the first translational piece (021),
0th 10 revolute pair (029), the 0th revolute pair (030), the 0th 12 revolute pair (032), the 0th 13 one by one Revolute pair (031) axis is parallel to each other, the 0th 10 revolute pair (029) and the 0th revolute pair (030) turns auxiliary shaft line-spacing one by one It is equal with the 0th 13 revolute pair (031) axial line distance from the 0th 12 revolute pair (032), the 0th 13 revolute pair (031) With the 0th 10 revolute pair (029) axial line distance and the 0th one by one revolute pair (030) and the 0th 12 revolute pair (032) axis away from From equal,
First branch (3) is by the first support frame (101), the one one driving wheel (104), the one or two driving wheel (105), first Three driving wheels (108), the one or four driving wheel (109), the one or five driving wheel (110), the one or six driving wheel (111), first are together Step band (106), the one or two synchronous belt (107), the one or three synchronous belt (112), the one one swing rod (102), the one or two swing rod (103), the one or three swing rod (113), the one or four swing rod (114), the one one connecting elements (115), the one or two connecting elements (116), the one one connecting rod (118), the first catch bar (117), first servo motor (119) composition, the one one swing rod (102) It is connect by the one one revolute pair (130) with the first support frame (101), the one one swing rod (102) passes through the one or two revolute pair (120) it is connect with the one one driving wheel (104), the one one swing rod (102) is connect by the one or three revolute pair (128) with the 1st Bar (118) connection, the one one swing rod (102) are connect by the one one prismatic pair (124) with the one or three swing rod (113), and the one or two Swing rod (103) is connect by the one or four revolute pair (131) with the first support frame (101), and the one or two swing rod (103) passes through the one or five Revolute pair (121) is connect with the one or two driving wheel (105), and the one or two swing rod (103) passes through the one or six revolute pair (129) and first One connecting rod (118) connection, the one or two swing rod (103) are connected by the one or two prismatic pair (125) with the one or four swing rod (114) It connects, the one one driving wheel (104) is coupled by the one one synchronous belt (106) with the one or three driving wheel (108), the one or three driving wheel (108) it is consolidated with the one or five driving wheel (110), the one or five driving wheel (110) passes through the one or three synchronous belt (112) and the One or six driving wheels (111) connection, the one or six driving wheel (111) are consolidated with the one or four driving wheel (109), the one or four transmission Wheel (109) is coupled by the one or two synchronous belt (107) with the one or two driving wheel (105), and the one or three swing rod (113) passes through the 1st Connecting elements (115) is consolidated with the one one synchronous belt (106), and the one or three swing rod (113) passes through the one or seven revolute pair (126) it is connect with the first catch bar (117), the one or four swing rod (114) is synchronous with the one or two by the one or two connecting elements (116) Band (107) is consolidated, and the one or four swing rod (114) is connect by the one or eight revolute pair (127) with the first catch bar (117), First servo motor (119) is mounted on the first support frame (101) and connect with the one or six driving wheel (111), the first support frame (101) connect with rack (1) by the 0th 1 revolute pair (11), the first catch bar (117) pass through the 0th 5 revolute pair (21) and First translational piece (021) connection.
One one revolute pair (130), the one or two revolute pair (120), the one or three revolute pair (128), the one or four rotation Secondary (131), the one or five revolute pair (121), the one or six revolute pair (129), the one or seven revolute pair (126) and the one or eight revolute pair (127) pivot center is parallel to each other, the one one revolute pair (130) and the one or two revolute pair (120) axial line distance and the one or four Revolute pair (131) and the one or five revolute pair (121) axial line distance are equal, the one one revolute pair (130) and the one or three revolute pair (128) axial line distance is equal with the one or two revolute pair (120) and the one or six revolute pair (129) axial line distance, the one one revolute pair (130) and the one or four revolute pair (131) axial line distance, the one or two revolute pair (120) and the one or six revolute pair (129) axis away from From, the one or three revolute pair (128) and the one or five revolute pair (121) axial line distance and the one or seven revolute pair (126) and the first eight revolution Dynamic pair (127) axial line distance is equal, the one one revolute pair (130) and the one or seven revolute pair (126) axial line distance and the one or four turn Dynamic pair (131) and the one or eight revolute pair (127) axial line distance are equal.
Second branch (4) by the second support frame (201), the 2nd 1 driving wheel (204), the two or two driving wheel (205), Two or three driving wheel (208), the two or four driving wheel (209), the two or five driving wheel (210), the two or six driving wheel (211), second One synchronous belt (206), the two or two synchronous belt (207), the two or three synchronous belt (212), the 2nd 1 swing rod (202), the two or two swing rod (203), the two or three swing rod (213), the two or four swing rod (214), the 2nd 1 connecting elements (215), the two or two connecting elements (216), the 2nd 1 connecting rod (218), the second catch bar (217), the second servo motor (219) composition, the 2nd 1 swing rod (202) It is connect by the 2nd 1 revolute pair (230) with the second support frame (201), the 2nd 1 swing rod (202) passes through the two or two revolute pair (220) it is connect with the 2nd 1 driving wheel (204), the 2nd 1 swing rod (202) is connect by the two or three revolute pair (228) with the 2nd 1 Bar (218) connection, the 2nd 1 swing rod (202) are connect by the 2nd 1 prismatic pair (224) with the two or three swing rod (213), and the two or two Swing rod (203) is connect by the two or four revolute pair (231) with the second support frame (201), and the two or two swing rod (203) passes through the two or five Revolute pair (221) is connect with the two or two driving wheel (205), and the two or two swing rod (203) passes through the two or six revolute pair (229) and second One connecting rod (218) connection, the two or two swing rod (203) are connected by the two or two prismatic pair (225) with the two or four swing rod (214) It connects, the 2nd 1 driving wheel (204) is coupled by the 2nd 1 synchronous belt (206) with the two or three driving wheel (208), the two or three driving wheel (208) it is consolidated with the two or five driving wheel (210), the two or five driving wheel (210) passes through the two or three synchronous belt (212) and the Two or six driving wheels (211) connection, the two or six driving wheel (211) are consolidated with the two or four driving wheel (209), the two or four transmission Wheel (209) is coupled by the two or two synchronous belt (207) with the two or two driving wheel (205), and the two or three swing rod (213) passes through the 2nd 1 Connecting elements (215) is consolidated with the 2nd 1 synchronous belt (206), and the two or three swing rod (213) passes through the two or seven revolute pair (226) it is connect with the second catch bar (217), the two or four swing rod (214) is synchronous with the two or two by the two or two connecting elements (216) Band (207) is consolidated, and the two or four swing rod (214) is connect by the two or eight revolute pair (227) with the second catch bar (217), Second servo motor (219) is mounted on the second support frame (201) and connect with the two or six driving wheel (211), the second support frame (201) connect with rack (1) by the 0th 2 revolute pair (12), the second catch bar (217) pass through the 0th 6 revolute pair (22) and Second translational piece (022) connection.
2nd 1 revolute pair (230), the two or two revolute pair (220), the two or three revolute pair (228), the two or four rotation Secondary (231), the two or five revolute pair (221), the two or six revolute pair (229), the two or seven revolute pair (226) and the two or eight revolute pair (227) pivot center is parallel to each other, the 2nd 1 revolute pair (230) and the two or two revolute pair (220) axial line distance and the two or four Revolute pair (231) and the two or five revolute pair (221) axial line distance are equal, the 2nd 1 revolute pair (230) and the two or three revolute pair (228) axial line distance is equal with the two or two revolute pair (220) and the two or six revolute pair (229) axial line distance, the 2nd 1 revolute pair (230) and the two or four revolute pair (231) axial line distance, the two or two revolute pair (220) and the two or six revolute pair (229) axis away from From, the two or three revolute pair (228) and the two or five revolute pair (221) axial line distance and the two or seven revolute pair (226) and the second eight revolution Dynamic pair (227) axial line distance is equal, the 2nd 1 revolute pair (230) and the two or seven revolute pair (226) axial line distance and the two or four turn Dynamic pair (231) and the two or eight revolute pair (227) axial line distance are equal.
The third branch (5) by third support frame (301), the 3rd 1 driving wheel (304), the three or two driving wheel (305), Three or three driving wheel (308), the three or four driving wheel (309), the three or five driving wheel (310), the three or six driving wheel (311), third One synchronous belt (306), the three or two synchronous belt (307), the three or three synchronous belt (312), the 3rd 1 swing rod (302), the three or two swing rod (303), the three or three swing rod (313), the three or four swing rod (314), the 3rd 1 connecting elements (315), the three or two connecting elements (316), the 3rd 1 connecting rod (318), third catch bar (317), third servo motor (319) composition, the 3rd 1 swing rod (302) It is connect by the 3rd 1 revolute pair (330) with third support frame (301), the 3rd 1 swing rod (302) passes through the three or two revolute pair (320) it is connect with the 3rd 1 driving wheel (304), the 3rd 1 swing rod (302) is connect by the three or three revolute pair (328) with the 3rd 1 Bar (318) connection, the 3rd 1 swing rod (302) are connect by the 3rd 1 prismatic pair (324) with the three or three swing rod (313), and the three or two Swing rod (303) is connect by the three or four revolute pair (331) with third support frame (301), and the three or two swing rod (303) passes through the three or five Revolute pair (321) is connect with the three or two driving wheel (305), and the three or two swing rod (303) passes through the three or six revolute pair (329) and third One connecting rod (318) connection, the three or two swing rod (303) are connected by the three or two prismatic pair (325) with the three or four swing rod (314) It connects, the 3rd 1 driving wheel (304) is coupled by the 3rd 1 synchronous belt (306) with the three or three driving wheel (308), the three or three driving wheel (308) it is consolidated with the three or five driving wheel (310), the three or five driving wheel (310) passes through the three or three synchronous belt (312) and the Three or six driving wheels (311) connection, the three or six driving wheel (311) are consolidated with the three or four driving wheel (309), the three or four transmission Wheel (309) is coupled by the three or two synchronous belt (307) with the three or two driving wheel (305), and the three or three swing rod (313) passes through the 3rd 1 Connecting elements (315) is consolidated with the 3rd 1 synchronous belt (306), and the three or three swing rod (313) passes through the three or seven revolute pair (326) it is connect with third catch bar (317), the three or four swing rod (314) is synchronous with the three or two by the three or two connecting elements (316) Band (307) is consolidated, and the three or four swing rod (314) is connect by the three or eight revolute pair (327) with third catch bar (317), Third servo motor (319) is mounted on third support frame (301) and connect with the three or six driving wheel (311), third support frame (301) connect with rack (1) by the 0th 3 revolute pair (13), third catch bar (317) pass through the 0th 7 revolute pair (23) and Second translational piece (022) connection.
3rd 1 revolute pair (330), the three or two revolute pair (320), the three or three revolute pair (328), the three or four rotation Secondary (331), the three or five revolute pair (321), the three or six revolute pair (329), the three or seven revolute pair (326) and the three or eight revolute pair (327) pivot center is parallel to each other, the 3rd 1 revolute pair (330) and the three or two revolute pair (320) axial line distance and the three or four Revolute pair (331) and the three or five revolute pair (321) axial line distance are equal, the 3rd 1 revolute pair (330) and the three or three revolute pair (328) axial line distance is equal with the three or two revolute pair (320) and the three or six revolute pair (329) axial line distance, the 3rd 1 revolute pair (330) and the three or four revolute pair (331) axial line distance, the three or two revolute pair (320) and the three or six revolute pair (329) axis away from From, the three or three revolute pair (328) and the three or five revolute pair (321) axial line distance and the three or seven revolute pair (326) and third eight revolution Dynamic pair (327) axial line distance is equal, the 3rd 1 revolute pair (330) and the three or seven revolute pair (326) axial line distance and the three or four turn Dynamic pair (331) and the three or eight revolute pair (327) axial line distance are equal.
4th branch (6) by the 4th support frame (401), the 4th 1 driving wheel (404), the four or two driving wheel (405), Four or three driving wheel (408), the four or four driving wheel (409), the four or five driving wheel (410), the four or six driving wheel (411), the 4th One synchronous belt (406), the four or two synchronous belt (407), the four or three synchronous belt (412), the 4th 1 swing rod (402), the four or two swing rod (403), the four or three swing rod (413), the four or four swing rod (414), the 4th 1 connecting elements (415), the four or two connecting elements (416), the 4th 1 connecting rod (418), the 4th catch bar (417), the 4th servo motor (419) composition, the 4th 1 swing rod (402) It is connect by the 4th 1 revolute pair (430) with the 4th support frame (401), the 4th 1 swing rod (402) passes through the four or two revolute pair (420) it is connect with the 4th 1 driving wheel (404), the 4th 1 swing rod (402) is connect by the four or three revolute pair (428) with the 4th 1 Bar (418) connection, the 4th 1 swing rod (402) are connect by the 4th 1 prismatic pair (424) with the four or three swing rod (413), and the four or two Swing rod (403) is connect by the four or four revolute pair (431) with the 4th support frame (401), and the four or two swing rod (403) passes through the four or five Revolute pair (421) is connect with the four or two driving wheel (405), and the four or two swing rod (403) passes through the four or six revolute pair (429) and the 4th One connecting rod (418) connection, the four or two swing rod (403) are connected by the four or two prismatic pair (425) with the four or four swing rod (414) It connects, the 4th 1 driving wheel (404) is coupled by the 4th 1 synchronous belt (406) with the four or three driving wheel (408), the four or three driving wheel (408) it is consolidated with the four or five driving wheel (410), the four or five driving wheel (410) passes through the four or three synchronous belt (412) and the Four or six driving wheels (411) connection, the four or six driving wheel (411) are consolidated with the four or four driving wheel (409), the four or four transmission Wheel (409) is coupled by the four or two synchronous belt (407) with the four or two driving wheel (405), and the four or three swing rod (413) passes through the 4th 1 Connecting elements (415) is consolidated with the 4th 1 synchronous belt (406), and the four or three swing rod (413) passes through the four or seven revolute pair (426) it is connect with the 4th catch bar (417), the four or four swing rod (414) is synchronous with the four or two by the four or two connecting elements (416) Band (407) is consolidated, and the four or four swing rod (414) is connect by the four or eight revolute pair (427) with the 4th catch bar (417), 4th servo motor (419) is mounted on the 4th support frame (401) and connect with the four or six driving wheel (411), the 4th support frame (401) connect with rack (1) by the 0th 4 revolute pair (14), the 4th catch bar (417) pass through the 0th 8 revolute pair (24) and First translational piece (021) connection.
4th 1 revolute pair (430), the four or two revolute pair (420), the four or three revolute pair (428), the four or four rotation Secondary (431), the four or five revolute pair (421), the four or six revolute pair (429), the four or seven revolute pair (426) and the four or eight revolute pair (427) pivot center is parallel to each other, the 4th 1 revolute pair (430) and the four or two revolute pair (420) axial line distance and the four or four Revolute pair (431) and the four or five revolute pair (421) axial line distance are equal, the 4th 1 revolute pair (430) and the four or three revolute pair (428) axial line distance is equal with the four or two revolute pair (420) and the four or six revolute pair (429) axial line distance, the 4th 1 revolute pair (430) and the four or four revolute pair (431) axial line distance, the four or two revolute pair (420) and the four or six revolute pair (429) axis away from From, the four or three revolute pair (428) and the four or five revolute pair (421) axial line distance and the four or seven revolute pair (426) and the 4th eight revolution Dynamic pair (427) axial line distance is equal, the 4th 1 revolute pair (430) and the four or seven revolute pair (426) axial line distance and the four or four turn Dynamic pair (431) and the four or eight revolute pair (427) axial line distance are equal.
The first servo motor (119), which is mounted on the first support frame (101), drives the one or six driving wheel (111) fortune Dynamic, the one or six driving wheel (111) and the one or four driving wheel (109) consolidate and drive the movement of the one or four driving wheel (109), and the one or six Driving wheel (111) by the one or three synchronous belt (112) drive the one or five driving wheel (110) movement, the one or five driving wheel (110) with One or three driving wheel (108) consolidates and drives the movement of the one or three driving wheel (108), and the one or three driving wheel (108) passes through the 1st Synchronous belt (106) drives the movement of the one one driving wheel (104), and the one or four driving wheel (109) is driven by the one or two synchronous belt (107) Dynamic one or two driving wheel (105) movement, the one one synchronous belt (106) pass through the one or three pendulum of the one one connecting elements (115) driving Bar (113) movement, the one or two synchronous belt (107) drive the movement of the one or four swing rod (114) by the one or two connecting elements (116), One or three swing rod (113) and the one or four swing rod (114), which move synchronously, drives the first catch bar (117) to realize along the one one prismatic pair (124) translational motion of the direction of motion.
Second servo motor (219), which is mounted on the second support frame (201), drives the two or six driving wheel (211) fortune Dynamic, the two or six driving wheel (211) and the two or four driving wheel (209) consolidate and drive the movement of the two or four driving wheel (209), and the two or six Driving wheel (211) by the two or three synchronous belt (212) drive the two or five driving wheel (210) movement, the two or five driving wheel (210) with Two or three driving wheel (208) consolidates and drives the movement of the two or three driving wheel (208), and the two or three driving wheel (208) passes through the 2nd 1 Synchronous belt (206) drives the movement of the 2nd 1 driving wheel (204), and the two or four driving wheel (209) is driven by the two or two synchronous belt (207) Dynamic two or two driving wheel (205) movement, the 2nd 1 synchronous belt (206) pass through the two or three pendulum of the 2nd 1 connecting elements (215) driving Bar (213) movement, the two or two synchronous belt (207) drive the movement of the two or four swing rod (214) by the two or two connecting elements (216), Two or three swing rod (213) and the two or four swing rod (214), which move synchronously, drives the second catch bar (217) to realize along the 2nd 1 prismatic pair (224) translational motion of the direction of motion.
The third servo motor (319), which is mounted on third support frame (301), drives the three or six driving wheel (311) fortune Dynamic, the three or six driving wheel (311) and the three or four driving wheel (309) consolidate and drive the movement of the three or four driving wheel (309), and the three or six Driving wheel (311) by the three or three synchronous belt (312) drive the three or five driving wheel (310) movement, the three or five driving wheel (310) with Three or three driving wheel (308) consolidates and drives the movement of the three or three driving wheel (308), and the three or three driving wheel (308) passes through the 3rd 1 Synchronous belt (306) drives the movement of the 3rd 1 driving wheel (304), and the three or four driving wheel (309) is driven by the three or two synchronous belt (307) Dynamic three or two driving wheel (305) movement, the 3rd 1 synchronous belt (306) pass through the three or three pendulum of the 3rd 1 connecting elements (315) driving Bar (313) movement, the three or two synchronous belt (307) drive the movement of the three or four swing rod (314) by the three or two connecting elements (316), Three or three swing rod (313) and the three or four swing rod (314), which move synchronously, drives third catch bar (317) to realize along the 3rd 1 prismatic pair (324) translational motion of the direction of motion.
4th servo motor (419), which is mounted on the 4th support frame (401), drives the four or six driving wheel (411) fortune Dynamic, the four or six driving wheel (411) and the four or four driving wheel (409) consolidate and drive the movement of the four or four driving wheel (409), and the four or six Driving wheel (411) by the four or three synchronous belt (412) drive the four or five driving wheel (410) movement, the four or five driving wheel (410) with Four or three driving wheel (408) consolidates and drives the movement of the four or three driving wheel (408), and the four or three driving wheel (408) passes through the 4th 1 Synchronous belt (406) drives the movement of the 4th 1 driving wheel (404), and the four or four driving wheel (409) is driven by the four or two synchronous belt (407) Dynamic four or two driving wheel (405) movement, the 4th 1 synchronous belt (406) pass through the four or three pendulum of the 4th 1 connecting elements (415) driving Bar (413) movement, the four or two synchronous belt (407) drive the movement of the four or four swing rod (414) by the four or two connecting elements (416), Four or three swing rod (413) and the four or four swing rod (414), which move synchronously, drives the 4th catch bar (417) to realize along the 4th 1 prismatic pair (424) translational motion of the direction of motion.
First catch bar (117), the second catch bar (217), third catch bar (317) and the 4th catch bar (417) Small synchronizing wheel (025) is driven to complete the movement in three flat one turns of space.
Figure 21, Figure 22, Figure 23 and Figure 24 are that three flat one turn of crawl robot mechanism of toothed belt transmission structure realize difference The state diagram of movement.

Claims (1)

1. the flat one turn of crawl robot mechanism of the three of toothed belt transmission structure, including rack (1), the first branch (3), the second branch (4), third branch (5), the 4th branch (6), moving platform structure (2), it is characterised in that:
The moving platform structure (2) is by the first translational piece (021), the second translational piece (022), third translational piece (023), Siping City Moving part (024), small synchronizing wheel (025), big synchronizing wheel (026) and synchronous belt (027), it is flat that big synchronizing wheel (026) is fixedly arranged at second On moving part (022), big synchronizing wheel (026) is coupled by synchronous belt (027) with small synchronizing wheel (025), and small synchronizing wheel (025) passes through 0th 9 revolute pair (028) is connect with the first translational piece (021), and the first translational piece (021) passes through the 0th 10 revolute pair (029) It is connect with third translational piece (023), third translational piece (023) passes through the 0th revolute pair (030) and the second translational piece (022) one by one Connection, the second translational piece (022) are connect by the 0th 12 revolute pair (032) with the 4th translational piece (024), the 4th translational piece (024) it is connect by the 0th 13 revolute pair (031) with the first translational piece (021),
0th 10 revolute pair (029), the 0th revolute pair (030), the 0th 12 revolute pair (032), the 0th 13 one by one Revolute pair (031) axis is parallel to each other, the 0th 10 revolute pair (029) and the 0th revolute pair (030) turns auxiliary shaft line-spacing one by one It is equal with the 0th 13 revolute pair (031) axial line distance from the 0th 12 revolute pair (032), the 0th 13 revolute pair (031) With the 0th 10 revolute pair (029) axial line distance and the 0th one by one revolute pair (030) and the 0th 12 revolute pair (032) axis away from From equal,
First branch (3) is by the first support frame (101), the one one driving wheel (104), the one or two driving wheel (105), first Three driving wheels (108), the one or four driving wheel (109), the one or five driving wheel (110), the one or six driving wheel (111), first are together Step band (106), the one or two synchronous belt (107), the one or three synchronous belt (112), the one one swing rod (102), the one or two swing rod (103), the one or three swing rod (113), the one or four swing rod (114), the one one connecting elements (115), the one or two connecting elements (116), the one one connecting rod (118), the first catch bar (117), first servo motor (119) composition, the one one swing rod (102) It is connect by the one one revolute pair (130) with the first support frame (101), the one one swing rod (102) passes through the one or two revolute pair (120) it is connect with the one one driving wheel (104), the one one swing rod (102) is connect by the one or three revolute pair (128) with the 1st Bar (118) connection, the one one swing rod (102) are connect by the one one prismatic pair (124) with the one or three swing rod (113), and the one or two Swing rod (103) is connect by the one or four revolute pair (131) with the first support frame (101), and the one or two swing rod (103) passes through the one or five Revolute pair (121) is connect with the one or two driving wheel (105), and the one or two swing rod (103) passes through the one or six revolute pair (129) and first One connecting rod (118) connection, the one or two swing rod (103) are connected by the one or two prismatic pair (125) with the one or four swing rod (114) It connects, the one one driving wheel (104) is coupled by the one one synchronous belt (106) with the one or three driving wheel (108), the one or three driving wheel (108) it is consolidated with the one or five driving wheel (110), the one or five driving wheel (110) passes through the one or three synchronous belt (112) and the One or six driving wheels (111) connection, the one or six driving wheel (111) are consolidated with the one or four driving wheel (109), the one or four transmission Wheel (109) is coupled by the one or two synchronous belt (107) with the one or two driving wheel (105), and the one or three swing rod (113) passes through the 1st Connecting elements (115) is consolidated with the one one synchronous belt (106), and the one or three swing rod (113) passes through the one or seven revolute pair (126) it is connect with the first catch bar (117), the one or four swing rod (114) is synchronous with the one or two by the one or two connecting elements (116) Band (107) is consolidated, and the one or four swing rod (114) is connect by the one or eight revolute pair (127) with the first catch bar (117), First servo motor (119) is mounted on the first support frame (101) and connect with the one or six driving wheel (111), the first support frame (101) connect with rack (1) by the 0th 1 revolute pair (11), the first catch bar (117) pass through the 0th 5 revolute pair (21) and First translational piece (021) connection,
One one revolute pair (130), the one or two revolute pair (120), the one or three revolute pair (128), the one or four revolute pair (131), the one or five revolute pair (121), the one or six revolute pair (129), the one or seven revolute pair (126) and the one or eight revolute pair (127) pivot center is parallel to each other, the one one revolute pair (130) and the one or two revolute pair (120) axial line distance and the one or four Revolute pair (131) and the one or five revolute pair (121) axial line distance are equal, the one one revolute pair (130) and the one or three revolute pair (128) axial line distance is equal with the one or two revolute pair (120) and the one or six revolute pair (129) axial line distance, the one one revolute pair (130) and the one or four revolute pair (131) axial line distance, the one or two revolute pair (120) and the one or six revolute pair (129) axis away from From, the one or three revolute pair (128) and the one or five revolute pair (121) axial line distance and the one or seven revolute pair (126) and the first eight revolution Dynamic pair (127) axial line distance is equal, the one one revolute pair (130) and the one or seven revolute pair (126) axial line distance and the one or four turn Dynamic pair (131) and the one or eight revolute pair (127) axial line distance are equal,
Second branch (4) is by the second support frame (201), the 2nd 1 driving wheel (204), the two or two driving wheel (205), second Three driving wheels (208), the two or four driving wheel (209), the two or five driving wheel (210), the two or six driving wheel (211), second are together Step band (206), the two or two synchronous belt (207), the two or three synchronous belt (212), the 2nd 1 swing rod (202), the two or two swing rod (203), the two or three swing rod (213), the two or four swing rod (214), the 2nd 1 connecting elements (215), the two or two connecting elements (216), the 2nd 1 connecting rod (218), the second catch bar (217), the second servo motor (219) composition, the 2nd 1 swing rod (202) It is connect by the 2nd 1 revolute pair (230) with the second support frame (201), the 2nd 1 swing rod (202) passes through the two or two revolute pair (220) it is connect with the 2nd 1 driving wheel (204), the 2nd 1 swing rod (202) is connect by the two or three revolute pair (228) with the 2nd 1 Bar (218) connection, the 2nd 1 swing rod (202) are connect by the 2nd 1 prismatic pair (224) with the two or three swing rod (213), and the two or two Swing rod (203) is connect by the two or four revolute pair (231) with the second support frame (201), and the two or two swing rod (203) passes through the two or five Revolute pair (221) is connect with the two or two driving wheel (205), and the two or two swing rod (203) passes through the two or six revolute pair (229) and second One connecting rod (218) connection, the two or two swing rod (203) are connected by the two or two prismatic pair (225) with the two or four swing rod (214) It connects, the 2nd 1 driving wheel (204) is coupled by the 2nd 1 synchronous belt (206) with the two or three driving wheel (208), the two or three driving wheel (208) it is consolidated with the two or five driving wheel (210), the two or five driving wheel (210) passes through the two or three synchronous belt (212) and the Two or six driving wheels (211) connection, the two or six driving wheel (211) are consolidated with the two or four driving wheel (209), the two or four transmission Wheel (209) is coupled by the two or two synchronous belt (207) with the two or two driving wheel (205), and the two or three swing rod (213) passes through the 2nd 1 Connecting elements (215) is consolidated with the 2nd 1 synchronous belt (206), and the two or three swing rod (213) passes through the two or seven revolute pair (226) it is connect with the second catch bar (217), the two or four swing rod (214) is synchronous with the two or two by the two or two connecting elements (216) Band (207) is consolidated, and the two or four swing rod (214) is connect by the two or eight revolute pair (227) with the second catch bar (217), Second servo motor (219) is mounted on the second support frame (201) and connect with the two or six driving wheel (211), the second support frame (201) connect with rack (1) by the 0th 2 revolute pair (12), the second catch bar (217) pass through the 0th 6 revolute pair (22) and Second translational piece (022) connection,
2nd 1 revolute pair (230), the two or two revolute pair (220), the two or three revolute pair (228), the two or four revolute pair (231), the two or five revolute pair (221), the two or six revolute pair (229), the two or seven revolute pair (226) and the two or eight revolute pair (227) pivot center is parallel to each other, the 2nd 1 revolute pair (230) and the two or two revolute pair (220) axial line distance and the two or four Revolute pair (231) and the two or five revolute pair (221) axial line distance are equal, the 2nd 1 revolute pair (230) and the two or three revolute pair (228) axial line distance is equal with the two or two revolute pair (220) and the two or six revolute pair (229) axial line distance, the 2nd 1 revolute pair (230) and the two or four revolute pair (231) axial line distance, the two or two revolute pair (220) and the two or six revolute pair (229) axis away from From, the two or three revolute pair (228) and the two or five revolute pair (221) axial line distance and the two or seven revolute pair (226) and the second eight revolution Dynamic pair (227) axial line distance is equal, the 2nd 1 revolute pair (230) and the two or seven revolute pair (226) axial line distance and the two or four turn Dynamic pair (231) and the two or eight revolute pair (227) axial line distance are equal,
The third branch (5) is by third support frame (301), the 3rd 1 driving wheel (304), the three or two driving wheel (305), third Three driving wheels (308), the three or four driving wheel (309), the three or five driving wheel (310), the three or six driving wheel (311), third are together Step band (306), the three or two synchronous belt (307), the three or three synchronous belt (312), the 3rd 1 swing rod (302), the three or two swing rod (303), the three or three swing rod (313), the three or four swing rod (314), the 3rd 1 connecting elements (315), the three or two connecting elements (316), the 3rd 1 connecting rod (318), third catch bar (317), third servo motor (319) composition, the 3rd 1 swing rod (302) It is connect by the 3rd 1 revolute pair (330) with third support frame (301), the 3rd 1 swing rod (302) passes through the three or two revolute pair (320) it is connect with the 3rd 1 driving wheel (304), the 3rd 1 swing rod (302) is connect by the three or three revolute pair (328) with the 3rd 1 Bar (318) connection, the 3rd 1 swing rod (302) are connect by the 3rd 1 prismatic pair (324) with the three or three swing rod (313), and the three or two Swing rod (303) is connect by the three or four revolute pair (331) with third support frame (301), and the three or two swing rod (303) passes through the three or five Revolute pair (321) is connect with the three or two driving wheel (305), and the three or two swing rod (303) passes through the three or six revolute pair (329) and third One connecting rod (318) connection, the three or two swing rod (303) are connected by the three or two prismatic pair (325) with the three or four swing rod (314) It connects, the 3rd 1 driving wheel (304) is coupled by the 3rd 1 synchronous belt (306) with the three or three driving wheel (308), the three or three driving wheel (308) it is consolidated with the three or five driving wheel (310), the three or five driving wheel (310) passes through the three or three synchronous belt (312) and the Three or six driving wheels (311) connection, the three or six driving wheel (311) are consolidated with the three or four driving wheel (309), the three or four transmission Wheel (309) is coupled by the three or two synchronous belt (307) with the three or two driving wheel (305), and the three or three swing rod (313) passes through the 3rd 1 Connecting elements (315) is consolidated with the 3rd 1 synchronous belt (306), and the three or three swing rod (313) passes through the three or seven revolute pair (326) it is connect with third catch bar (317), the three or four swing rod (314) is synchronous with the three or two by the three or two connecting elements (316) Band (307) is consolidated, and the three or four swing rod (314) is connect by the three or eight revolute pair (327) with third catch bar (317), Third servo motor (319) is mounted on third support frame (301) and connect with the three or six driving wheel (311), third support frame (301) connect with rack (1) by the 0th 3 revolute pair (13), third catch bar (317) pass through the 0th 7 revolute pair (23) and Second translational piece (022) connection,
3rd 1 revolute pair (330), the three or two revolute pair (320), the three or three revolute pair (328), the three or four revolute pair (331), the three or five revolute pair (321), the three or six revolute pair (329), the three or seven revolute pair (326) and the three or eight revolute pair (327) pivot center is parallel to each other, the 3rd 1 revolute pair (330) and the three or two revolute pair (320) axial line distance and the three or four Revolute pair (331) and the three or five revolute pair (321) axial line distance are equal, the 3rd 1 revolute pair (330) and the three or three revolute pair (328) axial line distance is equal with the three or two revolute pair (320) and the three or six revolute pair (329) axial line distance, the 3rd 1 revolute pair (330) and the three or four revolute pair (331) axial line distance, the three or two revolute pair (320) and the three or six revolute pair (329) axis away from From, the three or three revolute pair (328) and the three or five revolute pair (321) axial line distance and the three or seven revolute pair (326) and third eight revolution Dynamic pair (327) axial line distance is equal, the 3rd 1 revolute pair (330) and the three or seven revolute pair (326) axial line distance and the three or four turn Dynamic pair (331) and the three or eight revolute pair (327) axial line distance are equal,
4th branch (6) is by the 4th support frame (401), the 4th 1 driving wheel (404), the four or two driving wheel (405), the 4th Three driving wheels (408), the four or four driving wheel (409), the four or five driving wheel (410), the four or six driving wheel (411), the 4th are together Step band (406), the four or two synchronous belt (407), the four or three synchronous belt (412), the 4th 1 swing rod (402), the four or two swing rod (403), the four or three swing rod (413), the four or four swing rod (414), the 4th 1 connecting elements (415), the four or two connecting elements (416), the 4th 1 connecting rod (418), the 4th catch bar (417), the 4th servo motor (419) composition, the 4th 1 swing rod (402) It is connect by the 4th 1 revolute pair (430) with the 4th support frame (401), the 4th 1 swing rod (402) passes through the four or two revolute pair (420) it is connect with the 4th 1 driving wheel (404), the 4th 1 swing rod (402) is connect by the four or three revolute pair (428) with the 4th 1 Bar (418) connection, the 4th 1 swing rod (402) are connect by the 4th 1 prismatic pair (424) with the four or three swing rod (413), and the four or two Swing rod (403) is connect by the four or four revolute pair (431) with the 4th support frame (401), and the four or two swing rod (403) passes through the four or five Revolute pair (421) is connect with the four or two driving wheel (405), and the four or two swing rod (403) passes through the four or six revolute pair (429) and the 4th One connecting rod (418) connection, the four or two swing rod (403) are connected by the four or two prismatic pair (425) with the four or four swing rod (414) It connects, the 4th 1 driving wheel (404) is coupled by the 4th 1 synchronous belt (406) with the four or three driving wheel (408), the four or three driving wheel (408) it is consolidated with the four or five driving wheel (410), the four or five driving wheel (410) passes through the four or three synchronous belt (412) and the Four or six driving wheels (411) connection, the four or six driving wheel (411) are consolidated with the four or four driving wheel (409), the four or four transmission Wheel (409) is coupled by the four or two synchronous belt (407) with the four or two driving wheel (405), and the four or three swing rod (413) passes through the 4th 1 Connecting elements (415) is consolidated with the 4th 1 synchronous belt (406), and the four or three swing rod (413) passes through the four or seven revolute pair (426) it is connect with the 4th catch bar (417), the four or four swing rod (414) is synchronous with the four or two by the four or two connecting elements (416) Band (407) is consolidated, and the four or four swing rod (414) is connect by the four or eight revolute pair (427) with the 4th catch bar (417), 4th servo motor (419) is mounted on the 4th support frame (401) and connect with the four or six driving wheel (411), the 4th support frame (401) connect with rack (1) by the 0th 4 revolute pair (14), the 4th catch bar (417) pass through the 0th 8 revolute pair (24) and First translational piece (021) connection,
4th 1 revolute pair (430), the four or two revolute pair (420), the four or three revolute pair (428), the four or four revolute pair (431), the four or five revolute pair (421), the four or six revolute pair (429), the four or seven revolute pair (426) and the four or eight revolute pair (427) pivot center is parallel to each other, the 4th 1 revolute pair (430) and the four or two revolute pair (420) axial line distance and the four or four Revolute pair (431) and the four or five revolute pair (421) axial line distance are equal, the 4th 1 revolute pair (430) and the four or three revolute pair (428) axial line distance is equal with the four or two revolute pair (420) and the four or six revolute pair (429) axial line distance, the 4th 1 revolute pair (430) and the four or four revolute pair (431) axial line distance, the four or two revolute pair (420) and the four or six revolute pair (429) axis away from From, the four or three revolute pair (428) and the four or five revolute pair (421) axial line distance and the four or seven revolute pair (426) and the 4th eight revolution Dynamic pair (427) axial line distance is equal, the 4th 1 revolute pair (430) and the four or seven revolute pair (426) axial line distance and the four or four turn Dynamic pair (431) and the four or eight revolute pair (427) axial line distance are equal.
CN201910377192.0A 2019-05-03 2019-05-03 Three-flat-rotating grabbing robot with synchronous belt transmission structure Active CN110000762B (en)

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FR2940925A1 (en) * 2009-01-14 2010-07-16 Jean Marie Chenu Parallel type handling robot for packaging chocolate squares, has rail extending in displacement plane secant with working plane and inclined in displacement plane such that projection of rail on working plane defines side of polygon
US20120180593A1 (en) * 2010-07-13 2012-07-19 Thales Hexapod actuator device
CN104227718A (en) * 2013-06-07 2014-12-24 株式会社安川电机 parallel robot, robot system, and assembly method for transfer system
CN104589317A (en) * 2015-01-24 2015-05-06 江西省机械科学研究所 Belt-driven three-dimensional translational manipulator
CN104589330A (en) * 2015-01-24 2015-05-06 江西省机械科学研究所 Belt-driven electric cylinder high-speed two-dimensional translational manipulator
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
CN210081731U (en) * 2019-05-03 2020-02-18 江西制造职业技术学院 Three-dimensional translation and one-dimensional rotation grabbing robot mechanism with synchronous belt transmission structure

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2940925A1 (en) * 2009-01-14 2010-07-16 Jean Marie Chenu Parallel type handling robot for packaging chocolate squares, has rail extending in displacement plane secant with working plane and inclined in displacement plane such that projection of rail on working plane defines side of polygon
US20120180593A1 (en) * 2010-07-13 2012-07-19 Thales Hexapod actuator device
CN104227718A (en) * 2013-06-07 2014-12-24 株式会社安川电机 parallel robot, robot system, and assembly method for transfer system
CN104589317A (en) * 2015-01-24 2015-05-06 江西省机械科学研究所 Belt-driven three-dimensional translational manipulator
CN104589330A (en) * 2015-01-24 2015-05-06 江西省机械科学研究所 Belt-driven electric cylinder high-speed two-dimensional translational manipulator
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
CN210081731U (en) * 2019-05-03 2020-02-18 江西制造职业技术学院 Three-dimensional translation and one-dimensional rotation grabbing robot mechanism with synchronous belt transmission structure

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