CN110000762B - Three-flat-rotating grabbing robot with synchronous belt transmission structure - Google Patents
Three-flat-rotating grabbing robot with synchronous belt transmission structure Download PDFInfo
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- CN110000762B CN110000762B CN201910377192.0A CN201910377192A CN110000762B CN 110000762 B CN110000762 B CN 110000762B CN 201910377192 A CN201910377192 A CN 201910377192A CN 110000762 B CN110000762 B CN 110000762B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 200
- 230000005540 biological transmission Effects 0.000 title claims abstract description 64
- 235000003181 Panax pseudoginseng Nutrition 0.000 claims description 6
- 244000131316 Panax pseudoginseng Species 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 16
- 230000009975 flexible effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 13
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—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 three-in-one grabbing robot mechanism with the synchronous belt transmission structure comprises a frame, a first branched chain, a second branched chain, a third branched chain, a fourth branched chain and a movable platform structure. Each branched chain is driven by one servo motor, and the four servo motors can realize three-in-one four-degree-of-freedom motion of a small synchronous wheel on a movable platform structure through cooperative motion. The invention has the advantages of simple and compact structure, small occupied space, flexible action and the like.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a three-flat-rotation grabbing robot mechanism with a synchronous belt transmission structure.
Background
Since the 50 s of the 20 th century, the robot is applied to the industrial field, has now played a great role in the industrial field, effectively reduces the production cost of factories and improves the production efficiency. Robots are used in industry in many ways, such as welding, assembly, palletizing, gripping, etc. The mechanical structures adopted by robots applied to different fields are also quite different, five or six shafts are needed by a welding robot to realize space curve motion of a tail end welding gun, and a stacking robot can complete stacking tasks of objects on a production line only by four shafts. In industrial applications there is a class of work tasks that requires the placement of items from one place to another without the need for tilting the items during placement. Such robots can be classified into four types according to actual needs: the first is in-plane grabbing, namely only two translational motions of the object in the plane are required to be completed; the second is to rotate the article by an angle on the basis of completing the two translational motions; thirdly, three translational motions of the article in space are to be completed; and the fourth is to rotate the article by one angle on the basis of completing three-dimensional translation. In order to reduce the degree of freedom of the robot, a joint connection mode is generally adopted, one or more groups of parallelogram structures are added to realize the horizontal movement of the end effector of the robot, and the palletizing robot and the high-speed grabbing parallel robot in the market mostly adopt the structures. However, the structure is required to be arranged on the articulated robot, so that the robot is bulky in structure and large in occupied space. The invention adopts four groups of synchronous belt transmission and a variable-rod-length parallelogram structure, can finish three-dimensional translational and four-degree-of-freedom movement of the small synchronous wheel on the movable platform, and has the advantages of compact structure, small occupied space, high load capacity and the like.
Disclosure of Invention
The invention aims to provide a three-dimensional translational motion of a movable platform in space by a three-dimensional translational motion grabbing robot mechanism with a synchronous belt transmission structure.
The invention achieves the aim through the following technical scheme: the three-in-one grabbing robot mechanism with the synchronous belt transmission structure comprises a frame (1), a first branched chain (3), a second branched chain (4), a third branched chain (5), a fourth branched chain (6) and a movable platform structure (2).
The movable platform structure (2) is characterized in that a first translation part (021), a second translation part (022), a third translation part (023), a fourth translation part (024), a small synchronous wheel (025), a large synchronous wheel (026) and a synchronous belt (027), the large synchronous wheel (026) is fixedly connected to the second translation part (022), the large synchronous wheel (026) is connected with the small synchronous wheel (025) through the synchronous belt (027), the small synchronous wheel (025) is connected with the first translation part (021) through a ninth translation pair (028), the first translation part (021) is connected with the third translation part (023) through a first zero translation pair (029), the third translation part (023) is connected with the second translation part (022) through a first one-to-one rotation pair (030), the second translation part (022) is connected with the fourth translation part (024) through a first two rotation pairs (032), and the fourth translation part (024) is connected with the first translation part (031) through a first zero translation pair.
The first zero revolute pair (029), the first zero revolute pair (030), the first zero revolute pair (032) and the first zero revolute pair (031) are parallel to each other, the first zero revolute pair (029) and the first zero revolute pair (030) are equal to each other in axial distance, and the first zero revolute pair (032) and the first zero revolute pair (031) are equal to each other in axial distance, and the first zero revolute pair (031) and the first zero revolute pair (029) are equal to each other in axial distance, and the first zero revolute pair (030) and the first zero revolute pair (032) are equal to each other in axial distance.
The first branched chain (3) consists of a first supporting frame (101), a first one-to-one driving wheel (104), a first two-to-one driving wheel (105), a first three driving wheel (108), a first four driving wheel (109), a first five driving wheel (110), a first six driving wheel (111), a first one-to-one synchronous belt (106), a first two-to-one synchronous belt (107), a first three synchronous belt (112), a first one-to-one swinging rod (102), a first two-to-one swinging rod (103), a first three swinging rod (113), a first four swinging rod (114), a first one-to-one connecting member (115), a first two-to-one connecting member (116), a first one-to-one connecting rod (118), a first pushing rod (117) and a first servo motor (119), the first swing rod (102) is connected with the first support frame (101) through a first rotating pair (130), the first swing rod (102) is connected with the first driving wheel (104) through a first rotating pair (120), the first swing rod (102) is connected with a first connecting rod (118) through a first third rotating pair (128), the first swing rod (102) is connected with a first third swing rod (113) through a first moving pair (124), the first swing rod (103) is connected with the first support frame (101) through a first fourth rotating pair (131), the first two-link lever (103) is connected with the first two-link lever (105) through a first five revolute pair (121), the first two-link lever (103) is connected with a first one-to-one connecting rod (118) through a first six revolute pair (129), the first two-link lever (103) is connected with a first four-link lever (114) through a first two-to-one revolute pair (125), the first one-to-one driving wheel (104) is connected with a first three-driving wheel (108) through a first one-to-one synchronous belt (106), the first three-driving wheel (108) is fixedly connected with the first five-driving wheel (110), the first five-driving wheel (110) is fixedly connected with the first six-driving wheel (111) through a first three-synchronous belt (112), the first six-driving wheel (111) is fixedly connected with a first four-link lever (109) through a first two-to-link lever (107), the first three-link lever (113) is fixedly connected with the first two-to-link lever (105) through a first one-to-one synchronous belt (115), the first three-link lever (113) is fixedly connected with the first one synchronous belt (106) through a first one-to-link lever (126), the first three-link lever (113) is fixedly connected with the first two-to-link lever (114) through a first one synchronous belt (117) and the first two-to be fixedly connected with the first two-link lever (117) through a first one rotary pair (117, the first servo motor (119) is arranged on the first support frame (101) and connected with the first six driving wheels (111), the first support frame (101) is connected with the frame (1) through a first rotating pair (11), and the first pushing rod (117) is connected with the first translation part (021) through a fifth rotating pair (21).
The first one-to-one revolute pair (130), the first two revolute pair (120), the first three revolute pair (128), the first four revolute pair (131), the first five revolute pair (121), the first six revolute pair (129), the first seven revolute pair (126) and the first eight revolute pair (127) are parallel to each other, the first one-to-one revolute pair (130) and the first two revolute pair (120) are equal in axial distance to the first four revolute pair (131) and the first five revolute pair (121), the first one-to-one revolute pair (130) and the first three revolute pair (128) are equal in axial distance to the first four revolute pair (131) and the first six revolute pair (129), the first one-to-one revolute pair (130) and the first six revolute pair (129) are equal in axial distance to the first seven revolute pair (126) and the first eight revolute pair (127), and the first one-to-seven revolute pair (130) and the first eight revolute pair (131) are equal in axial distance to the first one-to the first eight revolute pair (127).
The second branched chain (4) consists of a second supporting frame (201), a second first driving wheel (204), a second driving wheel (205), a second third driving wheel (208), a second fourth driving wheel (209), a second fifth driving wheel (210), a second sixth driving wheel (211), a second synchronous belt (206), a second synchronous belt (207), a second third synchronous belt (212), a second first swinging rod (202), a second swinging rod (203), a second third swinging rod (213), a second fourth swinging rod (214), a second connecting member (215), a second connecting member (216), a second connecting rod (218), a second pushing rod (217) and a second servo motor (219), wherein the second first swinging rod (202) is connected with the second supporting frame (201) through a second first rotating pair (230), the second first swinging rod (202) is connected with the second first driving wheel (204) through a second rotating pair (220), the second first swinging rod (202) is connected with a second connecting rod (218) through a second third rotating pair (228), the second swinging rod (202) is connected with the second swinging rod (203) through a second rotating pair (213), the second swing rod (203) is connected with a second transmission wheel (205) through a second fifth rotating pair (221), the second swing rod (203) is connected with a second connecting rod (218) through a second sixth rotating pair (229), the second swing rod (203) is connected with a second fourth swing rod (214) through a second moving pair (225), the second first transmission wheel (204) is connected with a second third transmission wheel (208) through a second first synchronous belt (206), the second third transmission wheel (208) is fixedly connected with the second fifth transmission wheel (210), the second fifth transmission wheel (210) is connected with a second sixth transmission wheel (211) through a second third synchronous belt (212), the second sixth transmission wheel (211) is fixedly connected with a second fourth transmission wheel (209), the second fourth transmission wheel (209) is fixedly connected with the second swing rod (205) through a second synchronous belt (207), the second third swing rod (213) is fixedly connected with the second synchronous belt (206) through a second connecting member (215), the second swing rod (217) is fixedly connected with the second swing rod (214) through a second synchronous belt (217) through a second rotating pair (226), the second servo motor (219) is arranged on the second support frame (201) and is connected with the second six driving wheels (211), the second support frame (201) is connected with the frame (1) through a second zero rotating pair (12), and the second pushing rod (217) is connected with the second translational member (022) through a sixth zero rotating pair (22).
The axes of rotation of the second first revolute pair (230), the second revolute pair (220), the second third revolute pair (228), the second fourth revolute pair (231), the second fifth revolute pair (221), the second sixth revolute pair (229), the second seventh revolute pair (226) and the second eighth revolute pair (227) are parallel to each other, the second first revolute pair (230) and the second revolute pair (220) are equal to the second fourth revolute pair (231) and the second fifth revolute pair (221) in axial distance, the second first revolute pair (230) and the second third revolute pair (228) are equal to the second fourth revolute pair (231) and the second sixth revolute pair (229) in axial distance, the second first revolute pair (230) and the second fifth revolute pair (221) are equal to the second seventh revolute pair (226) and the second eighth revolute pair (226) in axial distance, and the second revolute pair (230) and the second (227) are equal to the second revolute pair (231) and the second revolute pair (231) are equal to the second revolute pair (227) in axial distance.
The third branched chain (5) is composed of a third supporting frame (301), a third first driving wheel (304), a third second driving wheel (305), a third driving wheel (308), a third fourth driving wheel (309), a third fifth driving wheel (310), a third sixth driving wheel (311), a third synchronous belt (306), a third second synchronous belt (307), a third synchronous belt (312), a third first swinging rod (302), a third second swinging rod (303), a third swinging rod (313), a third fourth swinging rod (314), a third connecting member (315), a third connecting member (316), a third connecting rod (318), a third pushing rod (317) and a third servo motor (319), the third first swinging rod (302) is connected with the third supporting frame (301) through a third first rotating pair (330), the third first swinging rod (302) is connected with the third first supporting frame (301) through a third second rotating pair (320), the third first swinging rod (302) is connected with a third connecting rod (318) through a third rotating pair (328), the third swinging rod (302) is connected with the third swinging rod (303) through a third moving pair (324), the third second swing rod (303) is connected with the third second driving wheel (305) through a third fifth rotating pair (321), the third second swing rod (303) is connected with a third connecting rod (318) through a third sixth rotating pair (329), the third second swing rod (303) is connected with a third fourth swing rod (314) through a third second moving pair (325), the third first driving wheel (304) is connected with a third driving wheel (308) through a third first synchronous belt (306), the third driving wheel (308) is fixedly connected with the third fifth driving wheel (310), the third fifth driving wheel (310) is connected with a third sixth driving wheel (311) through a third synchronous belt (312), the third sixth driving wheel (311) is fixedly connected with a third fourth driving wheel (309), the third fourth driving wheel (309) is fixedly connected with the third second swing rod (305) through a third second synchronous belt (307), the third swing rod (313) is fixedly connected with the third first synchronous belt (306) through a third connecting member (315), the third swing rod (313) is fixedly connected with the third swing rod (317) through a third rotating pair (307) and the third swing rod (317) is fixedly connected with the third swing rod (317) through a third synchronous belt (317), the third servo motor (319) is arranged on the third supporting frame (301) and is connected with the third driving wheel (311), the third supporting frame (301) is connected with the frame (1) through a third rotating pair (13), and the third pushing rod (317) is connected with the second sliding part (022) through a seventh rotating pair (23).
The axes of rotation of the third first revolute pair (330), the third second revolute pair (320), the third revolute pair (328), the third fourth revolute pair (331), the third fifth revolute pair (321), the third sixth revolute pair (329), the third pseudo-ginseng revolute pair (326) and the third eighth revolute pair (327) are parallel to each other, the third first revolute pair (330) and the third second revolute pair (320) are equal to the third fourth revolute pair (331) and the third fifth revolute pair (321) in axial distance, the third first revolute pair (330) and the third revolute pair (328) are equal to the third fourth revolute pair (331) and the third sixth revolute pair (329) in axial distance, the third first revolute pair (330) and the third eighth revolute pair (331) are equal to the third pseudo-ginseng revolute pair (326) and the third eighth revolute pair (327) in axial distance, and the third revolute pair (328) are equal to the third revolute pair (331) and the third revolute pair (327) in axial distance.
The fourth branched chain (6) consists of a fourth supporting frame (401), a fourth first driving wheel (404), a fourth second driving wheel (405), a fourth third driving wheel (408), a fourth driving wheel (409), a fourth fifth driving wheel (410), a fourth sixth driving wheel (411), a fourth first synchronous belt (406), a fourth second synchronous belt (407), a fourth third synchronous belt (412), a fourth first swinging rod (402), a fourth second swinging rod (403), a fourth third swinging rod (413), a fourth swinging rod (414), a fourth connecting member (415), a fourth connecting member (416), a fourth connecting rod (418), a fourth pushing rod (417) and a fourth servo motor (419), the fourth first swinging rod (402) is connected with the fourth supporting frame (401) through a fourth first rotating pair (430), the fourth first swinging rod (402) is connected with the fourth first driving wheel (404) through a fourth second rotating pair (420), the fourth first swinging rod (402) is connected with a fourth connecting rod (418) through a fourth third rotating pair (428), the fourth swinging rod (402) is connected with the fourth swinging rod (401) through a fourth moving pair (424), the fourth second swing rod (403) is connected with the fourth second driving wheel (405) through a fourth fifth rotating pair (421), the fourth second swing rod (403) is connected with a fourth connecting rod (418) through a fourth sixth rotating pair (429), the fourth second swing rod (403) is connected with a fourth swing rod (414) through a fourth second moving pair (425), the fourth first driving wheel (404) is connected with a fourth third driving wheel (408) through a fourth first synchronous belt (406), the fourth third driving wheel (408) is fixedly connected with the fourth fifth driving wheel (410), the fourth fifth driving wheel (410) is connected with a fourth sixth driving wheel (411) through a fourth third synchronous belt (412), the fourth sixth driving wheel (411) is fixedly connected with a fourth driving wheel (409), the fourth driving wheel (409) is fixedly connected with the fourth second swing rod (405) through a fourth second synchronous belt (407), the fourth swing rod (413) is fixedly connected with the fourth first synchronous belt (406) through a fourth connecting member (415), the fourth swing rod (413) is fixedly connected with the fourth swing rod (417) through a fourth rotating pair (426) and the fourth synchronous belt (417) is fixedly connected with the fourth swing rod (411) through a fourth synchronous belt (417), the fourth servo motor (419) is arranged on the fourth support frame (401) and is connected with the fourth driving wheel (411), the fourth support frame (401) is connected with the frame (1) through a fourth rotating pair (14), and the fourth pushing rod (417) is connected with the first translation part (021) through a eighth rotating pair (24).
The axes of rotation of the fourth first revolute pair (430), the fourth second revolute pair (420), the fourth third revolute pair (428), the fourth revolute pair (431), the fourth fifth revolute pair (421), the fourth sixth revolute pair (429), the fourth seventh revolute pair (426) and the fourth eighth revolute pair (427) are parallel to each other, the fourth first revolute pair (430) and the fourth second revolute pair (420) are equal to the fourth seventh revolute pair (431) and the fourth fifth revolute pair (421) in axial distance, the fourth first revolute pair (430) and the fourth third revolute pair (428) are equal to the fourth revolute pair (431) and the fourth sixth revolute pair (429) in axial distance, the fourth first revolute pair (431) and the fourth revolute pair (427) are equal to the fourth seventh revolute pair (426) and the fourth eighth revolute pair (427) in axial distance, and the fourth revolute pair (426) are equal to the fourth revolute pair (431) and the fourth revolute pair (427) in axial distance.
The first servo motor (119) is arranged on the first supporting frame (101) to drive the first six driving wheels (111) to move, the first six driving wheels (111) are fixedly connected with the first four driving wheels (109) to drive the first four driving wheels (109) to move, the first six driving wheels (111) drive the first five driving wheels (110) to move through the first three synchronous belt (112), the first five driving wheels (110) are fixedly connected with the first three driving wheels (108) to drive the first three driving wheels (108) to move, the first three driving wheels (108) drive the first one-to-one driving wheels (104) to move through the first one-to-one synchronous belt (106), the first four driving wheels (109) drive the first two driving wheels (105) to move through the first two synchronous belt (107), the first one-to-one synchronous belt (106) drives the first four driving wheels (114) to move through the first two synchronous belt (116), and the first three driving rods (113) and the first four swinging rods (114) to synchronously move to drive the first pushing rods (117) to move along the swinging rods (124) to move along the first one-to-one direction.
The second servo motor (219) is arranged on the second supporting frame (201) to drive the second six driving wheels (211) to move, the second six driving wheels (211) are fixedly connected with the second four driving wheels (209) to drive the second four driving wheels (209) to move, the second six driving wheels (211) are fixedly connected with the second three driving wheels (208) to drive the second three driving wheels (208) to move through the second three driving wheels (210) to drive the second one driving wheels (204) to move through the second one synchronous belt (206), the second four driving wheels (209) are driven by the second four driving wheels (205) to move through the second one synchronous belt (207), the second one synchronous belt (206) is driven by the second three swinging rods (213) to move through the second connecting member (215), the second three swinging rods (213) are driven by the second one synchronous belt (207) to move through the second connecting member (216), and the second three swinging rods (213) and the second four swinging rods (214) are driven by the second one synchronous belt (207) to move along the second swinging rod (224).
The third servo motor (319) is arranged on the third supporting frame (301) to drive the third six driving wheel (311) to move, the third six driving wheel (311) is fixedly connected with the third four driving wheel (309) to drive the third four driving wheel (309) to move, the third six driving wheel (311) is fixedly connected with the third five driving wheel (310) through the third three synchronous belt (312) to drive the third three driving wheel (308) to move, the third three driving wheel (308) is fixedly connected with the third three driving wheel (308) to drive the third first driving wheel (304) to move through the third one synchronous belt (306), the third four driving wheel (309) is fixedly connected with the third four driving wheel (309) through the third two synchronous belt (307) to drive the third two driving wheel (305) to move, the third one synchronous belt (306) is fixedly connected with the third four driving wheel (310) through the third two synchronous belt (316) to drive the third four driving wheel (314) to move, and the third two synchronous belt (313) and the third four driving wheel (314) are synchronously pushed to move through the third two synchronous belt (307) to drive the third two oscillating rods (317) to move along the first oscillating rod (324) to move.
The fourth servo motor (419) is arranged on the fourth supporting frame (401) to drive the fourth six driving wheel (411) to move, the fourth six driving wheel (411) is fixedly connected with the fourth four driving wheel (409) to drive the fourth four driving wheel (409) to move, the fourth six driving wheel (411) is fixedly connected with the fourth three driving wheel (408) to drive the fourth three driving wheel (408) to move through the fourth three synchronous belt (412), the fourth three driving wheel (408) is fixedly connected with the fourth three driving wheel (408) to drive the fourth first driving wheel (404) to move through the fourth first synchronous belt (406), the fourth driving wheel (409) is driven by the fourth second synchronous belt (407) to move through the fourth connecting member (415), the fourth swing rod (413) is driven by the fourth synchronous belt (407) to move through the fourth connecting member (416), and the fourth swing rod (424) is driven by the fourth swing rod (413) to move in the fourth direction.
The first pushing rod (117), the second pushing rod (217), the third pushing rod (317) and the fourth pushing rod (417) drive the small synchronous wheel (025) to complete the movement of three-in-one rotation in space.
The invention has the outstanding advantages that:
1. The whole structure of the mechanism is compact, and the occupied space is small;
2. The manipulator has small inertia and good kinematics and dynamics performance.
Drawings
Fig. 1 is a first structural schematic diagram of a three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure.
Fig. 2 is a schematic diagram of a frame of a three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure.
Fig. 3 is a first schematic view of a movable platform of the three-flat-turn grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 4 is a second schematic diagram of a movable platform of the three-flat-turn grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 5 is a first schematic diagram of a first branched chain of a three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure.
Fig. 6 is a first schematic diagram of a second branched chain of the three-flat-turn grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 7 is a first schematic diagram of a third branched chain of the three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure.
Fig. 8 is a first schematic diagram of a fourth branched chain of the three-flat-turn grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 9 is a second schematic diagram of a first branched chain of a three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure.
Fig. 10 is a second schematic diagram of a second branched chain of the three-flat-turn grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 11 is a second schematic diagram of a third branched chain of the three-flat-turn grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 12 is a second schematic diagram of a fourth branched chain of the three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure.
Fig. 13 is a first schematic view of a first branched chain of a three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure to conceal a first supporting frame.
Fig. 14 is a first schematic view of a third flat rotating grabbing robot mechanism with a synchronous belt transmission structure, wherein a second supporting frame is hidden by a second branched chain.
Fig. 15 is a first schematic view of a third branch chain of a three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure to conceal a third support frame.
Fig. 16 is a first schematic view of a third branch chain of a three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure, which is disclosed by the invention, with a fourth support frame hidden.
Fig. 17 is a second schematic view of the first branch chain of the three-flat-turn grabbing robot mechanism with the synchronous belt transmission structure disclosed by the invention, wherein the first support frame is omitted.
Fig. 18 is a second schematic view of the second support frame of the third flat rotating grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 19 is a second schematic view of a third branched chain of the three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure to hide a third supporting frame.
Fig. 20 is a second schematic view of a third branch chain of the three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure, which is disclosed by the invention, with a fourth support frame hidden.
Fig. 21 is a schematic view of a first motion state of a three-flat-turn grabbing robot mechanism with a synchronous belt transmission structure according to the present invention.
Fig. 22 is a schematic diagram of a second motion state of the three-flat-turn grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 23 is a schematic view of a third motion state of the three-flat-turn grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 24 is a schematic view of a fourth motion state of the three-flat-turn grabbing robot mechanism with the synchronous belt transmission structure.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
In contrast to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19 and 20, the three-flat-turn grabbing robot mechanism of the synchronous belt transmission structure comprises a frame (1), a first branched chain (3), a second branched chain (4), a third branched chain (5), a fourth branched chain (6) and a movable platform structure (2).
The movable platform structure (2) is characterized in that a first translation part (021), a second translation part (022), a third translation part (023), a fourth translation part (024), a small synchronous wheel (025), a large synchronous wheel (026) and a synchronous belt (027), the large synchronous wheel (026) is fixedly connected to the second translation part (022), the large synchronous wheel (026) is connected with the small synchronous wheel (025) through the synchronous belt (027), the small synchronous wheel (025) is connected with the first translation part (021) through a ninth translation pair (028), the first translation part (021) is connected with the third translation part (023) through a first zero translation pair (029), the third translation part (023) is connected with the second translation part (022) through a first one-to-one rotation pair (030), the second translation part (022) is connected with the fourth translation part (024) through a first two rotation pairs (032), and the fourth translation part (024) is connected with the first translation part (031) through a first zero translation pair.
The first zero revolute pair (029), the first zero revolute pair (030), the first zero revolute pair (032) and the first zero revolute pair (031) are parallel to each other, the first zero revolute pair (029) and the first zero revolute pair (030) are equal to each other in axial distance, and the first zero revolute pair (032) and the first zero revolute pair (031) are equal to each other in axial distance, and the first zero revolute pair (031) and the first zero revolute pair (029) are equal to each other in axial distance, and the first zero revolute pair (030) and the first zero revolute pair (032) are equal to each other in axial distance.
The first branched chain (3) consists of a first supporting frame (101), a first one-to-one driving wheel (104), a first two-to-one driving wheel (105), a first three driving wheel (108), a first four driving wheel (109), a first five driving wheel (110), a first six driving wheel (111), a first one-to-one synchronous belt (106), a first two-to-one synchronous belt (107), a first three synchronous belt (112), a first one-to-one swinging rod (102), a first two-to-one swinging rod (103), a first three swinging rod (113), a first four swinging rod (114), a first one-to-one connecting member (115), a first two-to-one connecting member (116), a first one-to-one connecting rod (118), a first pushing rod (117) and a first servo motor (119), the first swing rod (102) is connected with the first support frame (101) through a first rotating pair (130), the first swing rod (102) is connected with the first driving wheel (104) through a first rotating pair (120), the first swing rod (102) is connected with a first connecting rod (118) through a first third rotating pair (128), the first swing rod (102) is connected with a first third swing rod (113) through a first moving pair (124), the first swing rod (103) is connected with the first support frame (101) through a first fourth rotating pair (131), the first two-link lever (103) is connected with the first two-link lever (105) through a first five revolute pair (121), the first two-link lever (103) is connected with a first one-to-one connecting rod (118) through a first six revolute pair (129), the first two-link lever (103) is connected with a first four-link lever (114) through a first two-to-one revolute pair (125), the first one-to-one driving wheel (104) is connected with a first three-driving wheel (108) through a first one-to-one synchronous belt (106), the first three-driving wheel (108) is fixedly connected with the first five-driving wheel (110), the first five-driving wheel (110) is fixedly connected with the first six-driving wheel (111) through a first three-synchronous belt (112), the first six-driving wheel (111) is fixedly connected with a first four-link lever (109) through a first two-to-link lever (107), the first three-link lever (113) is fixedly connected with the first two-to-link lever (105) through a first one-to-one synchronous belt (115), the first three-link lever (113) is fixedly connected with the first one synchronous belt (106) through a first one-to-link lever (126), the first three-link lever (113) is fixedly connected with the first two-to-link lever (114) through a first one synchronous belt (117) and the first two-to be fixedly connected with the first two-link lever (117) through a first one rotary pair (117, the first servo motor (119) is arranged on the first support frame (101) and connected with the first six driving wheels (111), the first support frame (101) is connected with the frame (1) through a first rotating pair (11), and the first pushing rod (117) is connected with the first translation part (021) through a fifth rotating pair (21).
The first one-to-one revolute pair (130), the first two revolute pair (120), the first three revolute pair (128), the first four revolute pair (131), the first five revolute pair (121), the first six revolute pair (129), the first seven revolute pair (126) and the first eight revolute pair (127) are parallel to each other, the first one-to-one revolute pair (130) and the first two revolute pair (120) are equal in axial distance to the first four revolute pair (131) and the first five revolute pair (121), the first one-to-one revolute pair (130) and the first three revolute pair (128) are equal in axial distance to the first four revolute pair (131) and the first six revolute pair (129), the first one-to-one revolute pair (130) and the first six revolute pair (129) are equal in axial distance to the first seven revolute pair (126) and the first eight revolute pair (127), and the first one-to-seven revolute pair (130) and the first eight revolute pair (131) are equal in axial distance to the first one-to the first eight revolute pair (127).
The second branched chain (4) consists of a second supporting frame (201), a second first driving wheel (204), a second driving wheel (205), a second third driving wheel (208), a second fourth driving wheel (209), a second fifth driving wheel (210), a second sixth driving wheel (211), a second synchronous belt (206), a second synchronous belt (207), a second third synchronous belt (212), a second first swinging rod (202), a second swinging rod (203), a second third swinging rod (213), a second fourth swinging rod (214), a second connecting member (215), a second connecting member (216), a second connecting rod (218), a second pushing rod (217) and a second servo motor (219), wherein the second first swinging rod (202) is connected with the second supporting frame (201) through a second first rotating pair (230), the second first swinging rod (202) is connected with the second first driving wheel (204) through a second rotating pair (220), the second first swinging rod (202) is connected with a second connecting rod (218) through a second third rotating pair (228), the second swinging rod (202) is connected with the second swinging rod (203) through a second rotating pair (213), the second swing rod (203) is connected with a second transmission wheel (205) through a second fifth rotating pair (221), the second swing rod (203) is connected with a second connecting rod (218) through a second sixth rotating pair (229), the second swing rod (203) is connected with a second fourth swing rod (214) through a second moving pair (225), the second first transmission wheel (204) is connected with a second third transmission wheel (208) through a second first synchronous belt (206), the second third transmission wheel (208) is fixedly connected with the second fifth transmission wheel (210), the second fifth transmission wheel (210) is connected with a second sixth transmission wheel (211) through a second third synchronous belt (212), the second sixth transmission wheel (211) is fixedly connected with a second fourth transmission wheel (209), the second fourth transmission wheel (209) is fixedly connected with the second swing rod (205) through a second synchronous belt (207), the second third swing rod (213) is fixedly connected with the second synchronous belt (206) through a second connecting member (215), the second swing rod (217) is fixedly connected with the second swing rod (214) through a second synchronous belt (217) through a second rotating pair (226), the second servo motor (219) is arranged on the second support frame (201) and is connected with the second six driving wheels (211), the second support frame (201) is connected with the frame (1) through a second zero rotating pair (12), and the second pushing rod (217) is connected with the second translational member (022) through a sixth zero rotating pair (22).
The axes of rotation of the second first revolute pair (230), the second revolute pair (220), the second third revolute pair (228), the second fourth revolute pair (231), the second fifth revolute pair (221), the second sixth revolute pair (229), the second seventh revolute pair (226) and the second eighth revolute pair (227) are parallel to each other, the second first revolute pair (230) and the second revolute pair (220) are equal to the second fourth revolute pair (231) and the second fifth revolute pair (221) in axial distance, the second first revolute pair (230) and the second third revolute pair (228) are equal to the second fourth revolute pair (231) and the second sixth revolute pair (229) in axial distance, the second first revolute pair (230) and the second fifth revolute pair (221) are equal to the second seventh revolute pair (226) and the second eighth revolute pair (226) in axial distance, and the second revolute pair (230) and the second (227) are equal to the second revolute pair (231) and the second revolute pair (231) are equal to the second revolute pair (227) in axial distance.
The third branched chain (5) is composed of a third supporting frame (301), a third first driving wheel (304), a third second driving wheel (305), a third driving wheel (308), a third fourth driving wheel (309), a third fifth driving wheel (310), a third sixth driving wheel (311), a third synchronous belt (306), a third second synchronous belt (307), a third synchronous belt (312), a third first swinging rod (302), a third second swinging rod (303), a third swinging rod (313), a third fourth swinging rod (314), a third connecting member (315), a third connecting member (316), a third connecting rod (318), a third pushing rod (317) and a third servo motor (319), the third first swinging rod (302) is connected with the third supporting frame (301) through a third first rotating pair (330), the third first swinging rod (302) is connected with the third first supporting frame (301) through a third second rotating pair (320), the third first swinging rod (302) is connected with a third connecting rod (318) through a third rotating pair (328), the third swinging rod (302) is connected with the third swinging rod (303) through a third moving pair (324), the third second swing rod (303) is connected with the third second driving wheel (305) through a third fifth rotating pair (321), the third second swing rod (303) is connected with a third connecting rod (318) through a third sixth rotating pair (329), the third second swing rod (303) is connected with a third fourth swing rod (314) through a third second moving pair (325), the third first driving wheel (304) is connected with a third driving wheel (308) through a third first synchronous belt (306), the third driving wheel (308) is fixedly connected with the third fifth driving wheel (310), the third fifth driving wheel (310) is connected with a third sixth driving wheel (311) through a third synchronous belt (312), the third sixth driving wheel (311) is fixedly connected with a third fourth driving wheel (309), the third fourth driving wheel (309) is fixedly connected with the third second swing rod (305) through a third second synchronous belt (307), the third swing rod (313) is fixedly connected with the third first synchronous belt (306) through a third connecting member (315), the third swing rod (313) is fixedly connected with the third swing rod (317) through a third rotating pair (307) and the third swing rod (317) is fixedly connected with the third swing rod (317) through a third synchronous belt (317), the third servo motor (319) is arranged on the third supporting frame (301) and is connected with the third driving wheel (311), the third supporting frame (301) is connected with the frame (1) through a third rotating pair (13), and the third pushing rod (317) is connected with the second sliding part (022) through a seventh rotating pair (23).
The axes of rotation of the third first revolute pair (330), the third second revolute pair (320), the third revolute pair (328), the third fourth revolute pair (331), the third fifth revolute pair (321), the third sixth revolute pair (329), the third pseudo-ginseng revolute pair (326) and the third eighth revolute pair (327) are parallel to each other, the third first revolute pair (330) and the third second revolute pair (320) are equal to the third fourth revolute pair (331) and the third fifth revolute pair (321) in axial distance, the third first revolute pair (330) and the third revolute pair (328) are equal to the third fourth revolute pair (331) and the third sixth revolute pair (329) in axial distance, the third first revolute pair (330) and the third eighth revolute pair (331) are equal to the third pseudo-ginseng revolute pair (326) and the third eighth revolute pair (327) in axial distance, and the third revolute pair (328) are equal to the third revolute pair (331) and the third revolute pair (327) in axial distance.
The fourth branched chain (6) consists of a fourth supporting frame (401), a fourth first driving wheel (404), a fourth second driving wheel (405), a fourth third driving wheel (408), a fourth driving wheel (409), a fourth fifth driving wheel (410), a fourth sixth driving wheel (411), a fourth first synchronous belt (406), a fourth second synchronous belt (407), a fourth third synchronous belt (412), a fourth first swinging rod (402), a fourth second swinging rod (403), a fourth third swinging rod (413), a fourth swinging rod (414), a fourth connecting member (415), a fourth connecting member (416), a fourth connecting rod (418), a fourth pushing rod (417) and a fourth servo motor (419), the fourth first swinging rod (402) is connected with the fourth supporting frame (401) through a fourth first rotating pair (430), the fourth first swinging rod (402) is connected with the fourth first driving wheel (404) through a fourth second rotating pair (420), the fourth first swinging rod (402) is connected with a fourth connecting rod (418) through a fourth third rotating pair (428), the fourth swinging rod (402) is connected with the fourth swinging rod (401) through a fourth moving pair (424), the fourth second swing rod (403) is connected with the fourth second driving wheel (405) through a fourth fifth rotating pair (421), the fourth second swing rod (403) is connected with a fourth connecting rod (418) through a fourth sixth rotating pair (429), the fourth second swing rod (403) is connected with a fourth swing rod (414) through a fourth second moving pair (425), the fourth first driving wheel (404) is connected with a fourth third driving wheel (408) through a fourth first synchronous belt (406), the fourth third driving wheel (408) is fixedly connected with the fourth fifth driving wheel (410), the fourth fifth driving wheel (410) is connected with a fourth sixth driving wheel (411) through a fourth third synchronous belt (412), the fourth sixth driving wheel (411) is fixedly connected with a fourth driving wheel (409), the fourth driving wheel (409) is fixedly connected with the fourth second swing rod (405) through a fourth second synchronous belt (407), the fourth swing rod (413) is fixedly connected with the fourth first synchronous belt (406) through a fourth connecting member (415), the fourth swing rod (413) is fixedly connected with the fourth swing rod (417) through a fourth rotating pair (426) and the fourth synchronous belt (417) is fixedly connected with the fourth swing rod (411) through a fourth synchronous belt (417), the fourth servo motor (419) is arranged on the fourth support frame (401) and is connected with the fourth driving wheel (411), the fourth support frame (401) is connected with the frame (1) through a fourth rotating pair (14), and the fourth pushing rod (417) is connected with the first translation part (021) through a eighth rotating pair (24).
The axes of rotation of the fourth first revolute pair (430), the fourth second revolute pair (420), the fourth third revolute pair (428), the fourth revolute pair (431), the fourth fifth revolute pair (421), the fourth sixth revolute pair (429), the fourth seventh revolute pair (426) and the fourth eighth revolute pair (427) are parallel to each other, the fourth first revolute pair (430) and the fourth second revolute pair (420) are equal to the fourth seventh revolute pair (431) and the fourth fifth revolute pair (421) in axial distance, the fourth first revolute pair (430) and the fourth third revolute pair (428) are equal to the fourth revolute pair (431) and the fourth sixth revolute pair (429) in axial distance, the fourth first revolute pair (431) and the fourth revolute pair (427) are equal to the fourth seventh revolute pair (426) and the fourth eighth revolute pair (427) in axial distance, and the fourth revolute pair (426) are equal to the fourth revolute pair (431) and the fourth revolute pair (427) in axial distance.
The first servo motor (119) is arranged on the first supporting frame (101) to drive the first six driving wheels (111) to move, the first six driving wheels (111) are fixedly connected with the first four driving wheels (109) to drive the first four driving wheels (109) to move, the first six driving wheels (111) drive the first five driving wheels (110) to move through the first three synchronous belt (112), the first five driving wheels (110) are fixedly connected with the first three driving wheels (108) to drive the first three driving wheels (108) to move, the first three driving wheels (108) drive the first one-to-one driving wheels (104) to move through the first one-to-one synchronous belt (106), the first four driving wheels (109) drive the first two driving wheels (105) to move through the first two synchronous belt (107), the first one-to-one synchronous belt (106) drives the first four driving wheels (114) to move through the first two synchronous belt (116), and the first three driving rods (113) and the first four swinging rods (114) to synchronously move to drive the first pushing rods (117) to move along the swinging rods (124) to move along the first one-to-one direction.
The second servo motor (219) is arranged on the second supporting frame (201) to drive the second six driving wheels (211) to move, the second six driving wheels (211) are fixedly connected with the second four driving wheels (209) to drive the second four driving wheels (209) to move, the second six driving wheels (211) are fixedly connected with the second three driving wheels (208) to drive the second three driving wheels (208) to move through the second three driving wheels (210) to drive the second one driving wheels (204) to move through the second one synchronous belt (206), the second four driving wheels (209) are driven by the second four driving wheels (205) to move through the second one synchronous belt (207), the second one synchronous belt (206) is driven by the second three swinging rods (213) to move through the second connecting member (215), the second three swinging rods (213) are driven by the second one synchronous belt (207) to move through the second connecting member (216), and the second three swinging rods (213) and the second four swinging rods (214) are driven by the second one synchronous belt (207) to move along the second swinging rod (224).
The third servo motor (319) is arranged on the third supporting frame (301) to drive the third six driving wheel (311) to move, the third six driving wheel (311) is fixedly connected with the third four driving wheel (309) to drive the third four driving wheel (309) to move, the third six driving wheel (311) is fixedly connected with the third five driving wheel (310) through the third three synchronous belt (312) to drive the third three driving wheel (308) to move, the third three driving wheel (308) is fixedly connected with the third three driving wheel (308) to drive the third first driving wheel (304) to move through the third one synchronous belt (306), the third four driving wheel (309) is fixedly connected with the third four driving wheel (309) through the third two synchronous belt (307) to drive the third two driving wheel (305) to move, the third one synchronous belt (306) is fixedly connected with the third four driving wheel (310) through the third two synchronous belt (316) to drive the third four driving wheel (314) to move, and the third two synchronous belt (313) and the third four driving wheel (314) are synchronously pushed to move through the third two synchronous belt (307) to drive the third two oscillating rods (317) to move along the first oscillating rod (324) to move.
The fourth servo motor (419) is arranged on the fourth supporting frame (401) to drive the fourth six driving wheel (411) to move, the fourth six driving wheel (411) is fixedly connected with the fourth four driving wheel (409) to drive the fourth four driving wheel (409) to move, the fourth six driving wheel (411) is fixedly connected with the fourth three driving wheel (408) to drive the fourth three driving wheel (408) to move through the fourth three synchronous belt (412), the fourth three driving wheel (408) is fixedly connected with the fourth three driving wheel (408) to drive the fourth first driving wheel (404) to move through the fourth first synchronous belt (406), the fourth driving wheel (409) is driven by the fourth second synchronous belt (407) to move through the fourth connecting member (415), the fourth swing rod (413) is driven by the fourth synchronous belt (407) to move through the fourth connecting member (416), and the fourth swing rod (424) is driven by the fourth swing rod (413) to move in the fourth direction.
The first pushing rod (117), the second pushing rod (217), the third pushing rod (317) and the fourth pushing rod (417) drive the small synchronous wheel (025) to complete the movement of three-in-one rotation in space.
Fig. 21, 22, 23 and 24 are state diagrams of different actions of the three-flat-rotation grabbing robot mechanism with the synchronous belt transmission structure.
Claims (1)
1. Three-in-one grabbing robot mechanism with synchronous belt transmission structure comprises a frame (1), a first branched chain (3), a second branched chain (4), a third branched chain (5), a fourth branched chain (6) and a movable platform structure (2), and is characterized in that:
The movable platform structure (2) is composed of a first translational member (021), a second translational member (022), a third translational member (023), a fourth translational member (024), a small synchronous wheel (025), a large synchronous wheel (026) and a synchronous belt (027), wherein the large synchronous wheel (026) is fixedly connected on the second translational member (022), the large synchronous wheel (026) is connected with the small synchronous wheel (025) through the synchronous belt (027), the small synchronous wheel (025) is connected with the first translational member (021) through a ninth translational pair (028), the first translational member (021) is connected with the third translational member (023) through a first zero translational pair (029), the third translational member (023) is connected with the second translational member (022) through a first one-to-one rotational pair (030), the second translational member (022) is connected with the fourth translational member (024) through a first two rotational pairs (032), the fourth translational member (024) is connected with the first translational member (031) through a first zero rotational pair,
The axes of the first zero revolute pair (029), the first zero revolute pair (030), the first two-dimensional revolute pair (032) and the first three revolute pair (031) are parallel to each other, the distance between the first zero revolute pair (029) and the axis of the first zero revolute pair (030) is equal to the distance between the first two-dimensional revolute pair (032) and the axis of the first three revolute pair (031), the distance between the first three revolute pair (031) and the axis of the first zero revolute pair (029) is equal to the distance between the first one-dimensional revolute pair (030) and the axis of the first two-dimensional revolute pair (032),
The first branched chain (3) consists of a first supporting frame (101), a first one-to-one driving wheel (104), a first two-to-one driving wheel (105), a first three driving wheel (108), a first four driving wheel (109), a first five driving wheel (110), a first six driving wheel (111), a first one-to-one synchronous belt (106), a first two-to-one synchronous belt (107), a first three synchronous belt (112), a first one-to-one swinging rod (102), a first two-to-one swinging rod (103), a first three swinging rod (113), a first four swinging rod (114), a first one-to-one connecting member (115), a first two-to-one connecting member (116), a first one-to-one connecting rod (118), a first pushing rod (117) and a first servo motor (119), the first swing rod (102) is connected with the first support frame (101) through a first rotating pair (130), the first swing rod (102) is connected with the first driving wheel (104) through a first rotating pair (120), the first swing rod (102) is connected with a first connecting rod (118) through a first third rotating pair (128), the first swing rod (102) is connected with a first third swing rod (113) through a first moving pair (124), the first swing rod (103) is connected with the first support frame (101) through a first fourth rotating pair (131), the first two-link lever (103) is connected with the first two-link lever (105) through a first five revolute pair (121), the first two-link lever (103) is connected with a first one-to-one connecting rod (118) through a first six revolute pair (129), the first two-link lever (103) is connected with a first four-link lever (114) through a first two-to-one revolute pair (125), the first one-to-one driving wheel (104) is connected with a first three-driving wheel (108) through a first one-to-one synchronous belt (106), the first three-driving wheel (108) is fixedly connected with the first five-driving wheel (110), the first five-driving wheel (110) is fixedly connected with the first six-driving wheel (111) through a first three-synchronous belt (112), the first six-driving wheel (111) is fixedly connected with a first four-link lever (109) through a first two-to-link lever (107), the first three-link lever (113) is fixedly connected with the first two-to-link lever (105) through a first one-to-one synchronous belt (115), the first three-link lever (113) is fixedly connected with the first one synchronous belt (106) through a first one-to-link lever (126), the first three-link lever (113) is fixedly connected with the first two-to-link lever (114) through a first one synchronous belt (117) and the first two-to be fixedly connected with the first two-link lever (117) through a first one rotary pair (117, the first servo motor (119) is arranged on the first support frame (101) and connected with the first six driving wheels (111), the first support frame (101) is connected with the frame (1) through a first rotating pair (11), the first pushing rod (117) is connected with the first translation part (021) through a fifth rotating pair (21),
The first one-to-one revolute pair (130), the first two revolute pair (120), the first three revolute pair (128), the first four revolute pair (131), the first five revolute pair (121), the first six revolute pair (129), the first seven revolute pair (126) and the first eight revolute pair (127) are parallel to each other, the first one-to-one revolute pair (130) and the first two revolute pair (120) are equal in axial distance to the first four revolute pair (131) and the first five revolute pair (121), the first one-to-one revolute pair (130) and the first three revolute pair (128) are equal in axial distance to the first four revolute pair (131) and the first six revolute pair (129), the first one-to-one revolute pair (130) and the first six revolute pair (129) are equal in axial distance to the first seven revolute pair (126) and the first eight revolute pair (127), the first one-to-one revolute pair (130) and the first eight revolute pair (126) are equal in axial distance to the first one-to the first eight revolute pair (131),
The second branched chain (4) consists of a second supporting frame (201), a second first driving wheel (204), a second driving wheel (205), a second third driving wheel (208), a second fourth driving wheel (209), a second fifth driving wheel (210), a second sixth driving wheel (211), a second synchronous belt (206), a second synchronous belt (207), a second third synchronous belt (212), a second first swinging rod (202), a second swinging rod (203), a second third swinging rod (213), a second fourth swinging rod (214), a second connecting member (215), a second connecting member (216), a second connecting rod (218), a second pushing rod (217) and a second servo motor (219), wherein the second first swinging rod (202) is connected with the second supporting frame (201) through a second first rotating pair (230), the second first swinging rod (202) is connected with the second first driving wheel (204) through a second rotating pair (220), the second first swinging rod (202) is connected with a second connecting rod (218) through a second third rotating pair (228), the second swinging rod (202) is connected with the second swinging rod (203) through a second rotating pair (213), the second swing rod (203) is connected with a second transmission wheel (205) through a second fifth rotating pair (221), the second swing rod (203) is connected with a second connecting rod (218) through a second sixth rotating pair (229), the second swing rod (203) is connected with a second fourth swing rod (214) through a second moving pair (225), the second first transmission wheel (204) is connected with a second third transmission wheel (208) through a second first synchronous belt (206), the second third transmission wheel (208) is fixedly connected with the second fifth transmission wheel (210), the second fifth transmission wheel (210) is connected with a second sixth transmission wheel (211) through a second third synchronous belt (212), the second sixth transmission wheel (211) is fixedly connected with a second fourth transmission wheel (209), the second fourth transmission wheel (209) is fixedly connected with the second swing rod (205) through a second synchronous belt (207), the second third swing rod (213) is fixedly connected with the second synchronous belt (206) through a second connecting member (215), the second swing rod (217) is fixedly connected with the second swing rod (214) through a second synchronous belt (217) through a second rotating pair (226), the second servo motor (219) is arranged on the second supporting frame (201) and is connected with the second six driving wheels (211), the second supporting frame (201) is connected with the frame (1) through a second zero rotating pair (12), the second pushing rod (217) is connected with the second translational member (022) through a sixth zero rotating pair (22),
The axes of rotation of the second first revolute pair (230), the second revolute pair (220), the second third revolute pair (228), the second fourth revolute pair (231), the second fifth revolute pair (221), the second sixth revolute pair (229), the second seventh revolute pair (226) and the second eighth revolute pair (227) are mutually parallel, the second first revolute pair (230) and the second revolute pair (220) are equal to the second fourth revolute pair (231) and the second fifth revolute pair (221) in axial distance, the second first revolute pair (230) and the second third revolute pair (228) are equal to the second fourth revolute pair (231) and the second sixth revolute pair (229) in axial distance, the second first revolute pair (230) and the second eighth revolute pair (226) are equal to the second seventh revolute pair (226) and the second eighth revolute pair (227) in axial distance, the second third revolute pair (228) and the second sixth revolute pair (229) are equal to the second seventh revolute pair (226) and the second revolute pair (227) in axial distance,
The third branched chain (5) is composed of a third supporting frame (301), a third first driving wheel (304), a third second driving wheel (305), a third driving wheel (308), a third fourth driving wheel (309), a third fifth driving wheel (310), a third sixth driving wheel (311), a third synchronous belt (306), a third second synchronous belt (307), a third synchronous belt (312), a third first swinging rod (302), a third second swinging rod (303), a third swinging rod (313), a third fourth swinging rod (314), a third connecting member (315), a third connecting member (316), a third connecting rod (318), a third pushing rod (317) and a third servo motor (319), the third first swinging rod (302) is connected with the third supporting frame (301) through a third first rotating pair (330), the third first swinging rod (302) is connected with the third first supporting frame (301) through a third second rotating pair (320), the third first swinging rod (302) is connected with a third connecting rod (318) through a third rotating pair (328), the third swinging rod (302) is connected with the third swinging rod (303) through a third moving pair (324), the third second swing rod (303) is connected with the third second driving wheel (305) through a third fifth rotating pair (321), the third second swing rod (303) is connected with a third connecting rod (318) through a third sixth rotating pair (329), the third second swing rod (303) is connected with a third fourth swing rod (314) through a third second moving pair (325), the third first driving wheel (304) is connected with a third driving wheel (308) through a third first synchronous belt (306), the third driving wheel (308) is fixedly connected with the third fifth driving wheel (310), the third fifth driving wheel (310) is connected with a third sixth driving wheel (311) through a third synchronous belt (312), the third sixth driving wheel (311) is fixedly connected with a third fourth driving wheel (309), the third fourth driving wheel (309) is fixedly connected with the third second swing rod (305) through a third second synchronous belt (307), the third swing rod (313) is fixedly connected with the third first synchronous belt (306) through a third connecting member (315), the third swing rod (313) is fixedly connected with the third swing rod (317) through a third rotating pair (307) and the third swing rod (317) is fixedly connected with the third swing rod (317) through a third synchronous belt (317), the third servo motor (319) is arranged on the third supporting frame (301) and is connected with the third and sixth driving wheels (311), the third supporting frame (301) is connected with the frame (1) through a third rotating pair (13), the third pushing rod (317) is connected with the second translational member (022) through a seventh rotating pair (23),
The axes of rotation of the third first revolute pair (330), the third second revolute pair (320), the third revolute pair (328), the third fourth revolute pair (331), the third fifth revolute pair (321), the third sixth revolute pair (329), the third pseudo-ginseng revolute pair (326) and the third eighth revolute pair (327) are parallel to each other, the third first revolute pair (330) and the third second revolute pair (320) are equal to the third fourth revolute pair (331) and the third fifth revolute pair (321) in axial distance, the third first revolute pair (330) and the third revolute pair (328) are equal to the third fourth revolute pair (331) and the third sixth revolute pair (329) in axial distance, the third first revolute pair (330) and the third eighth revolute pair (331) are equal to the third pseudo-ginseng revolute pair (326) and the third eighth revolute pair (327) in axial distance, the third first revolute pair (328) and the third revolute pair (327) are equal to the third revolute pair (331) in axial distance,
The fourth branched chain (6) consists of a fourth supporting frame (401), a fourth first driving wheel (404), a fourth second driving wheel (405), a fourth third driving wheel (408), a fourth driving wheel (409), a fourth fifth driving wheel (410), a fourth sixth driving wheel (411), a fourth first synchronous belt (406), a fourth second synchronous belt (407), a fourth third synchronous belt (412), a fourth first swinging rod (402), a fourth second swinging rod (403), a fourth third swinging rod (413), a fourth swinging rod (414), a fourth connecting member (415), a fourth connecting member (416), a fourth connecting rod (418), a fourth pushing rod (417) and a fourth servo motor (419), the fourth first swinging rod (402) is connected with the fourth supporting frame (401) through a fourth first rotating pair (430), the fourth first swinging rod (402) is connected with the fourth first driving wheel (404) through a fourth second rotating pair (420), the fourth first swinging rod (402) is connected with a fourth connecting rod (418) through a fourth third rotating pair (428), the fourth swinging rod (402) is connected with the fourth swinging rod (401) through a fourth moving pair (424), the fourth second swing rod (403) is connected with the fourth second driving wheel (405) through a fourth fifth rotating pair (421), the fourth second swing rod (403) is connected with a fourth connecting rod (418) through a fourth sixth rotating pair (429), the fourth second swing rod (403) is connected with a fourth swing rod (414) through a fourth second moving pair (425), the fourth first driving wheel (404) is connected with a fourth third driving wheel (408) through a fourth first synchronous belt (406), the fourth third driving wheel (408) is fixedly connected with the fourth fifth driving wheel (410), the fourth fifth driving wheel (410) is connected with a fourth sixth driving wheel (411) through a fourth third synchronous belt (412), the fourth sixth driving wheel (411) is fixedly connected with a fourth driving wheel (409), the fourth driving wheel (409) is fixedly connected with the fourth second swing rod (405) through a fourth second synchronous belt (407), the fourth swing rod (413) is fixedly connected with the fourth first synchronous belt (406) through a fourth connecting member (415), the fourth swing rod (413) is fixedly connected with the fourth swing rod (417) through a fourth rotating pair (426) and the fourth synchronous belt (417) is fixedly connected with the fourth swing rod (411) through a fourth synchronous belt (417), a fourth servo motor (419) is arranged on the fourth supporting frame (401) and is connected with a fourth six driving wheel (411), the fourth supporting frame (401) is connected with the frame (1) through a fourth rotating pair (14), a fourth pushing rod (417) is connected with a first translation part (021) through a eighth rotating pair (24),
The axes of rotation of the fourth first revolute pair (430), the fourth second revolute pair (420), the fourth third revolute pair (428), the fourth revolute pair (431), the fourth fifth revolute pair (421), the fourth sixth revolute pair (429), the fourth seventh revolute pair (426) and the fourth eighth revolute pair (427) are parallel to each other, the fourth first revolute pair (430) and the fourth second revolute pair (420) are equal to the fourth seventh revolute pair (431) and the fourth fifth revolute pair (421) in axial distance, the fourth first revolute pair (430) and the fourth third revolute pair (428) are equal to the fourth revolute pair (431) and the fourth sixth revolute pair (429) in axial distance, the fourth first revolute pair (431) and the fourth revolute pair (427) are equal to the fourth seventh revolute pair (426) and the fourth eighth revolute pair (427) in axial distance, and the fourth revolute pair (426) are equal to the fourth revolute pair (431) and the fourth revolute pair (427) in axial distance.
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| FR2962839B1 (en) * | 2010-07-13 | 2015-06-05 | Thales Sa | HEXAPODE ACTUATOR DEVICE. |
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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 |
| 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 |
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