CN210081729U - 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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- CN210081729U CN210081729U CN201920643310.3U CN201920643310U CN210081729U CN 210081729 U CN210081729 U CN 210081729U CN 201920643310 U CN201920643310 U CN 201920643310U CN 210081729 U CN210081729 U CN 210081729U
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Abstract
The three-translation grabbing robot mechanism with the synchronous belt transmission structure comprises a rack, a first branched chain and a second branched chain translation 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-dimensional translational motion under the constraint of the two branched chains. Three motors of the two branched chains drive the grabbing robot mechanism to realize the three-dimensional translational motion of the movable platform. The utility model discloses simple structure, compactness have that occupation of land space is little, advantages such as action flexibility.
Description
Technical Field
The utility model relates to an industrial robot field, especially three translation of synchronous belt drive structure snatch robot mechanism.
Background
Since the 20 th century and the 50 th century, the robot is applied to the industrial field, plays a great role in the industrial field, effectively reduces the production cost of a factory and improves the production efficiency. The industrial application robot has many aspects, such as welding, assembling, stacking, grabbing and the like. The mechanical structures adopted by robots applied to different fields are also different, the welding robot needs five or six shafts to realize the space curve motion of a tail welding gun, and the palletizing robot can complete the palletizing task of objects on a production line only by four shafts. In industrial applications, there is a class of tasks that require the placement of an article from one location to another without requiring the article to undergo a tilting motion during placement. The robots can be divided into four types according to actual requirements: the first is in-plane grabbing, namely, only two translational motions of an article in a plane are needed to be completed; secondly, the article needs to be rotated for an angle on the basis of completing two translation motions; the third is to complete the three-dimensional translational motion of the article; and fourthly, the article needs to be rotated by an angle on the basis of completing the three-translation. In order to reduce the degree of freedom of the robot, the horizontal movement of the end effector of the robot is generally realized by adopting a joint connection mode and adding one or more groups of parallelogram structures, and most of palletizing robots and high-speed grabbing parallel robots in the market adopt the structure. However, such a structure needs to be installed on a joint type robot, so that the robot is bulky in structure and large in occupied space. The utility model discloses a two sets of synchronous belt drive and the long parallelogram structure of variable rod can accomplish and move platform three degree of freedom translation motion in the space, have compact structure, take up an area of advantage such as the space is little, high load capacity.
Disclosure of Invention
An object of the utility model is to provide a three translation of synchronous belt drive structure snatch robot mechanism can realize moving the three-dimensional translation motion of platform on the space.
The utility model discloses a following technical scheme reaches above-mentioned purpose: the three-translation grabbing robot mechanism with the synchronous belt transmission structure comprises a rack (1), a first branched chain (3), a second branched chain (4), a third branched chain (5) and a moving platform (2).
The first branched chain (3) consists of a first support frame (101), a first primary transmission wheel (104), a first secondary transmission wheel (105), a first tertiary transmission wheel (108), a first quaternary transmission wheel (109), a first quinary transmission wheel (110), a first sixth transmission wheel (111), a first synchronous belt (106), a first secondary synchronous belt (107), a first tertiary synchronous belt (112), a first primary oscillating bar (102), a first secondary oscillating bar (103), a first tertiary oscillating bar (113), a first quaternary oscillating bar (114), a first one-to-one connecting member (115), a first secondary connecting member (116), a first one-to-one connecting rod (118), a first push rod (117) and a first servo motor (119), the first primary oscillating bar (102) is connected with the first support frame (101) through a first one-to-one rotating pair (130), and the first oscillating bar (102) is connected with the first primary transmission wheel (104) through a first secondary rotating pair (120), the first swing rod (102) is connected with a first connecting rod (118) through a first three-rotation pair (128), the first swing rod (102) is connected with a first three-swing rod (113) through a first one-to-one moving pair (124), the first second swing rod (103) is connected with a first supporting frame (101) through a first four-rotation pair (131), the first second swing rod (103) is connected with a first second transmission wheel (105) through a first five-rotation pair (121), the first second swing rod (103) is connected with the first one-to-one connecting rod (118) through a first six-rotation pair (129), the first second swing rod (103) is connected with a first four-swing rod (114) through a first two-to-one moving pair (125), the first one-to-transmission wheel (104) is connected with a first three-transmission wheel (108) through a first one-to-time belt (106), the first three-transmission wheel (108) is fixedly connected with a first five-transmission wheel (110), and the first five-transmission wheel (110) is connected with a first six-transmission wheel (111) through, the first six-transmission wheel (111) is fixedly connected with the first four-transmission wheel (109), the first four-transmission wheel (109) is connected with the first two-transmission wheel (105) through a first two-synchronous belt (107), a first three swing rod (113) is fixedly connected with a first one-synchronous belt (106) through a first one-connecting component (115), the first three swing rod (113) is connected with a first push rod (117) through a first seven-revolute pair (126), the first four swing rod (114) is fixedly connected with the first two-synchronous belt (107) through a first two-connecting component (116), the first four swing rod (114) is connected with the first push rod (117) through a first eight-revolute pair (127), a first servo motor (119) is installed on the first support frame (101) and connected with the first six-transmission wheel (111), the first support frame (101) is connected with the machine frame (1) through a zero-first revolute pair (11), and the first push rod (117) is connected with the first zero-fourth rotary pair (21) and the movable platform (2).
The rotating axes of the first one-to-one rotating pair (130), the first two-to-one rotating pair (120), the first three-to-one rotating pair (128), the first four-to-one rotating pair (131), the first five-to-one rotating pair (121), the first six-to-one rotating pair (129), the first seven-to-one rotating pair (126) and the first eight-to-one rotating pair (127) are parallel to each other, the axial distance between the first one-to-one rotating pair (130) and the first two-to-two rotating pair (120) is equal to the axial distance between the first four-to-one rotating pair (131) and the first five-to-one rotating pair (121), the axial distance between the first one-to-one rotating pair (130) and the first three-to-one rotating pair (128) is equal to the axial distance between the first two-to-two rotating pair (120) and the first six-to-one rotating pair (129), the axial distance between the first one-to the first two rotating pair (120) and the first six-to-one rotating pair, the axial distance between the first one-rotation pair (130) and the first seven-rotation pair (126) is equal to the axial distance between the first four-rotation pair (131) and the first eight-rotation pair (127).
The second branched chain (4) consists of a second support frame (201), a second transmission wheel (204), a second secondary transmission wheel (205), a second third transmission wheel (208), a second fourth transmission wheel (209), a second fifth transmission wheel (210), a second sixth transmission wheel (211), a second synchronous belt (206), a second synchronous belt (207), a second synchronous belt (212), a second oscillating bar (202), a second oscillating bar (203), a second third oscillating bar (213), a second fourth oscillating bar (214), a second connecting member (215), a second connecting member (216), a second connecting rod (218), a second push rod (217) and a second servo motor (219), the second first oscillating bar (202) is connected with the second support frame (201) through a second revolute pair (230), and the second oscillating bar (202) is connected with the second transmission wheel (204) through a second revolute pair (220), the second swing link (202) is connected with a second connecting rod (218) through a second third rotating pair (228), the second swing link (202) is connected with a second third swing link (213) through a second first moving pair (224), the second swing link (203) is connected with a second support frame (201) through a second fourth rotating pair (231), the second swing link (203) is connected with a second driving wheel (205) through a second fifth rotating pair (221), the second swing link (203) is connected with the second connecting rod (218) through a second sixth rotating pair (229), the second swing link (203) is connected with a second fourth swing link (214) through a second moving pair (225), the second driving wheel (204) is connected with a second third driving wheel (208) through a second synchronous belt (206), the second third driving wheel (208) is fixedly connected with a second fifth driving wheel (210), and the fifth driving wheel (210) is connected with a sixth driving wheel (211) through a second synchronous belt (212), a second sixth driving wheel (211) is fixedly connected with a second fourth driving wheel (209), the second fourth driving wheel (209) is connected with a second driving wheel (205) through a second synchronous belt (207), a second third oscillating bar (213) is fixedly connected with a second synchronous belt (206) through a second connecting member (215), the second third oscillating bar (213) is connected with a second push rod (217) through a second seventh revolute pair (226), a second fourth oscillating bar (214) is fixedly connected with the second synchronous belt (207) through a second connecting member (216), the second fourth oscillating bar (214) is connected with the second push rod (217) through a second eighth revolute pair (227), a second servo motor (219) is arranged on a second supporting frame (201) and connected with the second sixth driving wheel (211), a third servo motor (232) is arranged on the second supporting frame (201) and connected with a second first oscillating bar (202), the second supporting frame (201) is connected with the rack (1) through a zeroth second revolute pair (12), and the second push rod (217) is connected with the movable platform (2) through a zeroth fifth revolute pair (22).
The rotation axes of the first rotation pair (230), the second rotation pair (220), the second third rotation pair (228), the second fourth rotation pair (231), the second fifth rotation pair (221), the second sixth rotation pair (229), the second seventh rotation pair (226) and the second eighth rotation pair (227) are parallel to each other, the axial distance between the second rotation pair (230) and the second rotation pair (220) is equal to the axial distance between the second fourth rotation pair (231) and the second fifth rotation pair (221), the axial distance between the second rotation pair (230) and the second third rotation pair (228) is equal to the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (230) and the second fourth rotation pair (231), the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (228) and the second fifth rotation pair (221) is equal to the axial distance between the second rotation pair (226) and the eighth rotation pair (227), the axial distance between the second first revolute pair (230) and the second seventh revolute pair (226) is equal to the axial distance between the second fourth revolute pair (231) and the second eighth revolute pair (227).
The first servo motor (119) is arranged on the first support frame (101) and drives the first six-transmission wheel (111) to move, the first six-transmission wheel (111) is fixedly connected with the first four-transmission wheel (109) to drive the first four-transmission wheel (109) to move, the first six-transmission wheel (111) drives the first five-transmission wheel (110) to move through a first three-synchronous belt (112), the first five-transmission wheel (110) is fixedly connected with the first three-transmission wheel (108) to drive the first three-transmission wheel (108) to move, the first three-transmission wheel (108) drives the first one-transmission wheel (104) to move through a first one-to-one synchronous belt (106), the first four-transmission wheel (109) drives the first two-transmission wheel (105) to move through a first two-synchronous belt (107), the first one-synchronous belt (106) drives the first three-oscillating bars (113) to move through a first one-to-one connecting component (115), and the first two-synchronous belt (107) drives the first four oscillating bars (, the first third swing link (113) and the first fourth swing link (114) move synchronously to drive the first push rod (117) to realize translational motion along the motion direction of the first one-to-one moving pair (124).
The second servo motor (219) is arranged on the second support frame (201) and drives the second sixth driving wheel (211) to move, the second sixth driving wheel (211) is fixedly connected with the second fourth driving wheel (209) to drive the second fourth driving wheel (209) to move, the second sixth driving wheel (211) drives the second fifth driving wheel (210) to move through a second third synchronous belt (212), the second fifth driving wheel (210) is fixedly connected with the second third driving wheel (208) to drive the second third driving wheel (208) to move, the second third driving wheel (208) drives the second driving wheel (204) to move through a second synchronous belt (206), the second fourth driving wheel (209) drives the second driving wheel (205) to move through the second synchronous belt (207), the second synchronous belt (206) drives the second third swing rod (213) to move through a second connecting member (215), and the second synchronous belt (207) drives the second fourth swing rod (214) to move through a second connecting member (216), the second third swing link (213) and the second fourth swing link (214) move synchronously to drive the second push rod (217) to realize translational motion along the motion direction of the second sliding pair (224).
The third servo motor (232) is arranged on the second support frame (201) and drives the second swing rod (202) to move, the second 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 push rod (217) moves along with the second swing rod.
The first servo motor (119), the second servo motor (219) and the third servo motor (232) are driven in a matched mode to achieve three-dimensional translation movement of the movable platform (2).
The utility model has the advantages that:
1. the whole structure of the mechanism is compact, and the occupied space is small;
2. the mechanical arm has small inertia and good kinematics and dynamics performance.
Drawings
Fig. 1 is a schematic view of a first structure of a three-translational-motion grabbing robot mechanism of a synchronous belt transmission structure.
Fig. 2 is a frame schematic diagram of the three-translation grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 3 is a schematic view of a moving platform of the three-translation grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 4 is a first schematic view of a first branch chain of a three-translational-motion grabbing robot mechanism of a synchronous belt transmission structure.
Fig. 5 is a first schematic diagram of a second branched chain of the three-translational grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 6 is a second schematic view of the first branched chain of the three-translational grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 7 is a second schematic diagram of a second branched chain of the three-translational grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 8 is a first schematic view of the first support frame hidden in the first chain of the three-translational grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 9 is a first schematic view of the second supporting frame being hidden by the second branched chain of the three-translational grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 10 is a second schematic view of the synchronous belt transmission structure, in which the first support frame is hidden in the first support chain of the three-translation grabbing robot mechanism.
Fig. 11 is a second schematic diagram of the second supporting frame is hidden by the second branched chain of the three-translational grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 12 is a schematic diagram of a first motion state of the three-translational-motion grabbing robot mechanism of the synchronous belt transmission structure according to the present invention.
Fig. 13 is a schematic diagram of a second motion state of the three-translation grabbing robot mechanism of the synchronous belt transmission structure of the present invention.
Fig. 14 is a schematic diagram of a third motion state of the three-translational-motion grabbing robot mechanism of the synchronous belt transmission structure according to the present invention.
Fig. 15 is a schematic diagram of a fourth motion state of the three-translational-motion grabbing robot mechanism of the synchronous belt transmission structure of the present invention.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings and embodiments.
Referring to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14 and 15, the three-translational grasping robot mechanism of the synchronous belt drive structure includes 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 support frame (101), a first primary transmission wheel (104), a first secondary transmission wheel (105), a first tertiary transmission wheel (108), a first quaternary transmission wheel (109), a first quinary transmission wheel (110), a first sixth transmission wheel (111), a first synchronous belt (106), a first secondary synchronous belt (107), a first tertiary synchronous belt (112), a first primary oscillating bar (102), a first secondary oscillating bar (103), a first tertiary oscillating bar (113), a first quaternary oscillating bar (114), a first one-to-one connecting member (115), a first secondary connecting member (116), a first one-to-one connecting rod (118), a first push rod (117) and a first servo motor (119), the first primary oscillating bar (102) is connected with the first support frame (101) through a first one-to-one rotating pair (130), and the first oscillating bar (102) is connected with the first primary transmission wheel (104) through a first secondary rotating pair (120), the first swing rod (102) is connected with a first connecting rod (118) through a first three-rotation pair (128), the first swing rod (102) is connected with a first three-swing rod (113) through a first one-to-one moving pair (124), the first second swing rod (103) is connected with a first supporting frame (101) through a first four-rotation pair (131), the first second swing rod (103) is connected with a first second transmission wheel (105) through a first five-rotation pair (121), the first second swing rod (103) is connected with the first one-to-one connecting rod (118) through a first six-rotation pair (129), the first second swing rod (103) is connected with a first four-swing rod (114) through a first two-to-one moving pair (125), the first one-to-transmission wheel (104) is connected with a first three-transmission wheel (108) through a first one-to-time belt (106), the first three-transmission wheel (108) is fixedly connected with a first five-transmission wheel (110), and the first five-transmission wheel (110) is connected with a first six-transmission wheel (111) through, the first six-transmission wheel (111) is fixedly connected with the first four-transmission wheel (109), the first four-transmission wheel (109) is connected with the first two-transmission wheel (105) through a first two-synchronous belt (107), a first three swing rod (113) is fixedly connected with a first one-synchronous belt (106) through a first one-connecting component (115), the first three swing rod (113) is connected with a first push rod (117) through a first seven-revolute pair (126), the first four swing rod (114) is fixedly connected with the first two-synchronous belt (107) through a first two-connecting component (116), the first four swing rod (114) is connected with the first push rod (117) through a first eight-revolute pair (127), a first servo motor (119) is installed on the first support frame (101) and connected with the first six-transmission wheel (111), the first support frame (101) is connected with the machine frame (1) through a zero-first revolute pair (11), and the first push rod (117) is connected with the first zero-fourth rotary pair (21) and the movable platform (2).
The rotating axes of the first one-to-one rotating pair (130), the first two-to-one rotating pair (120), the first three-to-one rotating pair (128), the first four-to-one rotating pair (131), the first five-to-one rotating pair (121), the first six-to-one rotating pair (129), the first seven-to-one rotating pair (126) and the first eight-to-one rotating pair (127) are parallel to each other, the axial distance between the first one-to-one rotating pair (130) and the first two-to-two rotating pair (120) is equal to the axial distance between the first four-to-one rotating pair (131) and the first five-to-one rotating pair (121), the axial distance between the first one-to-one rotating pair (130) and the first three-to-one rotating pair (128) is equal to the axial distance between the first two-to-two rotating pair (120) and the first six-to-one rotating pair (129), the axial distance between the first one-to the first two rotating pair (120) and the first six-to-one rotating pair, the axial distance between the first one-rotation pair (130) and the first seven-rotation pair (126) is equal to the axial distance between the first four-rotation pair (131) and the first eight-rotation pair (127).
The second branched chain (4) consists of a second support frame (201), a second transmission wheel (204), a second secondary transmission wheel (205), a second third transmission wheel (208), a second fourth transmission wheel (209), a second fifth transmission wheel (210), a second sixth transmission wheel (211), a second synchronous belt (206), a second synchronous belt (207), a second synchronous belt (212), a second oscillating bar (202), a second oscillating bar (203), a second third oscillating bar (213), a second fourth oscillating bar (214), a second connecting member (215), a second connecting member (216), a second connecting rod (218), a second push rod (217) and a second servo motor (219), the second first oscillating bar (202) is connected with the second support frame (201) through a second revolute pair (230), and the second oscillating bar (202) is connected with the second transmission wheel (204) through a second revolute pair (220), the second swing link (202) is connected with a second connecting rod (218) through a second third rotating pair (228), the second swing link (202) is connected with a second third swing link (213) through a second first moving pair (224), the second swing link (203) is connected with a second support frame (201) through a second fourth rotating pair (231), the second swing link (203) is connected with a second driving wheel (205) through a second fifth rotating pair (221), the second swing link (203) is connected with the second connecting rod (218) through a second sixth rotating pair (229), the second swing link (203) is connected with a second fourth swing link (214) through a second moving pair (225), the second driving wheel (204) is connected with a second third driving wheel (208) through a second synchronous belt (206), the second third driving wheel (208) is fixedly connected with a second fifth driving wheel (210), and the fifth driving wheel (210) is connected with a sixth driving wheel (211) through a second synchronous belt (212), a second sixth driving wheel (211) is fixedly connected with a second fourth driving wheel (209), the second fourth driving wheel (209) is connected with a second driving wheel (205) through a second synchronous belt (207), a second third oscillating bar (213) is fixedly connected with a second synchronous belt (206) through a second connecting member (215), the second third oscillating bar (213) is connected with a second push rod (217) through a second seventh revolute pair (226), a second fourth oscillating bar (214) is fixedly connected with the second synchronous belt (207) through a second connecting member (216), the second fourth oscillating bar (214) is connected with the second push rod (217) through a second eighth revolute pair (227), a second servo motor (219) is arranged on a second supporting frame (201) and connected with the second sixth driving wheel (211), a third servo motor (232) is arranged on the second supporting frame (201) and connected with a second first oscillating bar (202), the second supporting frame (201) is connected with the rack (1) through a zeroth second revolute pair (12), and the second push rod (217) is connected with the movable platform (2) through a zeroth fifth revolute pair (22).
The rotation axes of the first rotation pair (230), the second rotation pair (220), the second third rotation pair (228), the second fourth rotation pair (231), the second fifth rotation pair (221), the second sixth rotation pair (229), the second seventh rotation pair (226) and the second eighth rotation pair (227) are parallel to each other, the axial distance between the second rotation pair (230) and the second rotation pair (220) is equal to the axial distance between the second fourth rotation pair (231) and the second fifth rotation pair (221), the axial distance between the second rotation pair (230) and the second third rotation pair (228) is equal to the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (230) and the second fourth rotation pair (231), the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (228) and the second fifth rotation pair (221) is equal to the axial distance between the second rotation pair (226) and the eighth rotation pair (227), the axial distance between the second first revolute pair (230) and the second seventh revolute pair (226) is equal to the axial distance between the second fourth revolute pair (231) and the second eighth revolute pair (227).
The first servo motor (119) is arranged on the first support frame (101) and drives the first six-transmission wheel (111) to move, the first six-transmission wheel (111) is fixedly connected with the first four-transmission wheel (109) to drive the first four-transmission wheel (109) to move, the first six-transmission wheel (111) drives the first five-transmission wheel (110) to move through a first three-synchronous belt (112), the first five-transmission wheel (110) is fixedly connected with the first three-transmission wheel (108) to drive the first three-transmission wheel (108) to move, the first three-transmission wheel (108) drives the first one-transmission wheel (104) to move through a first one-to-one synchronous belt (106), the first four-transmission wheel (109) drives the first two-transmission wheel (105) to move through a first two-synchronous belt (107), the first one-synchronous belt (106) drives the first three-oscillating bars (113) to move through a first one-to-one connecting component (115), and the first two-synchronous belt (107) drives the first four oscillating bars (, the first third swing link (113) and the first fourth swing link (114) move synchronously to drive the first push rod (117) to realize translational motion along the motion direction of the first one-to-one moving pair (124).
The second servo motor (219) is arranged on the second support frame (201) and drives the second sixth driving wheel (211) to move, the second sixth driving wheel (211) is fixedly connected with the second fourth driving wheel (209) to drive the second fourth driving wheel (209) to move, the second sixth driving wheel (211) drives the second fifth driving wheel (210) to move through a second third synchronous belt (212), the second fifth driving wheel (210) is fixedly connected with the second third driving wheel (208) to drive the second third driving wheel (208) to move, the second third driving wheel (208) drives the second driving wheel (204) to move through a second synchronous belt (206), the second fourth driving wheel (209) drives the second driving wheel (205) to move through the second synchronous belt (207), the second synchronous belt (206) drives the second third swing rod (213) to move through a second connecting member (215), and the second synchronous belt (207) drives the second fourth swing rod (214) to move through a second connecting member (216), the second third swing link (213) and the second fourth swing link (214) move synchronously to drive the second push rod (217) to realize translational motion along the motion direction of the second sliding pair (224).
The third servo motor (232) is arranged on the second support frame (201) and drives the second swing rod (202) to move, the second 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 push rod (217) moves along with the second swing rod.
The first servo motor (119), the second servo motor (219) and the third servo motor (232) are driven in a matched mode to achieve three-dimensional translation movement of the movable platform (2).
Fig. 12, 13, 14 and 15 are state diagrams of the three-translational grasping robot mechanism of the synchronous belt drive structure for realizing different motions.
Claims (1)
1. Synchronous belt drive structure's three translation snatch robot mechanism includes frame (1), first branch chain (3), second branch chain (4), moves platform (2), its characterized in that:
the first branched chain (3) consists of a first support frame (101), a first primary transmission wheel (104), a first secondary transmission wheel (105), a first tertiary transmission wheel (108), a first quaternary transmission wheel (109), a first quinary transmission wheel (110), a first sixth transmission wheel (111), a first synchronous belt (106), a first secondary synchronous belt (107), a first tertiary synchronous belt (112), a first primary oscillating bar (102), a first secondary oscillating bar (103), a first tertiary oscillating bar (113), a first quaternary oscillating bar (114), a first one-to-one connecting member (115), a first secondary connecting member (116), a first one-to-one connecting rod (118), a first push rod (117) and a first servo motor (119), the first primary oscillating bar (102) is connected with the first support frame (101) through a first one-to-one rotating pair (130), and the first oscillating bar (102) is connected with the first primary transmission wheel (104) through a first secondary rotating pair (120), the first swing rod (102) is connected with a first connecting rod (118) through a first three-rotation pair (128), the first swing rod (102) is connected with a first three-swing rod (113) through a first one-to-one moving pair (124), the first second swing rod (103) is connected with a first supporting frame (101) through a first four-rotation pair (131), the first second swing rod (103) is connected with a first second transmission wheel (105) through a first five-rotation pair (121), the first second swing rod (103) is connected with the first one-to-one connecting rod (118) through a first six-rotation pair (129), the first second swing rod (103) is connected with a first four-swing rod (114) through a first two-to-one moving pair (125), the first one-to-transmission wheel (104) is connected with a first three-transmission wheel (108) through a first one-to-time belt (106), the first three-transmission wheel (108) is fixedly connected with a first five-transmission wheel (110), and the first five-transmission wheel (110) is connected with a first six-transmission wheel (111) through, the first six-transmission wheel (111) is fixedly connected with the first four-transmission wheel (109), the first four-transmission wheel (109) is connected with the first two-transmission wheel (105) through a first two-synchronous belt (107), a first three-swing rod (113) is fixedly connected with a first one-synchronous belt (106) through a first one-connecting component (115), the first three-swing rod (113) is connected with a first push rod (117) through a first seven-revolute pair (126), the first four-swing rod (114) is fixedly connected with the first two-synchronous belt (107) through a first two-connecting component (116), the first four-swing rod (114) is connected with the first push rod (117) through a first eight-revolute pair (127), a first servo motor (119) is installed on the first support frame (101) and connected with the first six-transmission wheel (111), the first support frame (101) is connected with the machine frame (1) through a zero-first revolute pair (11), and the first push rod (117) is connected with the first zero-fourth revolute pair (21),
the rotating axes of the first one-to-one rotating pair (130), the first two-to-one rotating pair (120), the first three-to-one rotating pair (128), the first four-to-one rotating pair (131), the first five-to-one rotating pair (121), the first six-to-one rotating pair (129), the first seven-to-one rotating pair (126) and the first eight-to-one rotating pair (127) are parallel to each other, the axial distance between the first one-to-one rotating pair (130) and the first two-to-two rotating pair (120) is equal to the axial distance between the first four-to-one rotating pair (131) and the first five-to-one rotating pair (121), the axial distance between the first one-to-one rotating pair (130) and the first three-to-one rotating pair (128) is equal to the axial distance between the first two-to-two rotating pair (120) and the first six-to-one rotating pair (129), the axial distance between the first one-to the first two rotating pair (120) and the first six-to-one rotating pair, the axial distance between the first one-rotation pair (130) and the first seven-rotation pair (126) is equal to the axial distance between the first four-rotation pair (131) and the first eight-rotation pair (127),
the second branched chain (4) consists of a second support frame (201), a second transmission wheel (204), a second secondary transmission wheel (205), a second third transmission wheel (208), a second fourth transmission wheel (209), a second fifth transmission wheel (210), a second sixth transmission wheel (211), a second synchronous belt (206), a second synchronous belt (207), a second synchronous belt (212), a second oscillating bar (202), a second oscillating bar (203), a second third oscillating bar (213), a second fourth oscillating bar (214), a second connecting member (215), a second connecting member (216), a second connecting rod (218), a second push rod (217) and a second servo motor (219), the second first oscillating bar (202) is connected with the second support frame (201) through a second revolute pair (230), and the second oscillating bar (202) is connected with the second transmission wheel (204) through a second revolute pair (220), the second swing link (202) is connected with a second connecting rod (218) through a second third rotating pair (228), the second swing link (202) is connected with a second third swing link (213) through a second first moving pair (224), the second swing link (203) is connected with a second support frame (201) through a second fourth rotating pair (231), the second swing link (203) is connected with a second driving wheel (205) through a second fifth rotating pair (221), the second swing link (203) is connected with the second connecting rod (218) through a second sixth rotating pair (229), the second swing link (203) is connected with a second fourth swing link (214) through a second moving pair (225), the second driving wheel (204) is connected with a second third driving wheel (208) through a second synchronous belt (206), the second third driving wheel (208) is fixedly connected with a second fifth driving wheel (210), and the fifth driving wheel (210) is connected with a sixth driving wheel (211) through a second synchronous belt (212), a second sixth driving wheel (211) is fixedly connected with a second fourth driving wheel (209), the second fourth driving wheel (209) is connected with a second driving wheel (205) through a second synchronous belt (207), a second third oscillating bar (213) is fixedly connected with a second synchronous belt (206) through a second connecting member (215), the second third oscillating bar (213) is connected with a second push rod (217) through a second seventh revolute pair (226), a second fourth oscillating bar (214) is fixedly connected with the second synchronous belt (207) through a second connecting member (216), the second fourth oscillating bar (214) is connected with the second push rod (217) through a second eighth revolute pair (227), a second servo motor (219) is arranged on a second supporting frame (201) and connected with the second sixth driving wheel (211), a third servo motor (232) is arranged on the second supporting frame (201) and connected with a second first oscillating bar (202), the second supporting frame (201) is connected with the frame (1) through a zeroth second revolute pair (12), the second push rod (217) is connected with the movable platform (2) through a zeroth fifth revolute pair (22),
the rotation axes of the first rotation pair (230), the second rotation pair (220), the second third rotation pair (228), the second fourth rotation pair (231), the second fifth rotation pair (221), the second sixth rotation pair (229), the second seventh rotation pair (226) and the second eighth rotation pair (227) are parallel to each other, the axial distance between the second rotation pair (230) and the second rotation pair (220) is equal to the axial distance between the second fourth rotation pair (231) and the second fifth rotation pair (221), the axial distance between the second rotation pair (230) and the second third rotation pair (228) is equal to the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (230) and the second fourth rotation pair (231), the axial distance between the second rotation pair (220) and the second sixth rotation pair (229), the axial distance between the second rotation pair (228) and the second fifth rotation pair (221) is equal to the axial distance between the second rotation pair (226) and the eighth rotation pair (227), the axial distance between the second first revolute pair (230) and the second seventh revolute pair (226) is equal to the axial distance between the second fourth revolute pair (231) and the second eighth revolute pair (227).
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| CN201920643310.3U CN210081729U (en) | 2019-05-03 | 2019-05-03 | Three-translation grabbing robot mechanism with synchronous belt transmission structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109968333A (en) * | 2019-05-03 | 2019-07-05 | 江西制造职业技术学院 | Three translation crawl robot mechanisms of toothed belt transmission structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109968333A (en) * | 2019-05-03 | 2019-07-05 | 江西制造职业技术学院 | Three translation crawl robot mechanisms of toothed belt transmission structure |
| CN109968333B (en) * | 2019-05-03 | 2024-02-20 | 江西制造职业技术学院 | Three-translation grabbing robot mechanism with synchronous belt transmission structure |
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