CN204487566U - The swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula - Google Patents
The swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula Download PDFInfo
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- CN204487566U CN204487566U CN201520048306.4U CN201520048306U CN204487566U CN 204487566 U CN204487566 U CN 204487566U CN 201520048306 U CN201520048306 U CN 201520048306U CN 204487566 U CN204487566 U CN 204487566U
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- drive
- bevel gear
- outer bar
- nut pole
- screw mandrel
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Abstract
The swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula, comprises frame, the first drive, the second drive, 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, motor and band.Described first Nut pole and the second Nut pole are parallel all the time in motion process, and under the driving of motor, realize synchronization lifting motion, and the moving platform therefore connected with two Nut poles can realize the motion of plane bidimensional translation.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 the swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula.
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, can complete the elevating movement that moving platform keeps level in the plane, has compact conformation, takes 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 V belt translation formula swingable parallel electric cylinder synchronous telescoping mechanism, can realize the elevating movement of moving platform under level.
The utility model achieves the above object by the following technical programs: the swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula, comprises frame, the first drive, the second drive, 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, motor and band.
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 bevel gear by the first gear pair, second drive is connected with frame by the second revolute pair, second drive is connected with the second bevel gear by the second gear pair, first bevel gear is connected with the first outer bar by the 3rd revolute pair, first bevel gear and the first screw mandrel are consolidated, second bevel gear is connected with the second outer bar by the 4th revolute pair, second bevel gear and the second screw mandrel are consolidated, first outer bar is connected with frame by the 5th revolute pair, second outer bar is connected with frame by the 6th revolute pair, first screw mandrel is connected with the first Nut pole by the first 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 7th 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 8th revolute pair.
Outstanding advantages of the present utility model is:
1, a motor realizes being synchronized with the movement of two electric cylinders, 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 the swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula described in the utility model.
Fig. 2 is the frame schematic diagram of the swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula described in the utility model.
Fig. 3 is the internal structure schematic diagram of the swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula described in the utility model.
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, the swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula, comprises outer bar 8, first screw mandrel 11, second screw mandrel 12, first Nut pole 9, second Nut pole 10 of frame 1, first drive 2, second drive 3, first bevel gear 5, second bevel gear the 6, first outer bar 7, second, moving platform 13, motor 28 and band 4.
Described first drive 2 is connected with frame 1 by the first revolute pair 14, first drive 2 is connected with the second drive 3 by band 4, first drive 2 is connected with the first bevel gear 5 by the first gear pair 18, second drive 3 is connected with frame 1 by the second revolute pair 15, second drive 3 is connected with the second bevel gear 6 by the second gear pair 19, first bevel gear 5 is connected with the first outer bar 7 by the 3rd revolute pair 20, 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 4th revolute pair 21, second bevel gear 6 and the second screw mandrel 12 are consolidated, first outer bar 7 is connected with frame 1 by the 5th revolute pair 16, second outer bar 8 is connected with frame 1 by the 6th revolute pair 17, first screw mandrel 11 is connected with the first Nut pole 9 by the first screw pair 22, second screw mandrel 12 is connected with the second Nut pole 10 by the second screw pair 23, first Nut pole 9 is connected with the first outer bar 7 by the first moving sets 24, first Nut pole 9 is connected with moving platform 13 by the 7th revolute pair 26, second Nut pole 10 is connected with the second outer bar 8 by the second moving sets 25, second Nut pole 10 is connected with moving platform 13 by the 8th revolute pair 27.
Under the driving of described motor 28, moving platform 13 can be realized and keeping the elevating movement under level.
Claims (1)
1. the swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula, comprise frame, the first drive, the second drive, 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, motor and band, 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 bevel gear by the first gear pair, second drive is connected with frame by the second revolute pair, second drive is connected with the second bevel gear by the second gear pair, first bevel gear is connected with the first outer bar by the 3rd revolute pair, first bevel gear and the first screw mandrel are consolidated, second bevel gear is connected with the second outer bar by the 4th revolute pair, second bevel gear and the second screw mandrel are consolidated, first outer bar is connected with frame by the 5th revolute pair, second outer bar is connected with frame by the 6th revolute pair, first screw mandrel is connected with the first Nut pole by the first 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 7th 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 8th revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520048306.4U CN204487566U (en) | 2015-01-24 | 2015-01-24 | The swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520048306.4U CN204487566U (en) | 2015-01-24 | 2015-01-24 | The swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204487566U true CN204487566U (en) | 2015-07-22 |
Family
ID=53566858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520048306.4U Withdrawn - After Issue CN204487566U (en) | 2015-01-24 | 2015-01-24 | The swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204487566U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589332A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven swingable parallel electric cylinder synchronous telescoping mechanism |
-
2015
- 2015-01-24 CN CN201520048306.4U patent/CN204487566U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589332A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven swingable parallel electric cylinder synchronous telescoping mechanism |
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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: 20160120 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |