CN105798882A - Reciprocating locating and moving device driven by planet gears - Google Patents
Reciprocating locating and moving device driven by planet gears Download PDFInfo
- Publication number
- CN105798882A CN105798882A CN201610316794.1A CN201610316794A CN105798882A CN 105798882 A CN105798882 A CN 105798882A CN 201610316794 A CN201610316794 A CN 201610316794A CN 105798882 A CN105798882 A CN 105798882A
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- China
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- revolute pair
- expansion link
- sliding sleeve
- connecting rod
- gear
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- 238000005516 engineering process Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Retarders (AREA)
Abstract
The invention discloses a reciprocating locating and moving device driven by planet gears. The root of a first bucket and the root of a second bucket are installed together, the lower end of a big arm is connected to a base, one end of a first telescopic rod is connected to the base, the other end of the first telescopic rod is connected to a first corner of a triangular connection plate, a second corner of the triangular connection plate is connected to the big arm, a third corner of the triangular connection plate is connected to one end of a second telescopic rod, the other end of the second telescopic rod is connected to a rotating shaft, the lower end of a third telescopic rod is connected to the base, the upper end of the third telescopic rod is connected to a first sliding sleeve, and the first sliding sleeve is installed on the second telescopic rod in a sleeving mode. The reciprocating locating and moving device has the advantages of being compact in structure, flexible to move, small in occupied space and large in work space.
Description
Technical field
The present invention relates to mechanical field, the reciprocating positioning mobile device that specifically a kind of planetary gear drives.
Background technology
The demand picked being carried out object by mechanical arm increases.Pick and refer to and hold an object successively and be transported to the place specified from the mixed and disorderly multiple objects piled up.When the mixed and disorderly object piled up is picked, for arranging the cost spatially of each parts feeder, the temporal cost for operating each parts feeder has time-varying many.
Traditional mechanical arm has the advantages such as simple in construction, cost is low, work space is big, but, serial manipulator rigidity is low comparatively speaking, it is impossible to be applied at a high speed, the occasion of big carrying；Piling causes the problems such as robot arm weight is big, poor rigidity, inertia are big, joint error is accumulative, mechanism dynamic poor-performing, it is difficult to meet the requirement carrying at a high speed piling.Along with motor technology development and control technology raising, controllable mechanical mechanism is that engineering machinery provides wide development space, also proposes new requirements at the higher level in serviceability.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, it is provided that the reciprocating positioning mobile device that a kind of planetary gear drives.
To achieve these goals, present invention employs techniques below scheme:
The reciprocating positioning mobile device that a kind of planetary gear drives, including the first scraper bowl, the second scraper bowl, large arm, base, the first expansion link, triangular connecting plate, the second expansion link, the 3rd expansion link, the first sliding sleeve, the first ring gear, the first sun gear, first planet gear, first connecting rod, the 4th expansion link, second connecting rod, the 3rd sliding sleeve, the second ring gear, the second sun gear, the second planetary gear, third connecting rod, the 5th expansion link, fourth link, the 4th sliding sleeve and walking mechanism
The root of the first scraper bowl and the second scraper bowl is installed together by revolute pair one,
Large arm lower end is connected on base by revolute pair two, first expansion link one end is connected on base by revolute pair three, the first expansion link other end is connected with first jiao of triangular connecting plate by revolute pair four, second jiao of triangular connecting plate is connected in large arm by revolute pair five, the third angle of triangular connecting plate is connected with second expansion link one end by revolute pair six, the second expansion link other end is connected in the rotating shaft of revolute pair one, 3rd expansion link lower end is connected on base, 3rd expansion link upper end is connected on the first sliding sleeve by revolute pair seven, first sliding sleeve is sleeved on the second expansion link,
First ring gear is fixed in large arm, first sun gear is arranged on the center of the first ring gear by revolute pair eight, first planet gear is arranged between the first ring gear and the first sun gear, first connecting rod one end is connected on first planet gear by revolute pair nine, the first connecting rod other end is connected with the 4th expansion link one end by revolute pair ten, the 4th expansion link other end is connected to the first scraper bowl back by revolute pair 11, second connecting rod one end is connected on the second expansion link by revolute pair 12, the second connecting rod other end is connected on the second sliding sleeve by revolute pair 13, second sliding sleeve is sleeved on the 3rd expansion link,
Second ring gear is fixed in large arm, second sun gear is arranged on the center of the second ring gear by revolute pair 14, second planetary gear is arranged between the second ring gear and the second sun gear, third connecting rod one end is connected on the second planetary gear by revolute pair 15, the third connecting rod other end is connected with the 5th expansion link one end by revolute pair 16, the 5th expansion link other end is connected to the second scraper bowl back by revolute pair 17, fourth link one end is connected on the second expansion link by revolute pair 18, the fourth link other end is connected on the 3rd sliding sleeve by revolute pair 19, 3rd sliding sleeve is sleeved on the 4th expansion link, base is connected in walking mechanism by revolute pair 20.
Compared with prior art, the beneficial effect that the present invention possesses:
The present invention has without cumulative error, precision compared with high, compact conformation, the feature such as bearing capacity is big, rigidity is high and end effector inertia is little, driving device is placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, dynamic response is good, have that work space is big, rigidity is high, bearing capacity is strong, inertia is little and end effector precision advantages of higher, can be applied in the complex jobs such as welding, spraying, carrying, handling, assembling, piling, effective raises labour efficiency, and improves a lot in product quality and stability.Not only have that work space is big, flexible movements, reliability high, also there is low cost of manufacture, the advantages such as maintaining is simple simultaneously.
Accompanying drawing explanation
Fig. 1 is the front view of the reciprocating positioning mobile device that planetary gear of the present invention drives.
Fig. 2 is the rearview of the reciprocating positioning mobile device that planetary gear of the present invention drives.
Fig. 3 is the partial top view of the reciprocating positioning mobile device that planetary gear of the present invention drives.
Detailed description of the invention
By the examples below technical scheme is further elaborated.
Embodiment 1
The reciprocating positioning mobile device that a kind of planetary gear drives, including first scraper bowl the 20, second scraper bowl 21, large arm 22, base the 23, first expansion link 24, triangular connecting plate the 25, second expansion link the 26, the 3rd expansion link the 27, first sliding sleeve the 28, first ring gear the 29, first sun gear 30, first planet gear 31, first connecting rod the 32, the 4th expansion link 33, second connecting rod the 34, the 3rd sliding sleeve the 35, second ring gear the 36, second sun gear the 37, second planetary gear 38, third connecting rod the 39, the 5th expansion link 40, fourth link the 41, the 4th sliding sleeve 42 and walking mechanism
The root of the first scraper bowl 20 and the second scraper bowl 21 is installed together by revolute pair 1,
Large arm 22 lower end is connected on base 23 by revolute pair 22, first expansion link 24 one end is connected on base 23 by revolute pair 33, first expansion link 24 other end is connected with first jiao of triangular connecting plate 25 by revolute pair 44, second jiao of triangular connecting plate 25 is connected in large arm 22 by revolute pair 55, the third angle of triangular connecting plate 25 is connected with second expansion link 26 one end by revolute pair 66, second expansion link 26 other end is connected in the rotating shaft of revolute pair 1, 3rd expansion link 27 lower end is connected on base 23, 3rd expansion link 27 upper end is connected on the first sliding sleeve 28 by revolute pair 77, first sliding sleeve 28 is sleeved on the second expansion link 26,
First ring gear 29 is fixed in large arm 22, first sun gear 30 is arranged on the center of the first ring gear 29 by revolute pair 88, first planet gear 31 is arranged between the first ring gear 29 and the first sun gear 30, first connecting rod 32 one end is connected on first planet gear 31 by revolute pair 99, first connecting rod 32 other end is connected with the 4th expansion link 33 one end by revolute pair 10, 4th expansion link 33 other end is connected to the first scraper bowl 20 back by revolute pair 11, second connecting rod 34 one end is connected on the second expansion link 26 by revolute pair 12, second connecting rod 34 other end is connected on the second sliding sleeve by revolute pair 13, second sliding sleeve is sleeved on the 3rd expansion link 27,
Second ring gear 36 is fixed in large arm 22, second sun gear 37 is arranged on the center of the second ring gear 36 by revolute pair 14, second planetary gear 38 is arranged between the second ring gear 36 and the second sun gear 37, third connecting rod 39 one end is connected on the second planetary gear 38 by revolute pair 15, third connecting rod 39 other end is connected with the 5th expansion link 40 one end by revolute pair 16, 5th expansion link 40 other end is connected to the second scraper bowl 21 back by revolute pair 17, fourth link 41 one end is connected on the second expansion link 26 by revolute pair 18, fourth link 41 other end is connected on the 3rd sliding sleeve 35 by revolute pair 19, 3rd sliding sleeve 35 is sleeved on the 4th expansion link 33,
Base 23 is connected in walking mechanism by revolute pair 20.
Claims (1)
1. the reciprocating positioning mobile device that a planetary gear drives, it is characterized in that, including the first scraper bowl, the second scraper bowl, large arm, base, the first expansion link, triangular connecting plate, the second expansion link, the 3rd expansion link, the first sliding sleeve, the first ring gear, the first sun gear, first planet gear, first connecting rod, the 4th expansion link, second connecting rod, the 3rd sliding sleeve, the second ring gear, the second sun gear, the second planetary gear, third connecting rod, the 5th expansion link, fourth link, the 4th sliding sleeve and walking mechanism
The root of the first scraper bowl and the second scraper bowl is installed together by revolute pair one,
Large arm lower end is connected on base by revolute pair two, first expansion link one end is connected on base by revolute pair three, the first expansion link other end is connected with first jiao of triangular connecting plate by revolute pair four, second jiao of triangular connecting plate is connected in large arm by revolute pair five, the third angle of triangular connecting plate is connected with second expansion link one end by revolute pair six, the second expansion link other end is connected in the rotating shaft of revolute pair one, 3rd expansion link lower end is connected on base, 3rd expansion link upper end is connected on the first sliding sleeve by revolute pair seven, first sliding sleeve is sleeved on the second expansion link,
First ring gear is fixed in large arm, first sun gear is arranged on the center of the first ring gear by revolute pair eight, first planet gear is arranged between the first ring gear and the first sun gear, first connecting rod one end is connected on first planet gear by revolute pair nine, the first connecting rod other end is connected with the 4th expansion link one end by revolute pair ten, the 4th expansion link other end is connected to the first scraper bowl back by revolute pair 11, second connecting rod one end is connected on the second expansion link by revolute pair 12, the second connecting rod other end is connected on the second sliding sleeve by revolute pair 13, second sliding sleeve is sleeved on the 3rd expansion link,
Second ring gear is fixed in large arm, second sun gear is arranged on the center of the second ring gear by revolute pair 14, second planetary gear is arranged between the second ring gear and the second sun gear, third connecting rod one end is connected on the second planetary gear by revolute pair 15, the third connecting rod other end is connected with the 5th expansion link one end by revolute pair 16, the 5th expansion link other end is connected to the second scraper bowl back by revolute pair 17, fourth link one end is connected on the second expansion link by revolute pair 18, the fourth link other end is connected on the 3rd sliding sleeve by revolute pair 19, 3rd sliding sleeve is sleeved on the 4th expansion link, base is connected in walking mechanism by revolute pair 20.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610316794.1A CN105798882B (en) | 2016-05-15 | 2016-05-15 | A kind of reciprocating positioning mobile device of planet wheel drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610316794.1A CN105798882B (en) | 2016-05-15 | 2016-05-15 | A kind of reciprocating positioning mobile device of planet wheel drive |
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| Publication Number | Publication Date |
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| CN105798882A true CN105798882A (en) | 2016-07-27 |
| CN105798882B CN105798882B (en) | 2019-07-02 |
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| CN201610316794.1A Active CN105798882B (en) | 2016-05-15 | 2016-05-15 | A kind of reciprocating positioning mobile device of planet wheel drive |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272351A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of multi-functional robot palletizer |
| CN106313063A (en) * | 2016-09-06 | 2017-01-11 | 广西大学 | Electromechanically-controlled large-load palletizing robot |
| CN107363759A (en) * | 2017-09-06 | 2017-11-21 | 昆山昌禾精密电子有限公司 | A kind of regulation panel assembly being conveniently adjusted |
| CN107673081A (en) * | 2017-09-26 | 2018-02-09 | 广西南宁栩兮科技有限公司 | A kind of multiple degrees of freedom robot palletizer |
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2016
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| CN103726532A (en) * | 2013-12-17 | 2014-04-16 | 广西大学 | Controllable symmetrical-and-parallel mechanism type loader |
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| CN107673081A (en) * | 2017-09-26 | 2018-02-09 | 广西南宁栩兮科技有限公司 | A kind of multiple degrees of freedom robot palletizer |
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| Publication number | Publication date |
|---|---|
| CN105798882B (en) | 2019-07-02 |
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Effective date of registration: 20200922 Address after: 215400 phase three, Fu Qiao Industrial Zone, floating bridge town, Suzhou, Jiangsu, Taicang Patentee after: TAICANG JIA RUI PRECISION MOULD Co.,Ltd. Address before: 530022 the Guangxi Zhuang Autonomous Region Nanning Qingxiu District National Road No. 131 Hangyang international city building 2, room 1712 Patentee before: GUANGXI NANNING XUXI TECHNOLOGY Co.,Ltd. |
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