CN109968333B - Three-translation grabbing robot mechanism with synchronous belt transmission structure - Google Patents
Three-translation grabbing robot mechanism with synchronous belt transmission structure Download PDFInfo
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- CN109968333B CN109968333B CN201910376507.XA CN201910376507A CN109968333B CN 109968333 B CN109968333 B CN 109968333B CN 201910376507 A CN201910376507 A CN 201910376507A CN 109968333 B CN109968333 B CN 109968333B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 89
- 230000005540 biological transmission Effects 0.000 title claims abstract description 55
- 230000033001 locomotion Effects 0.000 abstract description 15
- 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
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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
- B25J9/10—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)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The three-translation grabbing robot mechanism with the synchronous belt transmission structure comprises a frame, a first branched chain and a second branched chain movable platform. The first branched chain is driven by one servo motor, the second branched chain is driven by two servo motors, and the movable platform can only do three-translation movement under the constraint of the two branched chains. Three motors of the two branched chains drive the grabbing robot to realize three-dimensional translational motion of the movable platform. 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-translation 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 two groups of synchronous belt transmission and a variable-rod-length parallelogram structure, can finish three-degree-of-freedom translational motion of the movable platform in space, 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-translation grabbing robot mechanism with a synchronous belt transmission structure, which can realize three-dimensional translation movement of a movable platform in space.
The invention achieves the aim through the following technical scheme: the three-translation 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) and a movable platform (2).
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 movable platform (2) through a fourth 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 two revolute pair (120) and the first six revolute pair (129), the first one-to-one revolute pair (130) and the first four revolute pair (131) 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 (126) are equal in axial distance 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 third servo motor (232) is arranged on the second support frame (201) and is connected with the second swing rod (202), the second support frame (201) is connected with the frame (1) through the zeroth second revolute pair (12), and the second push rod (217) is connected with the movable platform (2) through the zeroth fifth revolute 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 revolute pair (220) 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, and the second revolute pair (230) and the second eighth revolute pair (227) are equal to the second revolute pair (230) and the second revolute pair (231) are equal to the second revolute pair (227).
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 (232) is arranged on the second supporting frame (201) to drive the second first swing rod (202) to move, the second first swing rod (202) drives the second swing rod (203), the second third swing rod (213) and the second fourth swing rod (214) to move, and meanwhile the second pushing rod (217) moves along with the second swing rod.
And the first servo motor (119), the second servo motor (219) and the third servo motor (232) are driven in a matched mode to realize three-translation motion of the movable platform (2).
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-translation grabbing robot mechanism with a synchronous belt transmission structure.
Fig. 2 is a schematic diagram of a frame of a three-translation grabbing robot mechanism with a synchronous belt transmission structure.
Fig. 3 is a schematic diagram of a moving platform of the three-translation grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 4 is a first schematic diagram of a first branched chain of the three-translation grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 5 is a first schematic diagram of a second branched chain of the three-translation grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 6 is a second schematic diagram of a first branched chain of the three-translation grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 7 is a second schematic diagram of a second branched chain of the three-translation grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 8 is a first schematic view of a first branched chain of a three-translation grabbing robot mechanism with a synchronous belt transmission structure to hide a first support frame.
Fig. 9 is a first schematic diagram of a third translational grabbing robot mechanism with a synchronous belt transmission structure, in which a second support frame is hidden from a second branched chain.
Fig. 10 is a second schematic diagram of the three-translation grabbing robot mechanism with the synchronous belt transmission structure, wherein the first branched chain is hidden from the first support frame.
Fig. 11 is a second schematic diagram of a third branched chain of the three-translation grabbing robot mechanism with a synchronous belt transmission structure to hide a second support frame.
Fig. 12 is a schematic view of a first motion state of a three-translation grabbing robot mechanism with a synchronous belt transmission structure.
Fig. 13 is a schematic diagram of a second motion state of the three-translation grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 14 is a schematic diagram of a third motion state of the three-translation grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 15 is a schematic view of a fourth motion state of the three-translation 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.
Referring to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14 and 15, the three-translation 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) and a movable platform (2).
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 movable platform (2) through a fourth 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 two revolute pair (120) and the first six revolute pair (129), the first one-to-one revolute pair (130) and the first four revolute pair (131) 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 (126) are equal in axial distance 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 third servo motor (232) is arranged on the second support frame (201) and is connected with the second swing rod (202), the second support frame (201) is connected with the frame (1) through the zeroth second revolute pair (12), and the second push rod (217) is connected with the movable platform (2) through the zeroth fifth revolute 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 revolute pair (220) 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, and the second revolute pair (230) and the second eighth revolute pair (227) are equal to the second revolute pair (230) and the second revolute pair (231) are equal to the second revolute pair (227).
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 (232) is arranged on the second supporting frame (201) to drive the second first swing rod (202) to move, the second first swing rod (202) drives the second swing rod (203), the second third swing rod (213) and the second fourth swing rod (214) to move, and meanwhile the second pushing rod (217) moves along with the second swing rod.
And the first servo motor (119), the second servo motor (219) and the third servo motor (232) are driven in a matched mode to realize three-translation motion of the movable platform (2).
Fig. 12, 13, 14 and 15 are state diagrams of different actions of the three-translation grabbing robot mechanism with the synchronous belt transmission structure.
Claims (1)
1. Three translation grabbing robot mechanism of hold-in range transmission structure, including frame (1), first branched chain (3), second branched chain (4), movable platform (2), its characterized in that:
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 movable platform (2) through a fourth 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 two revolute pair (120) and the first six revolute pair (129), the first one-to-one revolute pair (130) and the first four revolute pair (131) are equal in axial distance to the first seven revolute pair (126) and the first eight revolute pair (127), the first one-to-seven revolute pair (130) and the first eight revolute pair (126) are equal in axial distance 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 third servo motor (232) is arranged on the second support frame (201) and is connected with the second swing rod (202), the second support frame (201) is connected with the frame (1) through the zeroth second revolute pair (12), the second push rod (217) is connected with the movable platform (2) through the zeroth fifth revolute 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 revolute pair (220) 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, and the second revolute pair (230) and the second eighth revolute pair (227) are equal to the second revolute pair (230) and the second revolute pair (231) are equal to the second revolute pair (227).
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| CN104589313A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Three-transverse motion mechanical hand by utilizing holosymmetric belt to realize transmission |
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| CN210081729U (en) * | 2019-05-03 | 2020-02-18 | 江西制造职业技术学院 | Three-translation grabbing robot mechanism with synchronous belt transmission structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7331750B2 (en) * | 2005-03-21 | 2008-02-19 | Michael Merz | Parallel robot |
| DE102015009163A1 (en) * | 2015-07-14 | 2017-01-19 | Dürr Systems Ag | Coating plant robot, in particular handling robot |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589313A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Three-transverse motion mechanical hand by utilizing holosymmetric belt to realize transmission |
| CN108817652A (en) * | 2018-09-17 | 2018-11-16 | 安徽理工大学 | A kind of four-degree-of-freedom parallel connection friction stir welding machine device people |
| CN210081729U (en) * | 2019-05-03 | 2020-02-18 | 江西制造职业技术学院 | Three-translation grabbing robot mechanism with synchronous belt transmission structure |
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