CN104476566A - Three-branch and six-degree-of-freedom parallel mechanism with rope-driven joint - Google Patents
Three-branch and six-degree-of-freedom parallel mechanism with rope-driven joint Download PDFInfo
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- CN104476566A CN104476566A CN201410700723.2A CN201410700723A CN104476566A CN 104476566 A CN104476566 A CN 104476566A CN 201410700723 A CN201410700723 A CN 201410700723A CN 104476566 A CN104476566 A CN 104476566A
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Abstract
The invention provides a three-branch and six-degree-of-freedom parallel mechanism with a rope-driven joint, and relates to the fields of robot structural mechanics, medical apparatus and instrument and locating devices. The parallel mechanism comprises a moving platform, a fixed platform, and three moving branches for connecting the two platforms; each moving branch is arranged from the fixed platform to the moving platform, comprising a driving motor, a speed reducer, a rope sheave, a driving rope, a rope-driven rotating joint, a rope-driven linear joint and a ball hinge. The parallel mechanism, by being compared with the currently existing six-degree-of-freedom parallel mechanism, has the advantages that the rope-driven rotating joint and the rope-driven linear joint are used as the driving devices; the rope-driven mode is featured in that all traction motors can be positioned to the fixed platform so as to greatly reduce the load of a mechanism body as well as improve the transmission performance, and moreover, the fluttering of the mechanism in moving can be effectively reduced, and as a result, an important realistic significance of developing the parallel mechanism in the fields of medical apparatus and instrument and locating devices is brought.
Description
Technical field
The present invention relates to the fields such as robot mechanism, medicine equipment, positioner, especially a kind of three-branch chain six-freedom degree parallel mechanism containing rope driving joint.
Background technology
Parallel institution is one group of mechanism be formed in parallel by two or more branch.Its feature is that all branches can accept driver input simultaneously, and finally jointly provides output, and theory of mechanisms belongs to multichannel closed loop mechanical system.Being referred to as parallel architecture equipment using parallel institution as the Digit Control Machine Tool of transmission feeding mechanism, robot manipulator and the manufacturing cell that forms thus, is a kind of novel manufacturing equipment having broad prospect of application that development in recent years is got up.Parallel robot mechanism is widely used in the technical fields such as large-scale analog machine, robot, Digit Control Machine Tool, sensor, micromanipulator, engraving machine and measuring machine.Stewart platform is a kind of typical parallel robot mechanism, this mechanism has 6 frees degree, the revolution of machine tool structure since being considered to twentieth century for parallel robot and Digit Control Machine Tool first, has invented multiple 6DOF parallel institution after which.
The type of drive of current existing 6DOF parallel institution mainly contains two kinds of forms: one is by electric motor-driving way, namely form straight line sliding motion by component combinations such as motor-screw mandrel-nuts together, and arrive position and the attitude of expection by sliding motion actuation movement platform; Another kind of mode adopts Fluid-transmission mode, namely utilize hydraulic cylinder or cylinder flexible come actuation movement platform move.With regard to current application practice, these two kinds of type of drive cut both ways.Utilize motor to drive and have fast response time, transmission efficiency is high, and kinematic accuracy is high, is easy to the advantages such as control, but also has that cost is high, environmental suitability is poor, the not high deficiency of poor rigidity, load capacity; And for Driven by Hydraulic Cylinder mode, there is the advantages such as bearing capacity is large, environmental suitability strong, stable movement, but also there is the shortcoming such as high, the easy leakage of maintenance cost, kinematic accuracy difference.
In engineer applied, some specific occasion is medical operating assistive device, dangerous material carrying etc. such as, often needs some to take into account a kind of type of drive of above-mentioned two kinds of type of drive advantages, and patent still not relevant at present.
Summary of the invention
The object of the invention is to overcome prior art above shortcomings, a kind of three-branch chain six-freedom degree parallel mechanism containing rope driving joint is proposed, by utilizing rope to drive linear joint, make the advantages such as mechanism has fast response time, transmission efficiency is high, environmental suitability is strong, stable movement.
Technical scheme of the present invention:
Containing a three-branch chain six-freedom degree parallel mechanism for rope driving joint, be made up of three identical movement branched chain of version of above-mentioned two platforms of fixed platform, motion platform and connection; Wherein every bar movement branched chain drives cradle head, rope driving linear joint and spherical hinge to form to motion platform by drive motors and speed reducer device, rope sheave, driving rope, rope by fixed platform;
Described drive motors and speed reducer device have two covers, are arranged on respectively on the motor cabinet that connects firmly with fixed platform, and are respectively used to drive rope to drive cradle head and rope to drive linear joint; Rope in movement branched chain drives the upper end of linear joint to be connected with motion platform by spherical hinge, and rope drives the lower end of linear joint to drive cradle head to be connected with fixed platform by rope.
Described rope drives linear joint to comprise and is set in together and telescopic hollow overcoat and flexible interior bar, in flexible, the lower end of bar drives to restrict through the idle wheel and first of hollow jacket bottom and is connected, second drives rope turned back downwards by the idle wheel of hollow outer set upper side and be connected with the lower end of flexible interior bar, and two drive the other end of rope all fixing with the rope sheave on drive motors and speed reducer device output shaft and reverse-winding.
Described rope drives cradle head to comprise the moving runner driving linear joint lower end fixing with rope, this moving runner is installed on the stationary platform by hinge, is driven between the rope sheave on moving runner and drive motors and speed reducer device output shaft by the driving rope of two reverse-windings.
When driving six motors of all three movement branched chain to carry out rotating forward or reversing simultaneously, movement branched chain can produce to be extended or shortens and rotate forward or reversion fortune merit, thus brought into motion platform reaches different positions, realizes different attitudes.
And described rope drives cradle head can drop the 3rd when motor and speed reducer drives rope sheave to turn and drives rope and unclasp 4 wheel driven running rope, thus realizes the rotation that rope drives cradle head simultaneously; Similar, 4 wheel driven running rope can be dropped when motor and speed reducer drives rope sheave to reversely rotate and also unclasp the 3rd driving rope simultaneously, thus realize rotating backward of rope driving cradle head.
And, when described rope drives linear joint can drop the first driving rope when motor and speed reducer drives rope sheave to rotate and unclasp the second driving rope simultaneously, thus realize the elongation that rope drives linear joint; Similar, the second driving rope can be dropped when motor and speed reducer drives rope sheave to reversely rotate and unclasp the first driving rope simultaneously, thus realizing the shortening that rope drives linear joint.
advantage of the present invention and beneficial effect:
1, utilize rope driving joint to achieve three side chain parallel institutions and have six-freedom motion output, this proposes effective solution for the deficiency overcoming common six branch chain six-freedom degree parallel mechanisms.
2, all drive motors of mechanism are positioned on fixed platform completely, greatly reduce the motional inertia of whole mechanism, thus can realize the high-speed motion of mechanism, the kinematic dexterity of raising mechanism.
3, owing to adopting rope type of drive, make, between the drive motors of mechanism and mechanism itself, there is larger arrangement space, be highly suitable for electric device very hostile environment, as the operation etc. of underwater environment.
4, owing to have employed rope driving joint, make each side chain of mechanism in motion process, greatly reduce the appearance of trembling, be therefore with a wide range of applications in fields such as surgery assistor tool, dangerous material carryings.
Accompanying drawing explanation
Fig. 1 is a kind of three-branch chain six-freedom degree parallel mechanism structure schematic diagram containing rope driving joint of the present invention.
Fig. 2 is the fundamental diagram of the rope driving linear joint in a movement branched chain of the present invention.
Fig. 3 is the close-up schematic view that rope of the present invention drives linear joint.
Fig. 4 is the fundamental diagram that rope of the present invention drives cradle head.
In figure, 1 motion platform, 2 spherical hinges, 3 ropes drive linear joint, 4 motor cabinets, 5 motors and reducer arrangement 1,6 rope sheave 1,7 rope sheave 2,8 motors and reducer arrangement 2,9 are restricted and are driven cradle head, 10 fixed platforms, 11 first drive rope, and 12 second drive rope, and 13 ropes drive the hinge in cradle head, 14 ropes drive linear joint overcoat, bar in 15 rope driving linear joints are flexible, 16 idle wheels, 17 ropes drive the moving runner in cradle head, and 18 the 3rd drive rope, 19 4 wheel driven running ropes.
Be described in detail with reference to accompanying drawing below in conjunction with embodiments of the invention.
Detailed description of the invention
Containing a three-branch chain six-freedom degree parallel mechanism for rope driving joint, this mechanism is made up of three identical movement branched chain of version of above-mentioned two platforms of fixed platform, motion platform and connection; Wherein every bar movement branched chain drives cradle head, rope driving linear joint and spherical hinge to form to motion platform by drive motors and speed reducer device, rope sheave, driving rope, rope by fixed platform;
Described drive motors and speed reducer device have two covers 5,8, are arranged on respectively on the motor cabinet 4 that connects firmly with fixed platform 10, and are respectively used to drive rope to drive cradle head 9 and rope to drive linear joint 3; Rope in movement branched chain drives the upper end of linear joint to be connected with motion platform 1 by spherical hinge 2, and rope drives the lower end of linear joint to drive cradle head to be connected with fixed platform 10 by rope.
Described rope drive linear joint to comprise to be set in together and telescopic hollow overcoat 14 and inner flexible in bar 15(see Fig. 3), in flexible, the lower end of bar drives rope 11 to be connected through the idle wheel and first of hollow jacket bottom, second drives rope 12 turned back downwards by the idle wheel 16 of hollow outer set upper side and be connected with the lower end of flexible interior bar, and two drive the other end of ropes 11,12 all fixing with the rope sheave 6 on drive motors and speed reducer device 5 output shaft and reverse-winding.
The moving runner 17(that described rope drives cradle head 9 to comprise to drive linear joint lower end to fix with rope is see Fig. 4), this moving runner is arranged in fixed platform 10 by hinge 13, is driven between the rope sheave 7 on moving runner and drive motors and speed reducer device 8 output shaft by the driving rope 18,19 of two reverse-windings.
When driving six motors of all three side chains to carry out rotating forward or reversing simultaneously, side chain can produce and extend or shorten and rotate forward or reversion fortune merit, thus brought into motion platform reaches different positions, realizes different attitudes.
And, when described rope drives cradle head can drop the 3rd driving rope when motor and speed reducer drives rope sheave to rotate and unclasp 4 wheel driven running rope simultaneously, thus realize the rotation of rope driving cradle head; Similar, 4 wheel driven running rope can be dropped when motor and speed reducer drives rope sheave to reversely rotate and also unclasp the 3rd driving rope simultaneously, thus realize rotating backward of rope driving cradle head.
And, when described rope drives linear joint can drop the first driving rope when motor and speed reducer drives rope sheave to rotate and unclasp the second driving rope simultaneously, thus realize the elongation that rope drives linear joint; Similar, the second driving rope can be dropped when motor and speed reducer drives rope sheave to reversely rotate and unclasp the first driving rope simultaneously, thus realizing the shortening that rope drives linear joint.
Although disclose embodiments of the invention and accompanying drawing for the purpose of illustration, but it will be appreciated by those skilled in the art that: in the spirit and scope not departing from the present invention and claims, various replacement, change and amendment are all possible, therefore, scope of the present invention is not limited to the content disclosed in embodiment and accompanying drawing.
Claims (3)
1., containing a three-branch chain six-freedom degree parallel mechanism for rope driving joint, it is characterized in that this mechanism is made up of three identical movement branched chain of version of above-mentioned two platforms of fixed platform, motion platform and connection; Wherein every bar movement branched chain drives cradle head, rope driving linear joint and spherical hinge to form to motion platform by drive motors and speed reducer device, rope sheave, driving rope, rope by fixed platform;
Described drive motors and speed reducer device have two covers, are arranged on respectively on the motor cabinet that connects firmly with fixed platform, and are respectively used to drive rope to drive cradle head and rope to drive linear joint; Rope in movement branched chain drives the upper end of linear joint to be connected with motion platform by spherical hinge, and rope drives the lower end of linear joint to drive cradle head to be connected with fixed platform by rope.
2. the three-branch chain six-freedom degree parallel mechanism containing rope driving joint according to claim 1, it is characterized in that: described rope drives linear joint to comprise and is set in together and telescopic hollow overcoat and flexible interior bar, in flexible, the lower end of bar drives to restrict through the idle wheel and first of hollow jacket bottom and is connected, second drives rope turned back downwards by the idle wheel of hollow outer set upper side and be connected with the lower end of flexible interior bar, and two drive the other end of rope all fixing with the rope sheave on drive motors and speed reducer device output shaft and reverse-winding.
3. the three-branch chain six-freedom degree parallel mechanism containing rope driving joint according to claim 1, it is characterized in that: described rope drives cradle head to comprise the moving runner driving linear joint lower end fixing with rope, this moving runner is installed on the stationary platform by hinge, is driven between the rope sheave on moving runner and drive motors and speed reducer device output shaft by the driving rope of two reverse-windings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410700723.2A CN104476566A (en) | 2014-11-28 | 2014-11-28 | Three-branch and six-degree-of-freedom parallel mechanism with rope-driven joint |
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| CN201410700723.2A CN104476566A (en) | 2014-11-28 | 2014-11-28 | Three-branch and six-degree-of-freedom parallel mechanism with rope-driven joint |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171736A (en) * | 2015-09-09 | 2015-12-23 | 北京理工大学 | Waist simulator of bionic mechanical rat |
| CN113180830A (en) * | 2021-04-15 | 2021-07-30 | 北京理工大学 | Rope-driven parallel reconfigurable surgical navigation positioning robot |
| CN114347007A (en) * | 2022-02-22 | 2022-04-15 | 青岛科技大学 | Driving device for rope-driven snake-shaped mechanical arm |
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| CN2215972Y (en) * | 1994-09-24 | 1995-12-27 | 北京理工大学 | Upper arm and wrist structure for robot |
| CN101116968A (en) * | 2007-09-06 | 2008-02-06 | 上海交通大学 | Six-axis force sensor assembled mechanical hand guise and force control method thereof |
| US7769488B2 (en) * | 2004-04-08 | 2010-08-03 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Reconfigurable structure |
| CN101844350A (en) * | 2010-06-07 | 2010-09-29 | 浙江理工大学 | Three degree of freedom parallel robot mechanism |
| CN102935639A (en) * | 2012-10-17 | 2013-02-20 | 燕山大学 | Triple-claw 3 SPR+3RPS type series-parallel robot |
| CN102975201A (en) * | 2012-11-12 | 2013-03-20 | 天津理工大学 | Three degree-of-freedom parallel mechanism with symmetrical space surfaces |
| CN104017935A (en) * | 2014-05-30 | 2014-09-03 | 燕山大学 | Steelmaking swing converter parallel tilting mechanism with three degrees of freedom |
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2014
- 2014-11-28 CN CN201410700723.2A patent/CN104476566A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2075574U (en) * | 1990-10-27 | 1991-04-24 | 东北重型机械学院秦皇岛分校 | Parallel connection multi-ring structure robot |
| CN2215972Y (en) * | 1994-09-24 | 1995-12-27 | 北京理工大学 | Upper arm and wrist structure for robot |
| US7769488B2 (en) * | 2004-04-08 | 2010-08-03 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Reconfigurable structure |
| CN101116968A (en) * | 2007-09-06 | 2008-02-06 | 上海交通大学 | Six-axis force sensor assembled mechanical hand guise and force control method thereof |
| CN101844350A (en) * | 2010-06-07 | 2010-09-29 | 浙江理工大学 | Three degree of freedom parallel robot mechanism |
| CN102935639A (en) * | 2012-10-17 | 2013-02-20 | 燕山大学 | Triple-claw 3 SPR+3RPS type series-parallel robot |
| CN102975201A (en) * | 2012-11-12 | 2013-03-20 | 天津理工大学 | Three degree-of-freedom parallel mechanism with symmetrical space surfaces |
| CN104017935A (en) * | 2014-05-30 | 2014-09-03 | 燕山大学 | Steelmaking swing converter parallel tilting mechanism with three degrees of freedom |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171736A (en) * | 2015-09-09 | 2015-12-23 | 北京理工大学 | Waist simulator of bionic mechanical rat |
| CN113180830A (en) * | 2021-04-15 | 2021-07-30 | 北京理工大学 | Rope-driven parallel reconfigurable surgical navigation positioning robot |
| CN113180830B (en) * | 2021-04-15 | 2022-09-06 | 北京理工大学 | Rope-driven parallel reconfigurable surgical navigation positioning robot |
| CN114347007A (en) * | 2022-02-22 | 2022-04-15 | 青岛科技大学 | Driving device for rope-driven snake-shaped mechanical arm |
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Application publication date: 20150401 |