CN216372186U - Two-translation picking robot containing parallelogram closed-loop sub-chain with variable rod length - Google Patents
Two-translation picking robot containing parallelogram closed-loop sub-chain with variable rod length Download PDFInfo
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- CN216372186U CN216372186U CN202123125188.7U CN202123125188U CN216372186U CN 216372186 U CN216372186 U CN 216372186U CN 202123125188 U CN202123125188 U CN 202123125188U CN 216372186 U CN216372186 U CN 216372186U
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Abstract
The invention relates to a two-translation picking robot containing a variable-rod-length parallelogram closed-loop subchain. The first branched chain and the second branched chain are distributed in an axisymmetric manner, the first motor and the second motor are fixed on the frame and are respectively connected with the first branched chain and the second branched chain through revolute pairs, and the first branched chain and the second branched chain are respectively connected with the movable platform through revolute pairs. The two-translation picking robot with the variable-rod-length parallelogram closed-loop subchain can realize the two-dimensional translation movement of the movable platform in space.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a two-translation picking robot with a parallelogram closed-loop sub-chain with variable rod length.
Background
The parallel robot and the serial robot together form an important part of the industrial robot, the parallel robot has the advantages of high rigidity, high speed, strong flexibility, light weight and the like, is most widely applied to light industries such as food, medicine, electronics and the like, and has incomparable advantages in the aspects of material handling, packaging, sorting and the like. With the increasingly wide application of parallel robots in the market, the parallel robots become new forces for the growth of industrial robots. The parallel robot is a closed loop system consisting of a dynamic platform, a static platform and two or more independent motion branched chains connecting the dynamic platform and the static platform, and compared with the traditional serial robot, the parallel robot has the advantages of no error accumulation, high motion precision, small motion inertia, good dynamic property and the like, and the drive can be arranged near the static platform.
At present, the parallel robot with less freedom degrees is a hot point for domestic and foreign research and application, and the parallel robot with two freedom degrees and two moving freedom degrees can meet the basic pick-and-place operation in space and is an important classification in the parallel robot with less freedom degrees. The invention adopts two branched chains to connect the frame and the movable platform, each branched chain comprises a telescopic parallelogram closed-loop subchain, and the movable platform can complete the two-dimensional translational motion in space, and has the advantages of simple and compact structure, high precision, high speed and the like.
Disclosure of Invention
The invention aims to provide a two-translation picking robot containing a parallelogram closed-loop subchain with a variable rod length, which can realize two-dimensional translation of a movable platform in space.
In order to achieve the purpose of the invention, the invention adopts the following technical scheme:
a two-translation picking robot with a variable-rod-length parallelogram closed-loop subchain comprises a first branched chain 1, a second branched chain 2, a rack 3, a movable platform 4, a first motor 51 and a second motor 52.
The first branched chain 1 comprises a first connecting rod 110, a second connecting rod 111, a third connecting rod 116, a fourth connecting rod 117, a first connecting piece 120 and a second connecting piece 121, wherein the first connecting rod 110 is connected with the third connecting rod 116 through a first moving pair 114, the second connecting rod 111 is connected with the fourth connecting rod 117 through a second moving pair 115, the first connecting piece 120 is connected with the third connecting rod 116 through a third rotating pair 118, the first connecting piece 120 is connected with the fourth connecting rod 117 through a fourth rotating pair 119, the second connecting piece 121 is connected with the third connecting rod 116 through a first rotating pair 112, the second connecting piece 121 is connected with the fourth connecting rod 117 through a second rotating pair 113, the second connecting piece 121 is fixed on the machine frame 3, the axes of the first rotating pair 112, the second rotating pair 113, the third rotating pair 118 and the fourth rotating pair 119 are parallel to each other, the distance between the axis of the first rotating pair 112 and the axis of the second rotating pair 113 is equal to the distance between the axis of the third rotating pair 118 and the axis of the fourth rotating pair 119, the first connecting rod 110 is connected with the movable platform 4 through a fifth revolute pair 41, the second connecting rod 111 is connected with the movable platform 4 through a sixth revolute pair 42, the axes of the first revolute pair 112, the second revolute pair 113, the fifth revolute pair 41 and the sixth revolute pair 42 are parallel to each other, and the distance between the axis of the first revolute pair 112 and the axis of the second revolute pair 113 is equal to the distance between the axis of the fifth revolute pair 41 and the axis of the sixth revolute pair 42.
The second branched chain 2 comprises a fifth connecting rod 210, a sixth connecting rod 211, a seventh connecting rod 216, an eighth connecting rod 217, a third connecting piece 220 and a fourth connecting piece 221, the fifth connecting rod 210 is connected with the seventh connecting rod 216 through a third moving pair 214, the sixth connecting rod 211 is connected with the eighth connecting rod 217 through a fourth moving pair 215, the third connecting piece 220 is connected with the seventh connecting rod 216 through a ninth rotating pair 218, the third connecting piece 220 is connected with the eighth connecting rod 217 through a tenth rotating pair 219, the fourth connecting piece 221 is connected with the seventh connecting rod 216 through a seventh rotating pair 212, the fourth connecting piece 221 is connected with the eighth connecting rod 217 through an eighth rotating pair 213, the fourth connecting piece 221 is fixed on the frame 3, the axes of the seventh rotating pair 212, the eighth rotating pair 213, the ninth rotating pair 218 and the tenth rotating pair 219 are parallel to each other, the distance between the axis of the seventh rotating pair 212 and the axis of the eighth rotating pair 213 is equal to the distance between the axis of the ninth rotating pair 218 and the tenth rotating pair 219, the fifth connecting rod 210 is connected with the movable platform 4 through an eleventh revolute pair 43, the sixth connecting rod 211 is connected with the movable platform 4 through a twelfth revolute pair 44, the axes of the seventh revolute pair 212, the eighth revolute pair 213, the eleventh revolute pair 43 and the twelfth revolute pair 44 are parallel to each other, and the distance between the axis of the seventh revolute pair 212 and the axis of the eighth revolute pair 213 is equal to the distance between the axis of the eleventh revolute pair 43 and the axis of the twelfth revolute pair 44.
Compared with the prior art, the invention has the following obvious and prominent substantive characteristics and remarkable advantages:
1. the two-translation picking robot with the variable-rod-length parallelogram closed-loop subchain has the advantages of simple and symmetrical structure, small motion inertia of a mechanism and good dynamic performance because the driving device is arranged on the rack;
2. the device has compact structure and flexible movement capability, and various actuators can be installed on the movable platform, so the device is easy to popularize and apply.
Drawings
Fig. 1 is a schematic structural diagram of a two-translation pick-up robot with a closed-loop parallelogram chain with a variable rod length.
Fig. 2 is a schematic view of a first chain structure of a two-translation pick-up robot with a parallelogram closed-loop sub-chain with a variable rod length.
FIG. 3 is a schematic structural diagram of a second branched chain of a two-translation pick-up robot with a closed-loop sub-chain of a parallelogram with a variable rod length.
Fig. 4 is a schematic structural view of a two-translation pick-up robot moving platform with a parallelogram closed-loop sub-chain with a variable rod length.
Detailed Description
The technical solution of the present invention is further explained with reference to the drawings and the embodiments.
Referring to fig. 1 to 4, a two-translation pick-up robot with a parallelogram closed-loop sub-chain with a variable rod length includes a first branch chain 1, a second branch chain 2, a frame 3, a moving platform 4, a first motor 51 and a second motor 52.
The first branched chain 1 comprises a first connecting rod 110, a second connecting rod 111, a third connecting rod 116, a fourth connecting rod 117, a first connecting piece 120 and a second connecting piece 121, wherein the first connecting rod 110 is connected with the third connecting rod 116 through a first moving pair 114, the second connecting rod 111 is connected with the fourth connecting rod 117 through a second moving pair 115, the first connecting piece 120 is connected with the third connecting rod 116 through a third rotating pair 118, the first connecting piece 120 is connected with the fourth connecting rod 117 through a fourth rotating pair 119, the second connecting piece 121 is connected with the third connecting rod 116 through a first rotating pair 112, the second connecting piece 121 is connected with the fourth connecting rod 117 through a second rotating pair 113, the second connecting piece 121 is fixed on the machine frame 3, the axes of the first rotating pair 112, the second rotating pair 113, the third rotating pair 118 and the fourth rotating pair 119 are parallel to each other, the distance between the axis of the first rotating pair 112 and the axis of the second rotating pair 113 is equal to the distance between the axis of the third rotating pair 118 and the axis of the fourth rotating pair 119, the first connecting rod 110 is connected with the movable platform 4 through a fifth revolute pair 41, the second connecting rod 111 is connected with the movable platform 4 through a sixth revolute pair 42, the axes of the first revolute pair 112, the second revolute pair 113, the fifth revolute pair 41 and the sixth revolute pair 42 are parallel to each other, and the distance between the axis of the first revolute pair 112 and the axis of the second revolute pair 113 is equal to the distance between the axis of the fifth revolute pair 41 and the axis of the sixth revolute pair 42.
The second branched chain 2 comprises a fifth connecting rod 210, a sixth connecting rod 211, a seventh connecting rod 216, an eighth connecting rod 217, a third connecting piece 220 and a fourth connecting piece 221, the fifth connecting rod 210 is connected with the seventh connecting rod 216 through a third moving pair 214, the sixth connecting rod 211 is connected with the eighth connecting rod 217 through a fourth moving pair 215, the third connecting piece 220 is connected with the seventh connecting rod 216 through a ninth rotating pair 218, the third connecting piece 220 is connected with the eighth connecting rod 217 through a tenth rotating pair 219, the fourth connecting piece 221 is connected with the seventh connecting rod 216 through a seventh rotating pair 212, the fourth connecting piece 221 is connected with the eighth connecting rod 217 through an eighth rotating pair 213, the fourth connecting piece 221 is fixed on the frame 3, the axes of the seventh rotating pair 212, the eighth rotating pair 213, the ninth rotating pair 218 and the tenth rotating pair 219 are parallel to each other, the distance between the axis of the seventh rotating pair 212 and the axis of the eighth rotating pair 213 is equal to the distance between the axis of the ninth rotating pair 218 and the tenth rotating pair 219, the fifth connecting rod 210 is connected with the movable platform 4 through an eleventh revolute pair 43, the sixth connecting rod 211 is connected with the movable platform 4 through a twelfth revolute pair 44, the axes of the seventh revolute pair 212, the eighth revolute pair 213, the eleventh revolute pair 43 and the twelfth revolute pair 44 are parallel to each other, and the distance between the axis of the seventh revolute pair 212 and the axis of the eighth revolute pair 213 is equal to the distance between the axis of the eleventh revolute pair 43 and the axis of the twelfth revolute pair 44.
The first motor 51 is connected with and drives the third connecting rod 116 of the first branched chain 1 to move through the first revolute pair 112, and the second motor 52 is connected with and drives the eighth connecting rod 217 of the second branched chain 2 to move through the eighth revolute pair 213, so that the spatial two-dimensional translational motion of the movable platform 4 can be realized.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical scheme of the invention are equivalent substitution modes, and the invention does not depart from the technical principle and the inventive concept of the two-translation picking robot with the variable-rod length parallelogram closed-loop subchain, and belongs to the protection scope of the invention, as long as the invention aims at the invention.
Claims (1)
1. The utility model provides a contain two translation pickup robots of change pole length parallelogram closed loop subchain, includes first branch chain 1, second branch chain 2, frame 3, moves platform 4 and first motor 51, second motor 52, its characterized in that:
the first branched chain 1 comprises a first connecting rod 110, a second connecting rod 111, a third connecting rod 116, a fourth connecting rod 117, a first connecting piece 120 and a second connecting piece 121, wherein the first connecting rod 110 is connected with the third connecting rod 116 through a first moving pair 114, the second connecting rod 111 is connected with the fourth connecting rod 117 through a second moving pair 115, the first connecting piece 120 is connected with the third connecting rod 116 through a third rotating pair 118, the first connecting piece 120 is connected with the fourth connecting rod 117 through a fourth rotating pair 119, the second connecting piece 121 is connected with the third connecting rod 116 through a first rotating pair 112, the second connecting piece 121 is connected with the fourth connecting rod 117 through a second rotating pair 113, the second connecting piece 121 is fixed on the machine frame 3, the axes of the first rotating pair 112, the second rotating pair 113, the third rotating pair 118 and the fourth rotating pair 119 are parallel to each other, the distance between the axis of the first rotating pair 112 and the axis of the second rotating pair 113 is equal to the distance between the axis of the third rotating pair 118 and the axis of the fourth rotating pair 119, the first connecting rod 110 is connected with the movable platform 4 through a fifth revolute pair 41, the second connecting rod 111 is connected with the movable platform 4 through a sixth revolute pair 42, the axes of the first revolute pair 112, the second revolute pair 113, the fifth revolute pair 41 and the sixth revolute pair 42 are parallel to each other, the distance between the axis of the first revolute pair 112 and the axis of the second revolute pair 113 is equal to the distance between the axis of the fifth revolute pair 41 and the axis of the sixth revolute pair 42,
the second branched chain 2 comprises a fifth connecting rod 210, a sixth connecting rod 211, a seventh connecting rod 216, an eighth connecting rod 217, a third connecting piece 220 and a fourth connecting piece 221, the fifth connecting rod 210 is connected with the seventh connecting rod 216 through a third moving pair 214, the sixth connecting rod 211 is connected with the eighth connecting rod 217 through a fourth moving pair 215, the third connecting piece 220 is connected with the seventh connecting rod 216 through a ninth rotating pair 218, the third connecting piece 220 is connected with the eighth connecting rod 217 through a tenth rotating pair 219, the fourth connecting piece 221 is connected with the seventh connecting rod 216 through a seventh rotating pair 212, the fourth connecting piece 221 is connected with the eighth connecting rod 217 through an eighth rotating pair 213, the fourth connecting piece 221 is fixed on the frame 3, the axes of the seventh rotating pair 212, the eighth rotating pair 213, the ninth rotating pair 218 and the tenth rotating pair 219 are parallel to each other, the distance between the axis of the seventh rotating pair 212 and the axis of the eighth rotating pair 213 is equal to the distance between the axis of the ninth rotating pair 218 and the tenth rotating pair 219, the fifth connecting rod 210 is connected with the movable platform 4 through an eleventh revolute pair 43, the sixth connecting rod 211 is connected with the movable platform 4 through a twelfth revolute pair 44, the axes of the seventh revolute pair 212, the eighth revolute pair 213, the eleventh revolute pair 43 and the twelfth revolute pair 44 are parallel to each other, and the distance between the axis of the seventh revolute pair 212 and the axis of the eighth revolute pair 213 is equal to the distance between the axis of the eleventh revolute pair 43 and the axis of the twelfth revolute pair 44.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123125188.7U CN216372186U (en) | 2021-12-14 | 2021-12-14 | Two-translation picking robot containing parallelogram closed-loop sub-chain with variable rod length |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123125188.7U CN216372186U (en) | 2021-12-14 | 2021-12-14 | Two-translation picking robot containing parallelogram closed-loop sub-chain with variable rod length |
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| CN216372186U true CN216372186U (en) | 2022-04-26 |
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| CN202123125188.7U Expired - Fee Related CN216372186U (en) | 2021-12-14 | 2021-12-14 | Two-translation picking robot containing parallelogram closed-loop sub-chain with variable rod length |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114012710A (en) * | 2021-12-14 | 2022-02-08 | 江西制造职业技术学院 | Two-translation picking robot containing parallelogram closed-loop sub-chain with variable rod length |
| CN113997276B (en) * | 2021-12-14 | 2024-07-12 | 江西制造职业技术学院 | Variable-rod-length-containing parallelogram closed-loop subchain three-translation pickup robot |
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2021
- 2021-12-14 CN CN202123125188.7U patent/CN216372186U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114012710A (en) * | 2021-12-14 | 2022-02-08 | 江西制造职业技术学院 | Two-translation picking robot containing parallelogram closed-loop sub-chain with variable rod length |
| CN114012710B (en) * | 2021-12-14 | 2024-06-14 | 江西制造职业技术学院 | Parallelogram closed-loop subchain two-translation pickup robot with variable rod length |
| CN113997276B (en) * | 2021-12-14 | 2024-07-12 | 江西制造职业技术学院 | Variable-rod-length-containing parallelogram closed-loop subchain three-translation pickup robot |
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