CN103240737B - 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
CN103240737B
CN103240737B CN201310166792.5A CN201310166792A CN103240737B CN 103240737 B CN103240737 B CN 103240737B CN 201310166792 A CN201310166792 A CN 201310166792A CN 103240737 B CN103240737 B CN 103240737B
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China
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flexible cable
rod
sarasota
crank
combination drive
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CN201310166792.5A
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Chinese (zh)
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CN103240737A (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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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, particularly relate to a kind of space three-translational freedom degree combination drive wound form flexible cable parallel mechanism.

Background technology

Combination drive flexible cable parallel mechanism, as the one in flexible parallel mechanism, is study hotspot and the Frontier of Jin10Nian Lai international body, is also that Chinese scholar has one of research field of Important Academic impact in the world.Combination drive flexible parallel mechanism is the nonlinear system of closed loop elastic multi-body more than, its compatibility high efficiency of traditional flexible cable mechanism, high-bearing capacity and the flexible adjustable advantage of servo-actuating device, when compensate for again traditional flexible cable mechanism driven by servomotor, the defect of large load can not be born by mechanism, and very large acceleration can be produced, better flexibility and stronger adaptability is had compared to conventional flexible cable parallel mechanism, simple with its structure, easy to assemble, can recombinate, the degree of modularity is high, load capacity is strong, fast and the lower-price characteristic of movement velocity, at processing manufacturing industry, assembly industry, health care, the extensive use of the field such as marine exploration and space flight.

In 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 proposed inherits the advantage of conventional parallel mechanism, there is high-mechanic, high accuracy, work that speed is adjustable exports, and achieve the output of high-performance motion.But in recent years, along with the application of flexible cable parallel mechanism at engineering field constantly expands, also combination drive flexible cable parallel mechanism is had higher requirement, not only need to have high-mechanic, high accuracy, work that speed is adjustable exports, and need to provide different working spaces.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, flexible cable is connected directly between on five connecting rods, the length of flexible cable immobilizes, thus cause the working space of flexible cable parallel mechanism to change, large, flexible high, that self adaptation the is strong feature of flexible cable parallel mechanism working space is limited, and cannot fully demonstrate out.At present, combination drive five connecting rod flexible cable parallel mechanism also cannot address this problem.

Summary of the invention

Goal of the invention: the deficiency that conventional combination drive flexible cable Parallel mechanism flexible cable in prior art can not be wound around in order to overcome, working space is fixing, the invention provides a kind of Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism, heavy load running, high-performance movement output can not only be realized, and possess the adjustable feature of movement velocity, large-scale working space can be applied to 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 the combination drive five connecting rod winding arrangement unit of three groups of distributions in isosceles triangle, one in the Sarasota support of regular triangular prism structure with three flexible cables;

Described Sarasota support comprise three Sarasota prisms and two ends respectively with the Sarasota crossbeam that adjacent two Sarasota prisms are fixing, the upper end of described Sarasota prism is provided with pulley bracket, and described pulley bracket is provided with pulley; Described Sarasota support installing is in the inner side of three groups of combination drive five connecting rod winding arrangement unit, and each group combination drive five connecting rod winding arrangement unit is just installed a Sarasota prism respectively;

Described combination drive five connecting rod winding arrangement unit comprises pedestal, constant 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 the central rotating shaft line of described capstan winch and base position are fixed; Described constant speed motor drives A crank by decelerator; Described small belt pulley, belt and big belt pulley form belt gear, and driven by servomotor small belt pulley rotates, and big belt pulley drives B crank; 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 all by can 360 ° rotate revolute pairs hinged, the revolute pair of the hinged A connecting rod other end and the B connecting rod other end is simultaneously hinged with capstan winch bias simultaneously, and described capstan winch can be made contiguous circumferential around central rotating shaft line and rotate; Described A crank, A connecting rod, B crank, B connecting rod and winching operations are in same plane;

One end of described three flexible cables is wrapped on three capstan winches respectively, fixes after the other end walks around corresponding pulley successively with the weight being positioned at Sarasota support; Described corresponding capstan winch, flexible cable and pulley are operated in same plane.

In this case, constant speed motor is reduced rotating speed by decelerator, is increased moment, drives A crank; Servomotor drives 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, contiguous circumferential can be made around central rotating shaft line to rotate, realize the winding to flexible cable, flexible cable changes direction through leading block, thus drives weight action, realize carrying and lifting, complete the running of weight space three-translational freedom degree.

The mechanism that this case provides, have that structure is simple, working space is large, easy to assemble, can recombinate, the advantage such as the degree of modularity is high, load capacity is strong, movement velocity is fast; New architecture can be provided for lathe, robot, micro-positioning mechanism etc.

Preferably, all connected by shaft coupling between described servomotor and small belt pulley, between constant speed motor and decelerator.

Preferably, described each pulley bracket is provided with two pulleys, between described two pulleys, there is 0 ~ 90 ° of angle.

Preferably, described pulley bracket is arranged on the upper end of Sarasota prism by rotating mechanism; Like this, along with the change of flexible cable angle, leading block can Sarasota holder pivots relatively, and automatic adjustment direction, guarantees that flexible cable is positioned at the gathering sill of leading block all the time, do not derail.

Described flexible cable is hawser.

The collaborative work of described three groups of combination drive five connecting rod winding arrangement unit, along with increase or the shortening of flexible cable length, weight will carry out carrying and lift by six direction before and after up and down, completes 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, compared to the combination drive five-bar mechanism of routine, introduce the driving mechanism that can be wound around, make the length of every root flexible cable can significantly folding and unfolding, the working space of mechanism is changed, and weight can reach the conventional unapproachable position of combination drive flexible cable parallel mechanism; And this mechanism inherits the high efficiency of conventional mechanism, high-bearing capacity and the flexible adjustable advantage of servo-actuating device, and even bearing capacity also increases to some extent, improves the flexible performance of Systematical control; Hybrid drive and flexible cable parallel mechanism more perfectly merge together by this mechanism simultaneously, provide a kind ofly to operate with can completing heavy load, the device of the characteristics of motion of high output performance, realization complexity, be the mechanism of new generation that a kind of structure is simple and working space is large, cheap, there is far-reaching theory significance and practical engineering application value.

Accompanying drawing explanation

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.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is further described.

Be a kind of Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism as shown in Figure 1 and Figure 2, the combination drive five connecting rod winding arrangement unit 1, comprising three groups of distributions in isosceles triangle is Sarasota support 2, three flexible cables 16 and the weight 21 of regular triangular prism structure; Described flexible cable 16 is hawser.

Described Sarasota support 2 comprise three Sarasota prisms 17 and two ends respectively with the Sarasota crossbeam 18 that adjacent two Sarasota prisms 17 are fixing, the upper end of described Sarasota prism 17 is provided with pulley bracket 20, and described pulley bracket 20 can rotate by Sarasota prism 17 relatively; Described pulley bracket 20 is provided with two pulleys 19, between described two pulleys 19, there is angle; Described Sarasota support 2 is arranged on the inner side of three groups of combination drive five connecting rod winding arrangement unit 1, and each group combination drive five connecting rod winding arrangement unit 1 is just installed a Sarasota prism 17 respectively;

As shown in Figure 3, Figure 4, described combination drive five connecting rod winding arrangement unit 1 comprises pedestal 3, constant 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, and central rotating shaft line and pedestal 3 position of described capstan winch 14 are fixed; Described constant speed motor 4 drives A crank 6 to rotate by decelerator 5; Described small belt pulley 9, belt 10 and big belt pulley 8 form belt gear, and servomotor 13 drives small belt pulley 9 to rotate, and big belt pulley 8 drives B crank 11 to rotate; Between described A crank 6 and A connecting rod 7 one end, between B crank 11 and B connecting rod 12 one end, between A connecting rod 7 other end and B connecting rod 12 other end all by can 360 ° rotate revolute pairs hinged, the revolute pair of hinged A connecting rod 7 other end and B connecting rod 12 other end is simultaneously eccentric hinged with capstan winch 14 simultaneously, and described capstan winch 14 can be made contiguous circumferential around 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 same plane; Between described servomotor 13 and small belt pulley 9, all connected by shaft coupling 15 between constant speed motor 4 and decelerator 5.

One end of described three flexible cables 16 is wrapped on three capstan winches 14 respectively, fixes after the other end walks around corresponding pulley 19 successively with the weight 21 being positioned at Sarasota support 2; Described corresponding capstan winch 14, flexible cable 16 and pulley 19 are operated in 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, by three flexible cables 16 as medium and traction, determine overall work space by Sarasota support 2, jointly realize carrying and the lifting of weight 21 space three-translational freedom degree.Constant speed motor 4 and servomotor 13 are simultaneously as the drive unit of combination drive five connecting rod winding mechanism 1, the output speed of servomotor 13 controlling organization, constant speed motor 4 provides main moment for mechanism, constant speed motor 4 drives A crank 6 by decelerator 5, increase moment to provide, servomotor 13 is connected with B crank 11 by belt gear, and reduce output speed, both will export Movement transmit to next stage device by shaft coupling 15.The pin joint (i.e. the center output point of five connecting rods) of A connecting rod 7 and B connecting rod 12 is used as output point, and under certain controlled condition, the circular motion that can fix, drives the rotation of capstan winch 14; Capstan winch 14 pairs of flexible cables 16 are shunk and are discharged, and flexible cable 16 length being in Sarasota support 2 inside can increase or shorten.Wherein, when flexible cable 16 changes direction by leading block 19, due to the change of weight 21 position, also some changes can be there are in the angle of flexible cable 16, at this moment the pulley bracket 20 of leading block 19 can rotate at an angle, the change of the angle of self adaptation flexible cable 16, ensures that flexible cable 16 can not be derailed.After flexible cable 16 strides across Sarasota support 2, extend into the inside of Sarasota support 2, be connected to need carrying weight 21 above, along with increase or the shortening of flexible cable 16 length, weight 21 will carry out carrying and lift by six direction before and after up and down, completes the work of space three-translational freedom degree.

The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles 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 combination drive five connecting rods winding arrangement unit (1) of three groups of distributions in isosceles triangle, one in the Sarasota support (2) of regular triangular prism structure with three flexible cables (16);
Described Sarasota support (2) comprise three Sarasota prisms (17) and two ends respectively with the Sarasota crossbeam (18) that adjacent two Sarasota prisms (17) are fixing, the upper end of described Sarasota prism (17) is provided with pulley bracket (20), described pulley bracket (20) is provided with pulley (19); Described Sarasota support (2) is arranged on the inner side of three groups of combination drive five connecting rods winding arrangement unit (1), and each group combination drive five connecting rod winding arrangement unit (1) is just installed a Sarasota prism (17) respectively;
Described combination drive five connecting rod winding arrangement unit (1) comprises pedestal (3), constant 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), and central rotating shaft line and pedestal (3) position of described capstan winch (14) are fixed; Described constant speed motor (4) drives A crank (6) to rotate by decelerator (5); Described small belt pulley (9), belt (10) and big belt pulley (8) form belt gear, servomotor (13) drives small belt pulley (9) to rotate, and big belt pulley (8) drives B crank (11) to rotate; Between described A crank (6) and A connecting rod (7) one end, between B crank (11) and B connecting rod (12) one end, between A connecting rod (7) other end and B connecting rod (12) other end all by can 360 ° rotate revolute pairs hinged, the revolute pair of hinged A connecting rod (7) other end and B connecting rod (12) other end is simultaneously eccentric hinged with capstan winch (14) simultaneously, and described capstan winch (14) can be made contiguous circumferential around 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 same plane;
One end of described three flexible cables (16) is wrapped on three capstan winches (14) respectively, and the other end is walked around corresponding pulley (19) successively and fixed with the weight (21) being positioned at Sarasota support (2) afterwards; Described corresponding capstan winch (14), flexible cable (16) and pulley (19) are operated in same plane.
2. Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism according to claim 1, be is characterized in that: all connected by shaft coupling (15) between described servomotor (13) and small belt pulley (9), between constant speed motor (4) and decelerator (5).
3. Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism according to claim 1, it is characterized in that: described each pulley bracket (20) is provided with two pulleys (19) there is 0 ~ 90 ° of angle between described two pulleys (19).
4. the Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism according to claim 1 or 3, is characterized in that: described pulley bracket (20) is arranged on the upper end of Sarasota prism (17) by rotating mechanism.
5. Three Degree Of Freedom combination drive wound form flexible cable parallel mechanism according to claim 1, is characterized in that: described flexible cable (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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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
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
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
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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