CN103240737A - Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism - Google Patents

Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism Download PDF

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Publication number
CN103240737A
CN103240737A CN2013101667925A CN201310166792A CN103240737A CN 103240737 A CN103240737 A CN 103240737A CN 2013101667925 A CN2013101667925 A CN 2013101667925A CN 201310166792 A CN201310166792 A CN 201310166792A CN 103240737 A CN103240737 A CN 103240737A
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China
Prior art keywords
rod
flexible cable
sarasota
crank
pulley
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CN2013101667925A
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Chinese (zh)
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CN103240737B (en
Inventor
訾斌
孙辉辉
朱真才
吴瑕
韩雪
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中国矿业大学
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Priority to CN201310166792.5A priority Critical patent/CN103240737B/en
Publication of CN103240737A publication Critical patent/CN103240737A/en
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Abstract

The invention discloses a three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism which comprises three hybrid drive five-bar winding structure units in triangular distribution, a cable bent tower support of a regular triangular prism structure and three flexible cables. A drive mechanism capable of winding is introduced into the mechanism, so that length of each flexible cable can be contracted and released greatly, working space of the mechanism is changed, and weights can reach positions difficult to reach by conventional hybrid drive flexible cable parallel mechanisms; a hybrid driving mechanism and the flexible cable parallel mechanism are integrated more perfectly; and the three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism is capable of completing high-load operation and achieving high output performance and complex movement rules, has profound theoretical significance and practical value of engineering application, and is a new generation mechanism which is simple in structure, large in working space and low in cost.

Description

Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism
Technical field
The present invention relates to a kind of combination drive flexible cable parallel mechanism, relate in particular to a kind of space three-translational freedom degree combination drive wound form flexible cable parallel mechanism.
Background technology
A kind of as in the flexible parallel connection mechanism of combination drive flexible cable parallel mechanism is research focus and the subject forward position that international body is learned over nearly 10 years, also is one of Chinese scholar research field of having important academic influence in the world.Combination drive flexible parallel connection mechanism is the nonlinear system of many elastomers of closed loop more than, its compatibility the high efficiency of traditional flexible cable mechanism, the flexible adjustable advantage of high-bearing capacity and servo-actuating device, the defective of big load can not be born by mechanism when having remedied traditional flexible cable mechanism driven by servomotor again, and can produce very big acceleration, have better flexibility and stronger adaptability than conventional flexible cable parallel mechanism, simple in structure with it, easy to assemble, can recombinate, degree of modularity height, load capacity is strong, fast and the lower-price characteristic of movement velocity is at processing manufacturing industry, assembly industry, health care, the extensive use of field such as marine exploration and space flight.
In the Chinese patent 200910233341.2 disclosed " spatial three-dimensional translational degree of freedom (DOF) combination drive flexible cable parallel mechanism ", the combination drive flexible cable parallel mechanism that proposes has been inherited the advantage of traditional parallel institution, have the work output of high-mechanic, high accuracy, adjustable-speed, and realized the output of high-performance motion.Yet in recent years, along with the application of flexible cable parallel mechanism in the engineering field constantly enlarges, also the combination drive flexible cable parallel mechanism is had higher requirement, not only need to have high-mechanic, the work of high accuracy, adjustable-speed output, and different working spaces need be provided.The driving mechanism of " spatial three-dimensional translational degree of freedom (DOF) combination drive flexible cable parallel mechanism " is the plane five-bar mechanism of combination drive, gentle rope directly is connected on five connecting rods, the length of gentle rope immobilizes, thereby cause the working space of flexible cable parallel mechanism to change, big, the flexible characteristics high, that self adaptation is strong of flexible cable parallel mechanism working space are limited, and can't demonstrate fully out.At present, combination drive five connecting rod flexible cable parallel mechanisms also can't address this problem.
Summary of the invention
Goal of the invention: in order to overcome the deficiency that the gentle Suo Buneng of the gentle rope parallel machine mechanism of conventional combination drive twines in the prior art, working space is fixing, the invention provides a kind of Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism, not only can realize heavy load running, high-performance motion output, and possess the adjustable characteristics of movement velocity, can be applied to large-scale working space simultaneously.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism comprises that three groups are combination drive five connecting rod winding arrangement unit, Sarasota support and three gentle ropes that are the regular triangular prism structure that isosceles triangle distributes;
Described Sarasota support comprise the prismatic and two ends of three Sarasotas respectively with the prismatic Sarasota crossbeam of fixing of adjacent two Sarasotas, the upper end of described Sarasota prism is equipped with pulley bracket, on the described pulley bracket pulley is installed; Described Sarasota support is installed in the inboard of three groups of combination drives, five connecting rod winding arrangement unit, and each group combination drive five connecting rod winding arrangement unit is installed over against a Sarasota is prismatic respectively;
Described combination drive five connecting rod winding arrangement unit comprise pedestal, normal speed motor, decelerator, A crank, A connecting rod, servomotor, small belt pulley, belt, big belt pulley, B crank, B connecting rod and capstan winch, and central rotating shaft line and the base position of described capstan winch are fixed; Described normal speed motor drives the A crank by decelerator and rotates; Described small belt pulley, belt and big belt pulley constitute belt gear, and the driven by servomotor small belt pulley rotates, and big belt pulley drives the B crank and rotates; All hinged by revolute pair that can 360 ° of rotations between described A crank and A connecting rod one end, between B crank and B connecting rod one end, between the A connecting rod other end and the B connecting rod other end, the revolute pair of the hinged A connecting rod other end and the B connecting rod other end is simultaneously hinged with capstan winch off-centre simultaneously, and described capstan winch can be made contiguous circumferential around the central rotating shaft line and rotate; Described A crank, A connecting rod, B crank, B connecting rod and capstan winch are operated in the same plane;
One end of described three gentle ropes is wrapped in respectively on three capstan winches, and the other end is fixed with the weight that is positioned at the Sarasota support after walking around corresponding pulley successively; Corresponding capstan winch, gentle rope and pulley are operated in the same plane.
In this case, normal speed motor reduces rotating speed, increases moment by decelerator, drives the A crank; Servomotor drives the B crank by belt transmission agency; Under the driving of A crank and B crank, A connecting rod and B connecting rod are synchronized with the movement, capstan winch motion under the associated movement of A connecting rod and B connecting rod drives, can make contiguous circumferential around the central rotating shaft line rotates, realization is to the winding of gentle rope, and gentle rope changes direction through leading block, thereby drives the weight action, realize carrying and lifting, finish the running of weight space three-translational freedom degree.
The mechanism that this case provides, have simple in structure, working space is big, easy to assemble, can recombinate, degree of modularity height, advantage such as load capacity is strong, movement velocity is fast; Can provide new architecture for lathe, robot, fine motion operator etc.
Preferably, between described servomotor and the small belt pulley, all connect by shaft coupling between normal speed motor and the decelerator.
Preferably, two pulleys are installed on described each pulley bracket, have 0~90 ° of angle between described two pulleys.
Preferably, described pulley bracket is installed in the upper end of Sarasota prism by rotating mechanism; Like this, along with the change of gentle rope angle, leading block can rotate relative to the Sarasota support, adjusts direction automatically, guarantees that gentle rope is positioned at the gathering sill of leading block all the time, does not derail.
Described gentle rope is hawser.
Described three groups of combination drives, five connecting rod winding arrangement unit collaborative works, along with increase or the shortening of gentle Suo Changdu, weight will be carried and lift by six direction before and after up and down, finishes the work of space three-translational freedom degree
Beneficial effect: Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism provided by the invention, combination drive five-bar mechanism than routine, introduced the driving mechanism that can twine, make the length folding and unfolding significantly of every gentle rope, the working space of mechanism is changed, and weight can reach the unapproachable position of conventional combination drive flexible cable parallel mechanism; And the flexible adjustable advantage of high efficiency, high-bearing capacity and servo-actuating device of conventional mechanism has been inherited by this mechanism, even also increase to some extent of bearing capacity, has improved the flexible performance of system's control; This mechanism more perfectly merges hybrid drive and flexible cable parallel mechanism together simultaneously, a kind of device that can finish the characteristics of motion of heavy load ground running, high output performance, realization complexity is provided, be a kind of simple in structure and mechanism of new generation that working space is big, cheap, have far-reaching theory significance and practical engineering application and be worth.
Description of drawings
Fig. 1 is main TV structure schematic diagram of the present invention;
Fig. 2 is plan structure schematic diagram of the present invention;
Fig. 3 is the main TV structure schematic diagram of combination drive five connecting rod winding mechanism unit;
Fig. 4 is the plan structure schematic diagram of combination drive five connecting rod winding mechanism unit.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done further explanation.
Be a kind of Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism as shown in Figure 1 and Figure 2, comprise that three groups are combination drive five connecting rod winding arrangement unit 1 that isosceles triangle distributes, Sarasota support 2 that is the regular triangular prism structure, three gentle ropes 16 and weight 21; Described gentle rope 16 is hawser.
Described Sarasota support 2 comprise three Sarasotas prismatic 7 and two ends respectively with the fixing Sarasota crossbeam 18 of adjacent two Sarasotas prismatic 7, the upper end of described Sarasota prism 7 is equipped with pulley bracket 20, described pulley bracket 20 Sarasota prism 7 relatively rotates; Two pulleys 19 are installed on the described pulley bracket 20, have angle between described two pulleys 19; Described Sarasota support 2 is installed in the inboard of three groups of combination drives, five connecting rod winding arrangement unit 1, and each group combination drive five connecting rod winding arrangement unit 1 is installed over against a Sarasota prismatic 7 respectively;
As shown in Figure 3, Figure 4, described combination drive five connecting rod winding arrangement unit 1 comprise pedestal 3, normal speed motor 4, decelerator 5, A crank 6, A connecting rod 7, servomotor 13, small belt pulley 9, belt 10, big belt pulley 8, B crank 11, B connecting rod 12 and capstan winch 14, the central rotating shaft line of described capstan winch 14 and pedestal 3 fixed-site; Described normal speed motor 4 drives A crank 6 by decelerator 5 and rotates; Described small belt pulley 9, belt 10 and big belt pulley 8 constitute belt gear, and servomotor 13 drives small belt pulley 9 and rotates, and big belt pulley 8 drives B crank 11 and rotates; All hinged by revolute pair that can 360 ° of rotations between described A crank 6 and A connecting rod 7 one ends, between B crank 11 and B connecting rod 12 1 ends, between A connecting rod 7 other ends and B connecting rod 12 other ends, the revolute pair of hinged A connecting rod 7 other ends and B connecting rod 12 other ends is eccentric hinged with capstan winch 14 simultaneously simultaneously, and described capstan winch 14 can be made contiguous circumferential around the central rotating shaft line and rotate; Described A crank 6, A connecting rod 7, B crank 11, B connecting rod 12 and capstan winch 14 are operated in the same plane; Between described servomotor 13 and the small belt pulley 9, between normal speed motor 4 and the decelerator 5 all by shaft coupling 15 connections.
One end of described three gentle ropes 16 is wrapped in respectively on three capstan winches 14, and it is fixing with the weight 21 that is positioned at Sarasota support 2 that the other end is walked around corresponding pulley 19 backs successively; Corresponding capstan winch 14, gentle rope 16 and pulley 19 are operated in the same plane.
In this structure, three groups of combination drive five connecting rod winding mechanism unit 1 are as the promoter of position and power, as media and traction, determine overall work space by Sarasota support 2 by three gentle ropes 16, realize carrying and the lifting of weight 21 space three-translational freedom degrees jointly.Normal electric motor with speed 4 and 13 whiles of servomotor are as the drive unit of combination drive five connecting rod winding mechanisms 1, the output speed of servomotor 13 controlling organizations, normal speed motor 4 provides main moment for mechanism, normal speed motor 4 drives A crank 6 by decelerator 5, increasing moment provides, servomotor 13 links to each other with B crank 11 by belt gear, reduces output speed, and both pass to the next stage device by shaft coupling 15 with output movement.The pin joint of A connecting rod 7 and B connecting rod 12 (i.e. the center output point of five connecting rods) is used as output point, and under certain controlled condition, the circular motion that can fix drives the rotation of capstan winch 14; 14 pairs of gentle ropes 16 of capstan winch shrink and discharge, and gentle rope 16 length that are in Sarasota support 2 inside can increase or shorten.Wherein, when gentle rope 16 changes direction by leading block 19, because the variation of weight 21 positions, some variations also can take place in the angle of gentle rope 16, at this moment the pulley bracket 20 of leading block 19 can rotate at an angle, and the variation of the angle of the gentle rope 16 of self adaptation guarantees that gentle rope 16 can not derail.After gentle rope 16 strides across Sarasota support 2, extend into the inside of Sarasota support 2, be connected to above the weight 21 that needs carrying, along with increase or the shortening of gentle rope 16 length, weight 21 will be carried and lift by six direction before and after up and down, finishes the work of space three-translational freedom degree.
The above only is preferred embodiment of the present invention; be noted that for those skilled in the art; under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (5)

1. Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism is characterized in that: comprise that three groups are combination drive five connecting rod winding arrangement unit (1), Sarasota support (2) and three gentle ropes (16) that are the regular triangular prism structure that isosceles triangle distributes;
Described Sarasota support (2) comprise three Sarasota prisms (7) and two ends respectively with the fixing Sarasota crossbeam (18) of adjacent two Sarasota prisms (7), the upper end of described Sarasota prism (7) is equipped with pulley bracket (20), and pulley (19) is installed on the described pulley bracket (20); Described Sarasota support (2) is installed in the inboard of three groups of combination drives, five connecting rod winding arrangement unit (1), and each group combination drive five connecting rod winding arrangement unit (1) is installed over against a Sarasota prism (7) respectively;
Described combination drive five connecting rod winding arrangement unit (1) comprise pedestal (3), normal speed motor (4), decelerator (5), A crank (6), A connecting rod (7), servomotor (13), small belt pulley (9), belt (10), big belt pulley (8), B crank (11), B connecting rod (12) and capstan winch (14), the central rotating shaft line of described capstan winch (14) and pedestal (3) fixed-site; Described normal speed motor (4) drives A crank (6) by decelerator (5) and rotates; Described small belt pulley (9), belt (10) and big belt pulley (8) constitute belt gear, and servomotor (13) drives small belt pulley (9) and rotates, and big belt pulley (8) drives B crank (11) and rotates; All hinged by revolute pair that can 360 ° of rotations between described A crank (6) and A connecting rod (7) one ends, between B crank (11) and B connecting rod (12) one ends, between A connecting rod (7) other end and B connecting rod (12) other end, the revolute pair of hinged A connecting rod (7) other end and B connecting rod (12) other end is eccentric hinged with capstan winch (14) simultaneously simultaneously, and described capstan winch (14) can be made contiguous circumferential around the central rotating shaft line and rotate; Described A crank (6), A connecting rod (7), B crank (11), B connecting rod (12) and capstan winch (14) are operated in the same plane;
One end of described three gentle ropes (16) is wrapped in respectively on three capstan winches (14), and it is fixing with the weight (21) that is positioned at Sarasota support (2) that the other end is walked around corresponding pulley (19) back successively; Corresponding capstan winch (14), gentle rope (16) and pulley (19) are operated in the same plane.
2. Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism according to claim 1 is characterized in that: between described servomotor (13) and the small belt pulley (9), all connect by shaft coupling (15) between normal speed motor (4) and the decelerator (5).
3. Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism according to claim 1 is characterized in that: two pulleys (19) are installed on described each pulley bracket (20), have 0~90 ° of angle between described two pulleys (19).
4. according to claim 1 or 3 described Three Degree Of Freedom combination drive wound form flexible cable parallel mechanisms, it is characterized in that: described pulley bracket (20) is installed in the upper end of Sarasota prism (7) by rotating mechanism.
5. Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism according to claim 1, it is characterized in that: described gentle rope (16) is hawser.
CN201310166792.5A 2013-05-08 2013-05-08 Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism CN103240737B (en)

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Cited By (6)

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CN104385300A (en) * 2014-07-24 2015-03-04 合肥工业大学 Operational monitoring device and method for winding type hybrid drive wire driven parallel robot
CN104385303A (en) * 2014-09-23 2015-03-04 合肥工业大学 Circular orbit-type safety monitoring device and monitoring method for wire driven parallel robot
CN105171741A (en) * 2015-10-26 2015-12-23 清华大学 Planar two-degree-of-freedom super-span cable parallel robot structure
CN106868569A (en) * 2016-12-26 2017-06-20 江苏长虹智能装备集团有限公司 A kind of automobile coating conveyor based on rope parallel architecture
CN109551469A (en) * 2018-10-24 2019-04-02 上海交通大学 Mechanical arm based on the driving of more motor coupling lines
CN109746900A (en) * 2019-02-01 2019-05-14 北京众绘虚拟现实技术研究院有限公司 A kind of three translation parallel device for force feedback of medical simulation

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104385300A (en) * 2014-07-24 2015-03-04 合肥工业大学 Operational monitoring device and method for winding type hybrid drive wire driven parallel robot
CN104385300B (en) * 2014-07-24 2015-12-02 合肥工业大学 Can wound form hybrid-driven wire parallel robot device for monitoring running and method
CN104385303A (en) * 2014-09-23 2015-03-04 合肥工业大学 Circular orbit-type safety monitoring device and monitoring method for wire driven parallel robot
CN104385303B (en) * 2014-09-23 2016-05-11 合肥工业大学 For circular orbit formula safety monitoring device and the method for supervising of flexible cable parallel robot
CN105171741A (en) * 2015-10-26 2015-12-23 清华大学 Planar two-degree-of-freedom super-span cable parallel robot structure
CN106868569A (en) * 2016-12-26 2017-06-20 江苏长虹智能装备集团有限公司 A kind of automobile coating conveyor based on rope parallel architecture
CN106868569B (en) * 2016-12-26 2019-01-04 江苏长虹机械设计院有限公司 A kind of automobile coating conveyor based on rope parallel architecture
CN109551469A (en) * 2018-10-24 2019-04-02 上海交通大学 Mechanical arm based on the driving of more motor coupling lines
CN109551469B (en) * 2018-10-24 2020-07-14 上海交通大学 Mechanical arm based on multi-motor coupling line driving
CN109746900A (en) * 2019-02-01 2019-05-14 北京众绘虚拟现实技术研究院有限公司 A kind of three translation parallel device for force feedback of medical simulation

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