CN204487552U - V belt translation three translation manipulator - Google Patents
V belt translation three translation manipulator Download PDFInfo
- Publication number
- CN204487552U CN204487552U CN201520048281.8U CN201520048281U CN204487552U CN 204487552 U CN204487552 U CN 204487552U CN 201520048281 U CN201520048281 U CN 201520048281U CN 204487552 U CN204487552 U CN 204487552U
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- zero
- revolute pair
- drive
- tooth bar
- side link
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Abstract
V belt translation three translation manipulator, comprises frame, the first side chain, the second side chain, the first motor, the second motor, the 3rd motor and moving platform.First side chain and the second side chain can realize the synchronization lifting motion of two toothed rack in respective side chain respectively under the driving of the first motor and the second motor.Described V belt translation three translation manipulator can realize the motion of moving platform three-dimensional translating spatially.The utility model structure is simple, compact, has occupation of land space little, the advantages such as flexible movements.
Description
Technical field
The utility model relates to industrial robot field, particularly V belt translation three translation manipulator.
Background technology
From the 1950's, robot is just applied to industrial circle, has now played great effect at industrial circle, has effectively reduced the production cost of factory, improve production efficiency.Industrial applied robot has a lot of aspect, as welding, assembling, piling, crawl etc.The frame for movement that the robot being applied in different field adopts also differs widely, and welding robot needs five or six axles to realize the motion of space curve of end welding gun, and robot palletizer then only needs four axles just can complete the piling task of producing on-line goods.In industrial application, have so class task, it needs article to put another place from a place, and does not need to make article run-off the straight campaign in the process of putting.This kind of robot can be divided into four kinds by the demand according to reality: the first is the crawl in plane, namely only need complete article two translational motions planar; The second also needs article rotating angle on the basis completing two translational motions; The third to complete article three translational motions spatially; 4th kind is also need article rotating angle on the basis completing three translations.In order to reduce the free degree of robot, the general joint connection mode that adopts adds one or more groups parallelogram sturcutre again to realize the horizontal movement of end effector of robot, and on market, robot palletizer and high speed capture this class formation of the many employings of parallel robot.But this class formation is because of in needs are arranged on articulated robot, admittedly cause, robot architecture is too fat to move, to take up an area space large.The utility model adopts two side chains to connect frame and moving platform, and every bar side chain can realize being synchronized with the movement of two toothed rack, and moving platform can complete the motion of three-dimensional translating spatially, has compact conformation, takes up an area the advantages such as space is little, high load capability.
Summary of the invention
The purpose of this utility model is to provide V belt translation three translation manipulator, can realize moving platform spatially three-dimensional translating motion.
The utility model achieves the above object by the following technical programs: V belt translation three translation manipulator, comprises frame, the first side chain, the second side chain, the first motor, the second motor, the 3rd motor and moving platform.
First support of described first side chain is connected with frame by the first revolute pair, first connecting axle of the first side chain is connected with moving platform by the second revolute pair, second support of the second side chain is connected with frame by the 3rd revolute pair, and the second connecting axle that the second side chain is logical is crossed the 4th revolute pair and connected with moving platform.
Described first side chain comprises the first support, one zero one drive, one zero two drive, one zero one side link, one zero two side link, first connecting rod, one zero one tooth bar, one zero two tooth bar, first connecting axle and the first band, one zero one drive is connected with the first support by the one zero one revolute pair, one zero one drive is connected with the one zero two drive by the first band, one zero one drive is connected with the one zero one tooth bar by the one zero one gear pair, one zero two drive is connected with the first support by the one zero two revolute pair, one zero two drive is connected with the one zero two tooth bar by the one zero two gear pair, one zero one tooth bar is connected with the one zero one side link by the one zero one moving sets, one zero one tooth bar is connected with the first connecting axle by the one zero three revolute pair, one zero two tooth bar is connected with the one zero two side link by the one zero two moving sets, one zero two tooth bar is connected with the first connecting axle by the one zero four revolute pair, one zero one side link is connected with the first support by the one zero five revolute pair, one zero one side link is connected with first connecting rod by the one zero six revolute pair, one zero two side link is connected with the first support by the one zero seven revolute pair, one zero two side link is connected with first connecting rod by the one zero eight revolute pair.
Described second side chain comprises the second support, 201 drive, 202 drive, 201 side link, 202 side link, second connecting rod, 201 tooth bar, 202 tooth bar, second connecting axle and the second band, 201 drive is connected with the second support by the 201 revolute pair, 201 drive is connected with the 202 drive by the second band, 201 drive is connected with the 201 tooth bar by the 201 gear pair, 202 drive is connected with the second support by the 202 revolute pair, 202 drive is connected with the 202 tooth bar by the 202 gear pair, 201 tooth bar is connected with the 201 side link by the 201 moving sets, 201 tooth bar is connected with the second connecting axle by the 203 revolute pair, 202 tooth bar is connected with the 202 side link by the 202 moving sets, 202 tooth bar is connected with the second connecting axle by the 204 revolute pair, 201 side link is connected with the second support by the 205 revolute pair, 201 side link is connected with second connecting rod by the 206 revolute pair, 202 side link is connected with the second support by the 207 revolute pair, 202 side link is connected with second connecting rod by the 208 revolute pair.
Outstanding advantages of the present utility model is:
1, two side chains realize the spatial three-dimensional translational of moving platform, whole mechanism compact conformation, and it is little to take up an area space;
2, manipulator inertia is little, kinematics and dynamics performance is good;
3, moving platform can install multiple actuator, applied range.
Accompanying drawing explanation
Fig. 1 is the structural representation of gear drive three translation manipulator described in the utility model.
Fig. 2 is gear drive three translation manipulator first branched structure schematic diagram described in the utility model.
Fig. 3 is gear drive three translation manipulator second branched structure schematic diagram described in the utility model.
Fig. 4 is the first support schematic diagram of gear drive three translation manipulator first side chain described in the utility model.
Fig. 5 is the second support schematic diagram of gear drive three translation manipulator second side chain described in the utility model.
Fig. 6 is the one zero one side link and the one zero two side link schematic diagram of gear drive three translation manipulator first side chain described in the utility model.
Fig. 7 is the 201 side link and the 202 side link schematic diagram of gear drive three translation manipulator second side chain described in the utility model.
Detailed description of the invention
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, V belt translation three translation manipulator, comprises frame 1, first side chain, the second side chain, the first motor 2, second motor 3, the 3rd motor 4 and moving platform 5.
First support 102 of described first side chain is connected with frame 1 by the first revolute pair 101, first connecting axle 110 of the first side chain is connected with moving platform 5 by the second revolute pair 6, second support 202 of the second side chain is connected with frame 1 by the 3rd revolute pair 201, and the second connecting axle 210 that the second side chain is logical is crossed the 4th revolute pair 7 and connected with moving platform 5.
Described first side chain comprises the first support 102, one zero one drive 103, one zero two drive 104, one zero one side link 107, one zero two side link 108, first connecting rod 109, one zero one tooth bar 105, one zero two tooth bar 106, first connecting axle 110 and the first band 111, one zero one drive 103 is connected with the first support 102 by the one zero one revolute pair 112, one zero one drive 103 is connected with the one zero two drive 104 by the first band 111, one zero one drive 103 is connected with the one zero one tooth bar 105 by the one zero one gear pair 116, one zero two drive 104 is connected with the first support 102 by the one zero two revolute pair 113, one zero two drive 104 is connected with the one zero two tooth bar 106 by the one zero two gear pair 117, one zero one tooth bar 105 is connected with the one zero one side link 107 by the one zero one moving sets 118, one zero one tooth bar 105 is connected with the first connecting axle 110 by the one zero three revolute pair 122, one zero two tooth bar 106 is connected with the one zero two side link 108 by the one zero two moving sets 119, one zero two tooth bar 106 is connected with the first connecting axle 110 by the one zero four revolute pair 123, one zero one side link 107 is connected with the first support 102 by the one zero five revolute pair 114, one zero one side link 107 is connected with first connecting rod 109 by the one zero six revolute pair 120, one zero two side link 108 is connected with the first support 102 by the one zero seven revolute pair 115, one zero two side link 108 is connected with first connecting rod 109 by the one zero eight revolute pair 121.
Described second side chain comprises the second support 202, 201 drive 203, 202 drive 204, 201 side link 207, 202 side link 208, second connecting rod 209, 201 tooth bar 205, 202 tooth bar 206, second connecting axle 210 and the second band 211, 201 drive 203 is connected with the second support 202 by the 201 revolute pair 212, 201 drive 203 is connected with the 202 drive 204 by the second band 211, 201 drive 203 is connected with the 201 tooth bar 205 by the 201 gear pair 216, 202 drive 204 is connected with the second support 202 by the 202 revolute pair 213, 202 drive 204 is connected with the 202 tooth bar 206 by the 202 gear pair 217, 201 tooth bar 205 is connected with the 201 side link 207 by the 201 moving sets 218, 201 tooth bar 205 is connected with the second connecting axle 210 by the 203 revolute pair 222, 202 tooth bar 206 is connected with the 202 side link 208 by the 202 moving sets 219, 202 tooth bar 206 is connected with the second connecting axle 210 by the 204 revolute pair 223, 201 side link 207 is connected with the second support 202 by the 205 revolute pair 214, 201 side link 207 is connected with second connecting rod 209 by the 206 revolute pair 220, 202 side link 208 is connected with the second support 202 by the 207 revolute pair 215, 202 side link 208 is connected with second connecting rod 209 by the 208 revolute pair 221.
Described first motor 2 drives the one zero two drive 104 of the first side chain to move, second motor 3 drives the 201 drive 203 of the second side chain to move, 3rd motor 4 drives the 201 side link 207 of the second side chain to move, and can realize the motion of the spatial three-dimensional translational of moving platform 5.
Claims (1)
1. V belt translation three translation manipulator, comprises frame, the first side chain, the second side chain, the first motor, the second motor, the 3rd motor and moving platform, it is characterized in that:
First support of described first side chain is connected with frame by the first revolute pair, first connecting axle of the first side chain is connected with moving platform by the second revolute pair, second support of the second side chain is connected with frame by the 3rd revolute pair, the second connecting axle that second side chain is logical is crossed the 4th revolute pair and is connected with moving platform
Described first side chain comprises the first support, one zero one drive, one zero two drive, one zero one side link, one zero two side link, first connecting rod, one zero one tooth bar, one zero two tooth bar, first connecting axle and the first band, one zero one drive is connected with the first support by the one zero one revolute pair, one zero one drive is connected with the one zero two drive by the first band, one zero one drive is connected with the one zero one tooth bar by the one zero one gear pair, one zero two drive is connected with the first support by the one zero two revolute pair, one zero two drive is connected with the one zero two tooth bar by the one zero two gear pair, one zero one tooth bar is connected with the one zero one side link by the one zero one moving sets, one zero one tooth bar is connected with the first connecting axle by the one zero three revolute pair, one zero two tooth bar is connected with the one zero two side link by the one zero two moving sets, one zero two tooth bar is connected with the first connecting axle by the one zero four revolute pair, one zero one side link is connected with the first support by the one zero five revolute pair, one zero one side link is connected with first connecting rod by the one zero six revolute pair, one zero two side link is connected with the first support by the one zero seven revolute pair, one zero two side link is connected with first connecting rod by the one zero eight revolute pair,
Described second side chain comprises the second support, 201 drive, 202 drive, 201 side link, 202 side link, second connecting rod, 201 tooth bar, 202 tooth bar, second connecting axle and the second band, 201 drive is connected with the second support by the 201 revolute pair, 201 drive is connected with the 202 drive by the second band, 201 drive is connected with the 201 tooth bar by the 201 gear pair, 202 drive is connected with the second support by the 202 revolute pair, 202 drive is connected with the 202 tooth bar by the 202 gear pair, 201 tooth bar is connected with the 201 side link by the 201 moving sets, 201 tooth bar is connected with the second connecting axle by the 203 revolute pair, 202 tooth bar is connected with the 202 side link by the 202 moving sets, 202 tooth bar is connected with the second connecting axle by the 204 revolute pair, 201 side link is connected with the second support by the 205 revolute pair, 201 side link is connected with second connecting rod by the 206 revolute pair, 202 side link is connected with the second support by the 207 revolute pair, 202 side link is connected with second connecting rod by the 208 revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520048281.8U CN204487552U (en) | 2015-01-24 | 2015-01-24 | V belt translation three translation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520048281.8U CN204487552U (en) | 2015-01-24 | 2015-01-24 | V belt translation three translation manipulator |
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| Publication Number | Publication Date |
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| CN204487552U true CN204487552U (en) | 2015-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520048281.8U Withdrawn - After Issue CN204487552U (en) | 2015-01-24 | 2015-01-24 | V belt translation three translation manipulator |
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| CN (1) | CN204487552U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589317A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven three-dimensional translational manipulator |
-
2015
- 2015-01-24 CN CN201520048281.8U patent/CN204487552U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589317A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven three-dimensional translational manipulator |
| CN104589317B (en) * | 2015-01-24 | 2016-04-20 | 江西省机械科学研究所 | V belt translation three translation manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150722 Effective date of abandoning: 20160420 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |