CN210161140U - External rotating pair driving two-translation grabbing robot mechanism with synchronous belt transmission structure - Google Patents
External rotating pair driving two-translation grabbing robot mechanism with synchronous belt transmission structure Download PDFInfo
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- CN210161140U CN210161140U CN201920643321.1U CN201920643321U CN210161140U CN 210161140 U CN210161140 U CN 210161140U CN 201920643321 U CN201920643321 U CN 201920643321U CN 210161140 U CN210161140 U CN 210161140U
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Abstract
An outer rotating pair driving two-translation grabbing robot mechanism with a synchronous belt transmission structure comprises a rack, a first driving wheel, a second driving wheel, a third driving wheel, a fourth driving wheel, a fifth driving wheel, a sixth driving 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 driving rod, a second driving rod, a first servo motor and a second servo motor. Under the drive of the two servo motors, the movable platform can realize plane two-degree-of-freedom translational motion. 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 synchronous belt drive structure's two translations of outer revolute pair drive 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 synchronous belt drive and the long parallelogram structure of variable rod can accomplish the translation motion of moving platform two degrees of freedom on the plane, 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 hold-in range transmission structure's two translations of outer revolute pair drive snatch robot mechanism can realize moving the two-dimensional translation motion of platform on the plane.
The utility model discloses a following technical scheme reaches above-mentioned purpose: an outer rotating pair driving two-translation grabbing robot mechanism with a synchronous belt transmission structure comprises a rack (1), a first driving wheel (4), a second driving wheel (5), a third driving wheel (8), a fourth driving wheel (9), a fifth driving wheel (10), a sixth driving wheel (11), a first synchronous belt (6), a second synchronous belt (7), a third synchronous belt (12), a first oscillating bar (2), a second oscillating bar (3), a third oscillating bar (13), a fourth oscillating bar (14), a first connecting member (15), a second connecting member (16), a connecting rod (18), a moving platform (17), a first driving rod (33), a second driving rod (34), a first servo motor (19) and a second servo motor (20).
The first swing rod (2) is connected with the rack (1) through a first revolute pair (32), the first swing rod (2) is connected with the first transmission wheel (4) through a second revolute pair (21), the first swing rod (2) is connected with the connecting rod (18) through a third revolute pair (29), the first swing rod (2) is connected with the third swing rod (13) through a first revolute pair (25), the second swing rod (3) is connected with the rack (1) through a fourth revolute pair (31), the second swing rod (3) is connected with the second transmission wheel (5) through a fifth revolute pair (22), the second swing rod (3) is connected with the connecting rod (18) through a sixth revolute pair (30), the second swing rod (3) is connected with a fourth swing rod (14) through a second revolute pair (26), the first transmission wheel (4) is connected with the third transmission wheel (8) through a first synchronous belt (6), and the third transmission wheel (8) and the fifth transmission wheel (10) are connected together, a fifth driving wheel (10) is connected with a sixth driving wheel (11) through a third synchronous belt (12), the sixth driving wheel (11) is fixedly connected with a fourth driving wheel (9), the fourth driving wheel (9) is connected with a second driving wheel (5) through a second synchronous belt (7), a third oscillating bar (13) is fixedly connected with a first synchronous belt (6) through a first connecting component (15), the third oscillating bar (13) is connected with a movable platform (17) through a seventh rotating pair (27), a fourth oscillating bar (14) is fixedly connected with the second synchronous belt (7) through a second connecting component (16), the fourth oscillating bar (14) is connected with the movable platform (17) through an eighth rotating pair (28), a first driving rod (33) is connected with a rack (1) through a ninth rotating pair (35), the first driving rod (33) is connected with a second driving rod (34) through a tenth rotating pair (36), the second transmission rod (34) is connected with the movable platform (17) through a seventh revolute pair (27), the first servo motor (19) is installed on the rack (1) and connected with the sixth transmission wheel (11), and the second servo motor (20) is installed on the rack (1) and connected with the first transmission rod (33).
The rotation axes of the first rotating pair (32), the second rotating pair (21), the third rotating pair (29), the fourth rotating pair (31), the fifth rotating pair (22), the sixth rotating pair (30), the seventh rotating pair (27) and the eighth rotating pair (28) are parallel to each other, the distance between the axes of the first rotating pair (32) and the second rotating pair (21) is equal to the distance between the axes of the fourth rotating pair (31) and the fifth rotating pair (22), the distance between the axes of the first rotating pair (32) and the third rotating pair (29) is equal to the distance between the axes of the second rotating pair (21) and the sixth rotating pair (30), the distance between the axes of the first rotating pair (32) and the fourth rotating pair (31), the distance between the axes of the second rotating pair (21) and the sixth rotating pair (30), and the distance between the axes of the third rotating pair (29) and the fifth rotating pair (22) is equal to the distance between the axes of the seventh rotating pair (27) and the eighth rotating pair (28), the axial distance between the first rotating pair (32) and the seventh rotating pair (27) is equal to the axial distance between the fourth rotating pair (31) and the eighth rotating pair (28).
The first servo motor (19) is arranged on the rack (1) and drives the sixth transmission wheel (11) to move, the sixth transmission wheel (11) is fixedly connected with the fourth transmission wheel (9) to drive the fourth transmission wheel (9) to move, the sixth transmission wheel (11) drives the fifth transmission wheel (10) to move through a third synchronous belt (12), the fifth transmission wheel (10) is fixedly connected with the third transmission wheel (8) to drive the third transmission wheel (8) to move, the third transmission wheel (8) drives the first transmission wheel (4) to move through a first synchronous belt (6), the fourth transmission wheel (9) drives the second transmission wheel (5) to move through a second synchronous belt (7), the first synchronous belt (6) drives the third swing rod (13) to move through a first connecting member (15), the second synchronous belt (7) drives the fourth swing rod (14) to move through a second connecting member (16), and the third synchronous belt (13) and the fourth swing rod (14) synchronously move to drive the movable platform (17) to realize the movement along the first pair of moving pairs (25) Translational motion in the direction of motion.
The second servo motor (20) is installed on the rack (1) and drives the first transmission rod (33) to move, the first transmission rod (33) drives the second transmission rod (34) to move, the second transmission rod (34) drives the movable platform (17) to move, and parallel rotating motion of the movable platform (17) around the first rotating pair (32) is achieved.
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 an external revolute pair driving two-translation grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 2 is a second schematic structural diagram of the external revolute pair driving two-translation grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 3 is a schematic view of a first structure of the external revolute pair driving two-translation grabbing robot mechanism with the synchronous belt transmission structure after the frame is hidden.
Fig. 4 is a second schematic structural view of the external revolute pair driving two-translation grabbing robot mechanism with the synchronous belt transmission structure after the frame is hidden.
Fig. 5 is a schematic view of a first motion state of the external revolute pair driving two-translation grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 6 is a schematic diagram of a second motion state of the external revolute pair driving two-translation grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 7 is a schematic diagram of a third motion state of the external revolute pair driving two-translation grabbing robot mechanism of the synchronous belt transmission structure.
Fig. 8 is a schematic diagram of a fourth motion state of the external revolute pair driving two-translation 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 and 4, the external revolute pair driving two-translation grabbing robot mechanism of the synchronous belt transmission structure comprises a rack (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 transmission rod (33), a second transmission rod (34), a first servo motor (19) and a second servo motor (20).
The first swing rod (2) is connected with the rack (1) through a first revolute pair (32), the first swing rod (2) is connected with the first transmission wheel (4) through a second revolute pair (21), the first swing rod (2) is connected with the connecting rod (18) through a third revolute pair (29), the first swing rod (2) is connected with the third swing rod (13) through a first revolute pair (25), the second swing rod (3) is connected with the rack (1) through a fourth revolute pair (31), the second swing rod (3) is connected with the second transmission wheel (5) through a fifth revolute pair (22), the second swing rod (3) is connected with the connecting rod (18) through a sixth revolute pair (30), the second swing rod (3) is connected with a fourth swing rod (14) through a second revolute pair (26), the first transmission wheel (4) is connected with the third transmission wheel (8) through a first synchronous belt (6), and the third transmission wheel (8) and the fifth transmission wheel (10) are connected together, a fifth driving wheel (10) is connected with a sixth driving wheel (11) through a third synchronous belt (12), the sixth driving wheel (11) is fixedly connected with a fourth driving wheel (9), the fourth driving wheel (9) is connected with a second driving wheel (5) through a second synchronous belt (7), a third oscillating bar (13) is fixedly connected with a first synchronous belt (6) through a first connecting component (15), the third oscillating bar (13) is connected with a movable platform (17) through a seventh rotating pair (27), a fourth oscillating bar (14) is fixedly connected with the second synchronous belt (7) through a second connecting component (16), the fourth oscillating bar (14) is connected with the movable platform (17) through an eighth rotating pair (28), a first driving rod (33) is connected with a rack (1) through a ninth rotating pair (35), the first driving rod (33) is connected with a second driving rod (34) through a tenth rotating pair (36), the second transmission rod (34) is connected with the movable platform (17) through a seventh revolute pair (27), the first servo motor (19) is installed on the rack (1) and connected with the sixth transmission wheel (11), and the second servo motor (20) is installed on the rack (1) and connected with the first transmission rod (33).
The rotation axes of the first rotating pair (32), the second rotating pair (21), the third rotating pair (29), the fourth rotating pair (31), the fifth rotating pair (22), the sixth rotating pair (30), the seventh rotating pair (27) and the eighth rotating pair (28) are parallel to each other, the distance between the axes of the first rotating pair (32) and the second rotating pair (21) is equal to the distance between the axes of the fourth rotating pair (31) and the fifth rotating pair (22), the distance between the axes of the first rotating pair (32) and the third rotating pair (29) is equal to the distance between the axes of the second rotating pair (21) and the sixth rotating pair (30), the distance between the axes of the first rotating pair (32) and the fourth rotating pair (31), the distance between the axes of the second rotating pair (21) and the sixth rotating pair (30), and the distance between the axes of the third rotating pair (29) and the fifth rotating pair (22) is equal to the distance between the axes of the seventh rotating pair (27) and the eighth rotating pair (28), the axial distance between the first rotating pair (32) and the seventh rotating pair (27) is equal to the axial distance between the fourth rotating pair (31) and the eighth rotating pair (28).
The first servo motor (19) is arranged on the rack (1) and drives the sixth transmission wheel (11) to move, the sixth transmission wheel (11) is fixedly connected with the fourth transmission wheel (9) to drive the fourth transmission wheel (9) to move, the sixth transmission wheel (11) drives the fifth transmission wheel (10) to move through a third synchronous belt (12), the fifth transmission wheel (10) is fixedly connected with the third transmission wheel (8) to drive the third transmission wheel (8) to move, the third transmission wheel (8) drives the first transmission wheel (4) to move through a first synchronous belt (6), the fourth transmission wheel (9) drives the second transmission wheel (5) to move through a second synchronous belt (7), the first synchronous belt (6) drives the third swing rod (13) to move through a first connecting member (15), the second synchronous belt (7) drives the fourth swing rod (14) to move through a second connecting member (16), and the third synchronous belt (13) and the fourth swing rod (14) synchronously move to drive the movable platform (17) to realize the movement along the first pair of moving pairs (25) Translational motion in the direction of motion.
The second servo motor (20) is installed on the rack (1) and drives the first transmission rod (33) to move, the first transmission rod (33) drives the second transmission rod (34) to move, the second transmission rod (34) drives the movable platform (17) to move, and parallel rotating motion of the movable platform (17) around the first rotating pair (32) is achieved.
Fig. 5, 6, 7 and 8 are state diagrams of the external revolute pair driving two-translation grabbing robot mechanism with the synchronous belt transmission structure for realizing different actions.
Claims (1)
1. External revolute pair drive two translation of synchronous belt drive structure snatch robot mechanism, 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 synchronous belt (6), second synchronous belt (7), third synchronous belt (12), first pendulum rod (2), second pendulum rod (3), third pendulum rod (13), fourth pendulum rod (14), first connecting element (15), second connecting element (16), connecting rod (18), move platform (17), first drive rod (33), second drive rod (34), first servo motor (19) and second servo motor (20), its characterized in that:
the first swing rod (2) is connected with the rack (1) through a first revolute pair (32), the first swing rod (2) is connected with the first transmission wheel (4) through a second revolute pair (21), the first swing rod (2) is connected with the connecting rod (18) through a third revolute pair (29), the first swing rod (2) is connected with the third swing rod (13) through a first revolute pair (25), the second swing rod (3) is connected with the rack (1) through a fourth revolute pair (31), the second swing rod (3) is connected with the second transmission wheel (5) through a fifth revolute pair (22), the second swing rod (3) is connected with the connecting rod (18) through a sixth revolute pair (30), the second swing rod (3) is connected with a fourth swing rod (14) through a second revolute pair (26), the first transmission wheel (4) is connected with the third transmission wheel (8) through a first synchronous belt (6), and the third transmission wheel (8) and the fifth transmission wheel (10) are connected together, a fifth driving wheel (10) is connected with a sixth driving wheel (11) through a third synchronous belt (12), the sixth driving wheel (11) is fixedly connected with a fourth driving wheel (9), the fourth driving wheel (9) is connected with a second driving wheel (5) through a second synchronous belt (7), a third oscillating bar (13) is fixedly connected with a first synchronous belt (6) through a first connecting component (15), the third oscillating bar (13) is connected with a movable platform (17) through a seventh rotating pair (27), a fourth oscillating bar (14) is fixedly connected with the second synchronous belt (7) through a second connecting component (16), the fourth oscillating bar (14) is connected with the movable platform (17) through an eighth rotating pair (28), a first driving rod (33) is connected with a rack (1) through a ninth rotating pair (35), the first driving rod (33) is connected with a second driving rod (34) through a tenth rotating pair (36), the second transmission rod (34) is connected with the movable platform (17) through a seventh revolute pair (27), the first servo motor (19) is arranged on the frame (1) and is connected with the sixth transmission wheel (11), the second servo motor (20) is arranged on the frame (1) and is connected with the first transmission rod (33),
the rotation axes of the first rotating pair (32), the second rotating pair (21), the third rotating pair (29), the fourth rotating pair (31), the fifth rotating pair (22), the sixth rotating pair (30), the seventh rotating pair (27) and the eighth rotating pair (28) are parallel to each other, the distance between the axes of the first rotating pair (32) and the second rotating pair (21) is equal to the distance between the axes of the fourth rotating pair (31) and the fifth rotating pair (22), the distance between the axes of the first rotating pair (32) and the third rotating pair (29) is equal to the distance between the axes of the second rotating pair (21) and the sixth rotating pair (30), the distance between the axes of the first rotating pair (32) and the fourth rotating pair (31), the distance between the axes of the second rotating pair (21) and the sixth rotating pair (30), and the distance between the axes of the third rotating pair (29) and the fifth rotating pair (22) is equal to the distance between the axes of the seventh rotating pair (27) and the eighth rotating pair (28), the axial distance between the first rotating pair (32) and the seventh rotating pair (27) is equal to the axial distance between the fourth rotating pair (31) and the eighth rotating pair (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920643321.1U CN210161140U (en) | 2019-05-03 | 2019-05-03 | External rotating pair driving two-translation grabbing robot mechanism with synchronous belt transmission structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920643321.1U CN210161140U (en) | 2019-05-03 | 2019-05-03 | External rotating pair driving two-translation grabbing robot mechanism with synchronous belt transmission structure |
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| Publication Number | Publication Date |
|---|---|
| CN210161140U true CN210161140U (en) | 2020-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920643321.1U Withdrawn - After Issue CN210161140U (en) | 2019-05-03 | 2019-05-03 | External rotating pair driving two-translation grabbing robot mechanism with synchronous belt transmission structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000764A (en) * | 2019-05-03 | 2019-07-12 | 江西制造职业技术学院 | The two translation crawl robot mechanism of outer revolute pair driving of toothed belt transmission structure |
-
2019
- 2019-05-03 CN CN201920643321.1U patent/CN210161140U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000764A (en) * | 2019-05-03 | 2019-07-12 | 江西制造职业技术学院 | The two translation crawl robot mechanism of outer revolute pair driving of toothed belt transmission structure |
| CN110000764B (en) * | 2019-05-03 | 2024-05-10 | 江西制造职业技术学院 | External rotating pair driving two-translation grabbing robot mechanism of synchronous belt transmission structure |
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