CN104589342B - V belt translation is two translation manipulators at a high speed - Google Patents
V belt translation is two translation manipulators at a high speed Download PDFInfo
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- CN104589342B CN104589342B CN201510034741.6A CN201510034741A CN104589342B CN 104589342 B CN104589342 B CN 104589342B CN 201510034741 A CN201510034741 A CN 201510034741A CN 104589342 B CN104589342 B CN 104589342B
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Abstract
V belt translation is two translation manipulators at a high speed, comprise frame, the first drive, the second drive, the first side link, the second side link, connecting rod, the first tooth bar, the second tooth bar, moving platform, the first motor, band, the second motor, the first drive link and the second drive link.Described V belt translation at a high speed two translation manipulators can realize the motion of moving platform bidimensional translation in the plane under the driving of the first motor and the second motor.Structure of the present invention is simple, compact, has occupation of land space little, the advantages such as flexible movements.
Description
Technical field
The present invention relates to industrial robot field, particularly V belt translation two translation manipulators at a high speed.
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 present invention adopts a motor to realize the synchronization telescope function of parallelogram one group of parallel rod, add the cooperation that one group of connecting rod drives, moving platform two translational motions in the plane can be completed, there is compact conformation, take up an area the advantages such as space is little, high load capability.
Summary of the invention
The object of the present invention is to provide V belt translation two translation manipulators at a high speed, moving platform bidimensional translational motion in the plane can be realized.
The present invention achieves the above object by the following technical programs: V belt translation is two translation manipulators at a high speed, comprise frame, the first drive, the second drive, the first side link, the second side link, connecting rod, the first tooth bar, the second tooth bar, moving platform, the first motor, band, the second motor, the first drive link and the second drive link.
Described first drive is connected with frame by the first revolute pair, first drive is connected with the second drive by band, first drive is connected with the first tooth bar by the first gear pair, second drive is connected with frame by the second revolute pair, second drive is connected with the second tooth bar by the second gear pair, first tooth bar is connected with the first side link by the first moving sets, first tooth bar is connected with moving platform by the 3rd revolute pair, second tooth bar is connected with the second side link by the second moving sets, second tooth bar is connected with moving platform by the 4th revolute pair, first side link is connected with frame by the 5th revolute pair, first side link is connected with connecting rod by the 6th revolute pair, second side link is connected with frame by the 7th revolute pair, second side link is connected with connecting rod by the 8th revolute pair, moving platform is connected with the second drive link by the 9th revolute pair, second drive link is connected with the first drive link by the tenth revolute pair, first drive link is connected with frame by the 11 revolute pair.
Outstanding advantages of the present invention is:
1, a motor realizes being synchronized with the movement of two toothed rack, whole mechanism compact conformation, and occupation of land space is little;
2, manipulator inertia is little, kinematics and dynamics performance is good.
Accompanying drawing explanation
Fig. 1 is the structural representation of V belt translation of the present invention high speed two translation manipulators.
Fig. 2 is the frame schematic diagram of V belt translation of the present invention high speed two translation manipulators.
Fig. 3 is the first side link schematic diagram of V belt translation of the present invention high speed two translation manipulators.
Fig. 4 is the second side link schematic diagram of V belt translation of the present invention high speed two translation manipulators.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, V belt translation is two translation manipulators at a high speed, comprise frame 1, first drive 2, second drive 3, first side link 6, second side link 7, connecting rod 8, first tooth bar 4, second tooth bar 5, moving platform 9, first motor 10, band the 11, second motor 24, first drive link 28 and the second drive link 29.
Described first drive 2 is connected with frame 1 by the first revolute pair 12, first drive 2 is connected with the second drive 3 by band 11, first drive 2 is connected with the first tooth bar 4 by the first gear pair 16, second drive 3 is connected with frame 1 by the second revolute pair 13, second drive 3 is connected with the second tooth bar 5 by the second gear pair 17, first tooth bar 4 is connected with the first side link 6 by the first moving sets 18, first tooth bar 4 is connected with moving platform 9 by the 3rd revolute pair 22, second tooth bar 5 is connected with the second side link 7 by the second moving sets 19, second tooth bar 5 is connected with moving platform 9 by the 4th revolute pair 23, first side link 6 is connected with frame 1 by the 5th revolute pair 14, first side link 6 is connected with connecting rod 8 by the 6th revolute pair 20, second side link 7 is connected with frame 1 by the 7th revolute pair 15, second side link 7 is connected with connecting rod by the 8th revolute pair 21, moving platform 9 is connected with the second drive link 29 by the 9th revolute pair 26, second drive link 29 is connected with the first drive link 28 by the tenth revolute pair 27, first drive link 28 is connected with frame 1 by the 11 revolute pair 25.
Described first motor 10 drives the second drive 3 to move, second drive 3 drives the first drive 2 to be synchronized with the movement by band 11, first drive 2 and the second drive 3 drive the first tooth bar 4 and the second tooth bar 5 to move respectively, first tooth bar 4 and the second tooth bar 5 drive moving platform 9 to move, second motor 24 drives the first drive link 28 to move, first drive link 28 drives the second drive link 29 to move, and the second drive link 29 drives moving platform 9 to move, and moving platform 9 can realize plane two translational motion.
Claims (1)
1. V belt translation two translation manipulators at a high speed, comprise frame, the first drive, the second drive, the first side link, the second side link, connecting rod, the first tooth bar, the second tooth bar, moving platform, the first motor, band, the second motor, the first drive link and the second drive link, it is characterized in that:
Described first drive is connected with frame by the first revolute pair, first drive is connected with the second drive by band, first drive is connected with the first tooth bar by the first gear pair, second drive is connected with frame by the second revolute pair, second drive is connected with the second tooth bar by the second gear pair, first tooth bar is connected with the first side link by the first moving sets, first tooth bar is connected with moving platform by the 3rd revolute pair, second tooth bar is connected with the second side link by the second moving sets, second tooth bar is connected with moving platform by the 4th revolute pair, first side link is connected with frame by the 5th revolute pair, first side link is connected with connecting rod by the 6th revolute pair, second side link is connected with frame by the 7th revolute pair, second side link is connected with connecting rod by the 8th revolute pair, moving platform is connected with the second drive link by the 9th revolute pair, second drive link is connected with the first drive link by the tenth revolute pair, first drive link is connected with frame by the 11 revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034741.6A CN104589342B (en) | 2015-01-24 | 2015-01-24 | V belt translation is two translation manipulators at a high speed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510034741.6A CN104589342B (en) | 2015-01-24 | 2015-01-24 | V belt translation is two translation manipulators at a high speed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104589342A CN104589342A (en) | 2015-05-06 |
| CN104589342B true CN104589342B (en) | 2015-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510034741.6A Expired - Fee Related CN104589342B (en) | 2015-01-24 | 2015-01-24 | V belt translation is two translation manipulators at a high speed |
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| CN (1) | CN104589342B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000765A (en) * | 2019-05-03 | 2019-07-12 | 江西制造职业技术学院 | The translation crawl robot mechanism of high speed two of toothed belt transmission structure |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0446378A1 (en) * | 1989-10-03 | 1991-09-18 | Kabushiki Kaisha Yaskawa Denki | Manipulator using flat pulse motor |
| US6139245A (en) * | 1997-07-11 | 2000-10-31 | Brooks Automation Inc. | Robot arm relocation system |
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN1903521A (en) * | 2006-07-31 | 2007-01-31 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| CN102229142B (en) * | 2011-06-22 | 2013-07-03 | 张国海 | Five-degree-of-freedom electric manipulator |
| CN103273481A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Parallel mechanism with two-degree-of-free translation function |
| CN203245873U (en) * | 2013-03-18 | 2013-10-23 | 万新光学集团有限公司 | Two-degree-of-freedom translational parallel robot mechanism for high-speed transportation |
| CN204487576U (en) * | 2015-01-24 | 2015-07-22 | 江西省机械科学研究所 | V belt translation is two translation manipulators at a high speed |
-
2015
- 2015-01-24 CN CN201510034741.6A patent/CN104589342B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0446378A1 (en) * | 1989-10-03 | 1991-09-18 | Kabushiki Kaisha Yaskawa Denki | Manipulator using flat pulse motor |
| US6139245A (en) * | 1997-07-11 | 2000-10-31 | Brooks Automation Inc. | Robot arm relocation system |
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN1903521A (en) * | 2006-07-31 | 2007-01-31 | 华南理工大学 | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type |
| CN102229142B (en) * | 2011-06-22 | 2013-07-03 | 张国海 | Five-degree-of-freedom electric manipulator |
| CN203245873U (en) * | 2013-03-18 | 2013-10-23 | 万新光学集团有限公司 | Two-degree-of-freedom translational parallel robot mechanism for high-speed transportation |
| CN103273481A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Parallel mechanism with two-degree-of-free translation function |
| CN204487576U (en) * | 2015-01-24 | 2015-07-22 | 江西省机械科学研究所 | V belt translation is two translation manipulators at a high speed |
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| CN104589342A (en) | 2015-05-06 |
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