CN110000765B - High-speed two-translation grabbing robot mechanism with synchronous belt transmission structure - Google Patents
High-speed two-translation grabbing robot mechanism with synchronous belt transmission structure Download PDFInfo
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- CN110000765B CN110000765B CN201910377202.0A CN201910377202A CN110000765B CN 110000765 B CN110000765 B CN 110000765B CN 201910377202 A CN201910377202 A CN 201910377202A CN 110000765 B CN110000765 B CN 110000765B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 51
- 230000005540 biological transmission Effects 0.000 title claims abstract description 36
- 230000033001 locomotion Effects 0.000 abstract description 14
- 230000009975 flexible effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The high-speed two-translation grabbing robot mechanism with the synchronous belt transmission structure comprises a frame, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a fifth transmission wheel, a sixth transmission wheel, a first synchronous belt, a second synchronous belt, a third synchronous belt, a first swing rod, a second swing rod, a third swing rod, a fourth swing rod, a first connecting member, a second connecting member, a connecting rod, a movable platform, a first servo motor and a second servo motor. Under the drive of the two servo motors, the movable platform can realize the translational motion with two degrees of freedom. 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 high-speed two-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 synchronous belt transmission and a variable-rod-length parallelogram structure, can finish translational motion of the movable platform on a plane with two degrees of freedom, 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 high-speed two-translation grabbing robot mechanism with a synchronous belt transmission structure, which can realize two-dimensional translation movement of a movable platform on a plane.
The invention achieves the aim through the following technical scheme: the high-speed two-translation grabbing robot mechanism with the synchronous belt transmission structure comprises a frame (1), a first transmission wheel (4), a second transmission wheel (5), a third transmission wheel (8), a fourth transmission wheel (9), a fifth transmission wheel (10), a sixth transmission wheel (11), a first synchronous belt (6), a second synchronous belt (7), a third synchronous belt (12), a first swinging rod (2), a second swinging rod (3), a third swinging rod (13), a fourth swinging rod (14), a first connecting member (15), a second connecting member (16), a connecting rod (18), a movable platform (17), a first servo motor (19) and a second servo motor (20).
The first swing rod (2) is connected with the frame (1) through a first rotating pair (32), the first swing rod (2) is connected with the first driving wheel (4) through a second rotating pair (21), the first swing rod (2) is connected with the connecting rod (18) through a third rotating pair (29), the first swing rod (2) is connected with the third swing rod (13) through a first moving pair (25), the second swing rod (3) is connected with the frame (1) through a fourth rotating pair (31), the second swing rod (3) is connected with the second driving wheel (5) through a fifth rotating pair (22), the second swing rod (3) is connected with the connecting rod (18) through a sixth rotating pair (30), the second swing rod (3) is connected with the fourth swing rod (14) through a second moving pair (26), the first driving wheel (4) is connected with the third driving wheel (8) through a first synchronous belt (6), the third driving wheel (8) is connected with the fifth driving wheel (10) through a third synchronous belt (12) and the sixth driving wheel (11) is fixedly connected with the fourth driving wheel (9) through a sixth synchronous belt (11), the third swing rod (13) is fixedly connected with the first synchronous belt (6) through a first connecting component (15), the third swing rod (13) is connected with the movable platform (17) through a seventh revolute pair (27), the fourth swing rod (14) is fixedly connected with the second synchronous belt (7) through a second connecting component (16), the fourth swing rod (14) is connected with the movable platform (17) through an eighth revolute pair (28), the first servo motor (19) is mounted on the frame (1) and connected with the sixth driving wheel (11), and the second servo motor (20) is mounted on the frame (1) and connected with the second swing rod (3).
The first revolute pair (32), the second revolute pair (21), the third revolute pair (29), the fourth revolute pair (31), the fifth revolute pair (22), the sixth revolute pair (30), the seventh revolute pair (27) and the eighth revolute pair (28) are parallel to each other, the first revolute pair (32) and the second revolute pair (21) are equal to the fourth revolute pair (31) and the fifth revolute pair (22) in axial distance, the first revolute pair (32) and the third revolute pair (29) are equal to the fourth revolute pair (31) and the sixth revolute pair (30) in axial distance, the first revolute pair (32) and the fourth revolute pair (31) are equal to the fourth revolute pair (31) in axial distance, the third revolute pair (29) and the sixth revolute pair (30) are equal to the seventh revolute pair (27) and the eighth revolute pair (28) in axial distance, and the first revolute pair (32) and the seventh revolute pair (27) are equal to the fourth revolute pair (31) and the eighth revolute pair (28) in axial distance.
The first servo motor (19) is arranged on the frame (1) to drive the sixth driving wheel (11) to move, the sixth driving wheel (11) is fixedly connected with the fourth driving wheel (9) to drive the fourth driving wheel (9) to move, the sixth driving wheel (11) is fixedly connected with the third driving wheel (8) to drive the third driving wheel (8) to move through the third synchronous belt (12), the third driving wheel (8) is used for driving the first driving wheel (4) to move through the first synchronous belt (6), the fourth driving wheel (9) is used for driving the second driving wheel (5) to move through the second synchronous belt (7), the first synchronous belt (6) is used for driving the third swinging rod (13) to move through the first connecting member (15), the second synchronous belt (7) is used for driving the fourth swinging rod (14) to move through the second connecting member (16), and the third swinging rod (13) and the fourth swinging rod (14) are synchronously moved to drive the movable platform (17) to move along the movement direction of the first moving pair (25).
The second servo motor (20) is arranged on the frame (1) to drive the second swing rod (3) to move, the second swing rod (3) drives the first swing rod (2) to move through the connecting rod (18), the first swing rod (2) drives the third swing rod (13) to move, the second swing rod (3) drives the fourth swing rod (14) to move, and the parallel rotation of the movable platform (17) around the first rotating pair (32) is realized.
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.
Fig. 1 is a first structural schematic diagram of a high-speed two-translation grabbing robot mechanism with a synchronous belt transmission structure.
Fig. 2 is a second structural schematic diagram of the high-speed two-translation grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 3 is a schematic diagram of a first structure of the synchronous belt transmission structure after a frame is removed by a high-speed two-translation grabbing robot mechanism.
Fig. 4 is a second schematic structural view of the synchronous belt transmission structure after the high-speed two-translation grabbing robot mechanism of the invention is hidden from the frame.
Fig. 5 is a schematic diagram of a first motion state of the high-speed two-translation grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 6 is a schematic diagram of a second motion state of the high-speed two-translation grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 7 is a schematic diagram of a third motion state of the high-speed two-translation grabbing robot mechanism with the synchronous belt transmission structure.
Fig. 8 is a schematic diagram of a fourth motion state of the high-speed two-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 and 4, the high-speed two-translation grabbing robot mechanism with the synchronous belt transmission structure comprises a frame (1), a first transmission wheel (4), a second transmission wheel (5), a third transmission wheel (8), a fourth transmission wheel (9), a fifth transmission wheel (10), a sixth transmission wheel (11), a first synchronous belt (6), a second synchronous belt (7), a third synchronous belt (12), a first swing rod (2), a second swing rod (3), a third swing rod (13), a fourth swing rod (14), a first connecting member (15), a second connecting member (16), a connecting rod (18), a movable platform (17), a first servo motor (19) and a second servo motor (20).
The first swing rod (2) is connected with the frame (1) through a first rotating pair (32), the first swing rod (2) is connected with the first driving wheel (4) through a second rotating pair (21), the first swing rod (2) is connected with the connecting rod (18) through a third rotating pair (29), the first swing rod (2) is connected with the third swing rod (13) through a first moving pair (25), the second swing rod (3) is connected with the frame (1) through a fourth rotating pair (31), the second swing rod (3) is connected with the second driving wheel (5) through a fifth rotating pair (22), the second swing rod (3) is connected with the connecting rod (18) through a sixth rotating pair (30), the second swing rod (3) is connected with the fourth swing rod (14) through a second moving pair (26), the first driving wheel (4) is connected with the third driving wheel (8) through a first synchronous belt (6), the third driving wheel (8) is connected with the fifth driving wheel (10) through a third synchronous belt (12) and the sixth driving wheel (11) is fixedly connected with the fourth driving wheel (9) through a sixth synchronous belt (11), the third swing rod (13) is fixedly connected with the first synchronous belt (6) through a first connecting component (15), the third swing rod (13) is connected with the movable platform (17) through a seventh revolute pair (27), the fourth swing rod (14) is fixedly connected with the second synchronous belt (7) through a second connecting component (16), the fourth swing rod (14) is connected with the movable platform (17) through an eighth revolute pair (28), the first servo motor (19) is mounted on the frame (1) and connected with the sixth driving wheel (11), and the second servo motor (20) is mounted on the frame (1) and connected with the second swing rod (3).
The first revolute pair (32), the second revolute pair (21), the third revolute pair (29), the fourth revolute pair (31), the fifth revolute pair (22), the sixth revolute pair (30), the seventh revolute pair (27) and the eighth revolute pair (28) are parallel to each other, the first revolute pair (32) and the second revolute pair (21) are equal to the fourth revolute pair (31) and the fifth revolute pair (22) in axial distance, the first revolute pair (32) and the third revolute pair (29) are equal to the fourth revolute pair (31) and the sixth revolute pair (30) in axial distance, the first revolute pair (32) and the fourth revolute pair (31) are equal to the fourth revolute pair (31) in axial distance, the third revolute pair (29) and the sixth revolute pair (30) are equal to the seventh revolute pair (27) and the eighth revolute pair (28) in axial distance, and the first revolute pair (32) and the seventh revolute pair (27) are equal to the fourth revolute pair (31) and the eighth revolute pair (28) in axial distance.
The first servo motor (19) is arranged on the frame (1) to drive the sixth driving wheel (11) to move, the sixth driving wheel (11) is fixedly connected with the fourth driving wheel (9) to drive the fourth driving wheel (9) to move, the sixth driving wheel (11) is fixedly connected with the third driving wheel (8) to drive the third driving wheel (8) to move through the third synchronous belt (12), the third driving wheel (8) is used for driving the first driving wheel (4) to move through the first synchronous belt (6), the fourth driving wheel (9) is used for driving the second driving wheel (5) to move through the second synchronous belt (7), the first synchronous belt (6) is used for driving the third swinging rod (13) to move through the first connecting member (15), the second synchronous belt (7) is used for driving the fourth swinging rod (14) to move through the second connecting member (16), and the third swinging rod (13) and the fourth swinging rod (14) are synchronously moved to drive the movable platform (17) to move along the movement direction of the first moving pair (25).
The second servo motor (20) is arranged on the frame (1) to drive the second swing rod (3) to move, the second swing rod (3) drives the first swing rod (2) to move through the connecting rod (18), the first swing rod (2) drives the third swing rod (13) to move, the second swing rod (3) drives the fourth swing rod (14) to move, and the parallel rotation of the movable platform (17) around the first rotating pair (32) is realized.
Fig. 5, 6, 7 and 8 are state diagrams of different actions of the high-speed two-translation grabbing robot mechanism with the synchronous belt transmission structure.
Claims (1)
1. The utility model provides a high-speed two translation grabbing robot mechanism of hold-in range transmission structure, including frame (1), first drive wheel (4), second drive wheel (5), third drive wheel (8), fourth drive wheel (9), fifth drive wheel (10), sixth drive wheel (11), first hold-in range (6), second hold-in range (7), third hold-in range (12), first pendulum rod (2), second pendulum rod (3), third pendulum rod (13), fourth pendulum rod (14), first connecting member (15), second connecting member (16), connecting rod (18), movable platform (17), first servo motor (19) and second servo motor (20), its characterized in that:
The first swing rod (2) is connected with the frame (1) through a first rotating pair (32), the first swing rod (2) is connected with the first driving wheel (4) through a second rotating pair (21), the first swing rod (2) is connected with the connecting rod (18) through a third rotating pair (29), the first swing rod (2) is connected with the third swing rod (13) through a first moving pair (25), the second swing rod (3) is connected with the frame (1) through a fourth rotating pair (31), the second swing rod (3) is connected with the second driving wheel (5) through a fifth rotating pair (22), the second swing rod (3) is connected with the connecting rod (18) through a sixth rotating pair (30), the second swing rod (3) is connected with the fourth swing rod (14) through a second moving pair (26), the first driving wheel (4) is connected with the third driving wheel (8) through a first synchronous belt (6), the third driving wheel (8) is connected with the fifth driving wheel (10) through a third synchronous belt (12) and the sixth driving wheel (11) is fixedly connected with the fourth driving wheel (9) through a sixth synchronous belt (11), the third swing rod (13) is fixedly connected with the first synchronous belt (6) through a first connecting component (15), the third swing rod (13) is connected with the movable platform (17) through a seventh revolute pair (27), the fourth swing rod (14) is fixedly connected with the second synchronous belt (7) through a second connecting component (16), the fourth swing rod (14) is connected with the movable platform (17) through an eighth revolute pair (28), the first servo motor (19) is arranged on the frame (1) and connected with the sixth driving wheel (11), the second servo motor (20) is arranged on the frame (1) and connected with the second swing rod (3),
The first revolute pair (32), the second revolute pair (21), the third revolute pair (29), the fourth revolute pair (31), the fifth revolute pair (22), the sixth revolute pair (30), the seventh revolute pair (27) and the eighth revolute pair (28) are parallel to each other, the first revolute pair (32) and the second revolute pair (21) are equal to the fourth revolute pair (31) and the fifth revolute pair (22) in axial distance, the first revolute pair (32) and the third revolute pair (29) are equal to the fourth revolute pair (31) and the sixth revolute pair (30) in axial distance, the first revolute pair (32) and the fourth revolute pair (31) are equal to the fourth revolute pair (31) in axial distance, the third revolute pair (29) and the sixth revolute pair (30) are equal to the seventh revolute pair (27) and the eighth revolute pair (28) in axial distance, and the first revolute pair (32) and the seventh revolute pair (27) are equal to the fourth revolute pair (31) and the eighth revolute pair (28) in axial distance.
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| CN201910377202.0A CN110000765B (en) | 2019-05-03 | 2019-05-03 | High-speed two-translation grabbing robot mechanism with synchronous belt transmission structure |
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| CN201910377202.0A CN110000765B (en) | 2019-05-03 | 2019-05-03 | High-speed two-translation grabbing robot mechanism with synchronous belt transmission structure |
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| CN110000765B true CN110000765B (en) | 2024-05-10 |
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