CN204487564U - Gear drive electric cylinder is two translation manipulators at a high speed - Google Patents
Gear drive electric cylinder is two translation manipulators at a high speed Download PDFInfo
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- CN204487564U CN204487564U CN201520048300.7U CN201520048300U CN204487564U CN 204487564 U CN204487564 U CN 204487564U CN 201520048300 U CN201520048300 U CN 201520048300U CN 204487564 U CN204487564 U CN 204487564U
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- gear
- revolute pair
- outer bar
- pair
- nut pole
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Abstract
Gear drive electric cylinder is two translation manipulators at a high speed, comprise frame, the first gear, the second gear, the 3rd gear, the first bevel gear, the second bevel gear, the first outer bar, the second outer bar, the first screw mandrel, the second screw mandrel, the first Nut pole, the second Nut pole, moving platform, the first motor, the second motor, the first drive link and the second drive link.Described gear drive electric cylinder at a high speed two translation manipulators under the driving of the first motor and the second motor and realize the motion of moving platform bidimensional translation in the plane.The utility model structure is simple, compact, has occupation of land space little, the advantages such as flexible movements.
Description
Technical field
The utility model relates to industrial robot field, particularly gear drive electric cylinder 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 utility model 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 purpose of this utility model is to provide gear drive electric cylinder two translation manipulators at a high speed, can realize the motion of moving platform bidimensional translation in the plane.
The utility model achieves the above object by the following technical programs: gear drive electric cylinder is two translation manipulators at a high speed, comprise frame, the first gear, the second gear, the 3rd gear, the first bevel gear, the second bevel gear, the first outer bar, the second outer bar, the first screw mandrel, the second screw mandrel, the first Nut pole, the second Nut pole, moving platform, the first motor, the second motor, the first drive link and the second drive link.
Described first gear is connected with frame by the first revolute pair, first gear is by the first gear pair and the second gear couplings, first gear is connected with the first bevel gear by the second gear pair, second gear is connected with frame by the second revolute pair, second gear is by the 3rd gear pair and the 3rd gear couplings, 3rd gear is connected with frame by the 3rd revolute pair, 3rd gear is connected with the second bevel gear by the 4th gear pair, first bevel gear is connected with the first outer bar by the 4th revolute pair, first bevel gear and the first screw mandrel are consolidated, second bevel gear is connected with the second outer bar by the 5th revolute pair, second bevel gear and the second screw mandrel are consolidated, first outer bar is connected with frame by the 6th revolute pair, second outer bar is connected with frame by the 7th revolute pair, first screw mandrel is connected with the first Nut pole by screw pair, second screw mandrel is connected with the second Nut pole by the second screw pair, first Nut pole is connected with the first outer bar by the first moving sets, first Nut pole is connected with moving platform by the 8th revolute pair, second Nut pole is connected with the second outer bar by the second moving sets, second Nut pole is connected with moving platform by the 9th revolute pair, moving platform is connected with the second drive link by the tenth revolute pair, second drive link is connected with the first drive link by the 11 revolute pair, first drive link is connected with frame by the 12 revolute pair.
Outstanding advantages of the present utility model is:
1, whole mechanism compact conformation, 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 gear drive electric cylinder described in the utility model high speed two translation manipulators.
Fig. 2 is the frame schematic diagram of gear drive electric cylinder described in the utility model high speed two translation manipulators.
Fig. 3 is the internal structure schematic diagram of gear drive electric cylinder described in the utility model high speed two translation manipulators.
Detailed description of the invention
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 1, Fig. 2 and Fig. 3, gear drive electric cylinder is two translation manipulators at a high speed, comprise frame 1, first gear 2, second gear 3, outer bar 8, first screw mandrel 11, second screw mandrel 12, first Nut pole 9, second Nut pole 10 of the 3rd gear 4, first bevel gear 5, second bevel gear the 6, first outer bar 7, second, moving platform 13, first motor 31, second motor 32, first drive link 33 and the second drive link 34.
Described first gear 2 is connected with frame 1 by the first revolute pair 14, first gear 2 is connected with the second gear 3 by the first gear pair 19, first gear 2 is connected with the first bevel gear 5 by the second gear pair 20, second gear 3 is connected with frame 1 by the second revolute pair 15, second gear 3 is connected with the 3rd gear 4 by the 3rd gear pair 21, 3rd gear 4 is connected with frame 1 by the 3rd revolute pair 16, 3rd gear 4 is connected with the second bevel gear 6 by the 4th gear pair 22, first bevel gear 5 is connected with the first outer bar 7 by the 4th revolute pair 23, first bevel gear 5 and the first screw mandrel 11 are consolidated, second bevel gear 6 is connected with the second outer bar 8 by the 5th revolute pair 24, second bevel gear 6 and the second screw mandrel 12 are consolidated, first outer bar 7 is connected with frame 1 by the 6th revolute pair 17, second outer bar 8 is connected with frame 1 by the 7th revolute pair 18, first screw mandrel 11 is connected with the first Nut pole 9 by screw pair 25, second screw mandrel 12 is connected with the second Nut pole 10 by the second screw pair 26, first Nut pole 9 is connected with the first outer bar 7 by the first moving sets 27, first Nut pole 9 is connected with moving platform 13 by the 8th revolute pair 29, second Nut pole 10 is connected with the second outer bar 8 by the second moving sets 28, second Nut pole 10 is connected with moving platform 13 by the 9th revolute pair 30, moving platform 13 is connected with the second drive link 34 by the tenth revolute pair 35, second drive link 34 is connected with the first drive link 33 by the 11 revolute pair 36, first drive link 33 is connected with frame 1 by the 12 revolute pair 37.
Under the driving of described first motor 31 and the second motor 32, the motion of moving platform plane two translation can be realized.
Claims (1)
1. gear drive electric cylinder two translation manipulators at a high speed, comprise frame, the first gear, the second gear, the 3rd gear, the first bevel gear, the second bevel gear, the first outer bar, the second outer bar, the first screw mandrel, the second screw mandrel, the first Nut pole, the second Nut pole, moving platform, the first motor, the second motor, the first drive link and the second drive link, it is characterized in that:
Described first gear is connected with frame by the first revolute pair, first gear is by the first gear pair and the second gear couplings, first gear is connected with the first bevel gear by the second gear pair, second gear is connected with frame by the second revolute pair, second gear is by the 3rd gear pair and the 3rd gear couplings, 3rd gear is connected with frame by the 3rd revolute pair, 3rd gear is connected with the second bevel gear by the 4th gear pair, first bevel gear is connected with the first outer bar by the 4th revolute pair, first bevel gear and the first screw mandrel are consolidated, second bevel gear is connected with the second outer bar by the 5th revolute pair, second bevel gear and the second screw mandrel are consolidated, first outer bar is connected with frame by the 6th revolute pair, second outer bar is connected with frame by the 7th revolute pair, first screw mandrel is connected with the first Nut pole by screw pair, second screw mandrel is connected with the second Nut pole by the second screw pair, first Nut pole is connected with the first outer bar by the first moving sets, first Nut pole is connected with moving platform by the 8th revolute pair, second Nut pole is connected with the second outer bar by the second moving sets, second Nut pole is connected with moving platform by the 9th revolute pair, moving platform is connected with the second drive link by the tenth revolute pair, second drive link is connected with the first drive link by the 11 revolute pair, first drive link is connected with frame by the 12 revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520048300.7U CN204487564U (en) | 2015-01-24 | 2015-01-24 | Gear drive electric cylinder is two translation manipulators at a high speed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520048300.7U CN204487564U (en) | 2015-01-24 | 2015-01-24 | Gear drive electric cylinder is two translation manipulators at a high speed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204487564U true CN204487564U (en) | 2015-07-22 |
Family
ID=53566856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520048300.7U Withdrawn - After Issue CN204487564U (en) | 2015-01-24 | 2015-01-24 | Gear drive electric cylinder is two translation manipulators at a high speed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204487564U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589329A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Gear-driven electric cylinder high-speed two-dimensional translational manipulator |
-
2015
- 2015-01-24 CN CN201520048300.7U patent/CN204487564U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589329A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Gear-driven electric cylinder high-speed two-dimensional translational manipulator |
| CN104589329B (en) * | 2015-01-24 | 2015-12-30 | 江西省机械科学研究所 | Gear drive electric cylinder is two translation manipulators at a high speed |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150722 Effective date of abandoning: 20151230 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |