CN104476567A - Six-degree-of-freedom parallel mechanism with rope-driven linear joint - Google Patents
Six-degree-of-freedom parallel mechanism with rope-driven linear joint Download PDFInfo
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- CN104476567A CN104476567A CN201410700724.7A CN201410700724A CN104476567A CN 104476567 A CN104476567 A CN 104476567A CN 201410700724 A CN201410700724 A CN 201410700724A CN 104476567 A CN104476567 A CN 104476567A
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Abstract
The invention provides a six-degree-of-freedom parallel mechanism with a rope-driven linear joint, and relates to the field of robot structure mechanics and medical apparatus and instrument. The parallel mechanism comprises a moving platform, a fixed platform, and six branches for connecting the two platforms; each branch is arranged from the fixed platform to the moving platform, comprising a motor, a speed reducer, a hook hinge, a rope-driven linear joint and a ball hinge. The six-degree-of-freedom parallel mechanism with the rope-driven linear joint, by being compared with the currently-existing six-degree-of-freedom parallel mechanism, has the advantages that the linear-driven linear joint is used as the driving device; 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 field of medical apparatus and instrument is brought.
Description
Technical field
The present invention relates to the field such as robot mechanism, medicine equipment, particularly a kind of six-degree-of-freedom parallel connection mechanism driving linear joint containing rope.
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 to have corresponding speed fast, 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 report still not relevant at present.
Summary of the invention
The object of the invention is to overcome prior art above shortcomings, a kind of six-degree-of-freedom parallel connection mechanism driving linear joint containing rope is proposed, rope is utilized to drive linear joint, mechanism is had advantages such as corresponding speed is fast, transmission efficiency is high, environmental suitability is strong, stable movement.
The technical solution adopted in the present invention
Drive a six-degree-of-freedom parallel connection mechanism for linear joint containing rope, this mechanism is made up of six identical side chains of version of above-mentioned two platforms of fixed platform, motion platform and connection; Wherein every bar side chain is cut with scissors by motor and decelerator, Hooke to motion platform by fixed platform, restricting drives linear joint and spherical hinge to form; Wherein,
Described motor and decelerator are arranged on the motor cabinet that connects firmly with fixed platform, movement branched chain upper end is connected with motion platform by spherical hinge, movement branched chain lower end is connected with fixed platform by Hooke hinge, rope drives linear joint to be arranged between spherical hinge and Hooke cut with scissors, rope drives linear joint to drive two to drive rope to drive by motor and speed reducer by rope sheave, rope drives linear joint to comprise and is set in together and telescopic hollow outer loop bar and inner expansion link, the lower end of the expansion link idle wheel bottom hollow outer loop bar drives to restrict be connected with one, another drives rope turned back downwards by the idle wheel of hollow outer loop bar upper end and be connected with the lower end of expansion link, two drive the other end of rope all fixing with rope sheave and reverse-winding.
Motor and speed reducer is by rotating thus drop (unclasping) first and drive rope 8(or second to drive rope 7), unclasp (dropping) first and drive rope (or second drives rope) with this realize the restricting elongation and shortening that drive linear joint (that is movement branched chain).When driving the motor of all 6 side chains to carry out rotating forward or reversing simultaneously, corresponding side chain can extend or shorten, thus brought into motion platform reaches different positions, realizes different attitudes.
the invention has the beneficial effects as follows:
1, rope is utilized to drive linear joint to realize the 6DOF motion of parallel institution.
2, the drive motors of mechanism is positioned on fixed platform completely, greatly reduces the motional inertia of whole mechanism, thus can realize the high-speed motion of mechanism, the kinematic dexterity of raising mechanism.
3, drive linear joint owing to have employed rope, 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 the six-degree-of-freedom parallel connection mechanism structural representation that the present invention contains that rope drives linear joint.
Fig. 2 is the part-structure schematic diagram of a movement branched chain of the present invention.
Fig. 3 is the close-up schematic view that in Fig. 2, rope drives linear joint.
Fig. 4 is the complete structure schematic diagram of a movement branched chain of the present invention.
In figure, 1 motion platform, 2 spherical hinges, 3 ropes drive linear joint, 4 motor cabinets, 5 motors and decelerator, 6 rope sheaves, and 7 second drive rope, and 8 first drive rope, 9 Hooke hinges, 10 fixed platforms, 11 idle wheels, 12 hollow outer loop bars, 13 expansion links.
Be described in detail with reference to accompanying drawing below in conjunction with embodiments of the invention.
Detailed description of the invention
As shown in Fig. 1 and Fig. 4, provided by the inventionly a kind ofly drive the six-degree-of-freedom parallel connection mechanism of linear joint containing rope, be made up of fixed platform 10, motion platform 1 and six identical side chains of version connecting above-mentioned two platforms; Wherein every bar side chain cuts with scissors 9 to motion platform by motor and decelerator 5, Hooke by fixed platform, restricting drives linear joint 3 and spherical hinge 2 to form; Wherein,
Described motor and decelerator are arranged on the motor cabinet 4 that connects firmly with fixed platform, movement branched chain upper end is connected with motion platform by spherical hinge, movement branched chain lower end is connected with fixed platform by Hooke hinge, rope drive linear joint be arranged on spherical hinge and Hooke cut with scissors between (see Fig. 1 and Fig. 4), rope drives linear joint to drive two to drive rope 7 by motor and speed reducer by rope sheave 6, 8 drive, rope drives linear joint to comprise and is set in together and telescopic hollow outer loop bar 12 and inner expansion link 13, the lower end of the expansion link idle wheel bottom hollow outer loop bar drives to restrict be connected with one, another drives rope turned back downwards by the idle wheel 11 of hollow outer loop bar upper end and be connected with the lower end of expansion link, two drive the other end of rope all fixing with rope sheave and reverse-winding (see figure 3).
Motor and speed reducer is by rotating thus drop (unclasping) first and drive rope (or second drives rope), unclasps (dropping) first and drives rope (or second drives rope) to realize elongation and the shortening of movement branched chain with this.
When driving the motor of all 6 side chains to carry out rotating forward or reversing simultaneously, corresponding side chain can extend or shorten, thus brought into motion platform reaches different positions, realizes different attitudes.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 (2)
1. drive a six-degree-of-freedom parallel connection mechanism for linear joint containing rope, it is characterized in that this mechanism is made up of six identical side chains of version of above-mentioned two platforms of fixed platform, motion platform and connection; Wherein every bar side chain is cut with scissors by motor and decelerator, Hooke to motion platform by fixed platform, restricting drives linear joint and spherical hinge to form; Wherein,
Described motor and decelerator are arranged on the motor cabinet that connects firmly with fixed platform, movement branched chain upper end is connected with motion platform by spherical hinge, movement branched chain lower end is connected with fixed platform by Hooke hinge, and rope driving linear joint is arranged between spherical hinge and Hooke cut with scissors.
2. the six-degree-of-freedom parallel connection mechanism driving linear joint containing rope according to claim 1, it is characterized in that: described rope drives linear joint to drive two to drive rope to drive by motor and speed reducer by rope sheave, rope drives linear joint to comprise and is set in together and telescopic hollow outer loop bar and inner expansion link, the lower end of the expansion link idle wheel bottom hollow outer loop bar drives to restrict be connected with one, another drives rope turned back downwards by the idle wheel of hollow outer loop bar upper end and be connected with the lower end of expansion link, two drive the other end of rope all fixing with rope sheave and reverse-winding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410700724.7A CN104476567A (en) | 2014-11-28 | 2014-11-28 | Six-degree-of-freedom parallel mechanism with rope-driven linear joint |
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| CN201410700724.7A CN104476567A (en) | 2014-11-28 | 2014-11-28 | Six-degree-of-freedom parallel mechanism with rope-driven linear joint |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196278A (en) * | 2015-11-11 | 2015-12-30 | 山东理工大学 | Six-degree-of-freedom parallel robot with planar contact pair |
| CN106363616A (en) * | 2016-09-30 | 2017-02-01 | 芜湖瑞思机器人有限公司 | Six-degree-of-freedom parallel robot |
| CN106725855A (en) * | 2016-06-08 | 2017-05-31 | 中国矿业大学 | A kind of series-parallel connection six degree of freedom minimally invasive surgical operation robot |
| CN108687745A (en) * | 2017-04-10 | 2018-10-23 | 韩泽方 | Six degree of freedom cable platform |
| CN108942899A (en) * | 2018-09-28 | 2018-12-07 | 穆特科技（武汉）股份有限公司 | A kind of parallel connection six degree of freedom structure |
| CN111591840A (en) * | 2020-04-16 | 2020-08-28 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Rope winding and unwinding devices, rope drive equipment and rope drive robot |
| CN113180830A (en) * | 2021-04-15 | 2021-07-30 | 北京理工大学 | Rope-driven parallel reconfigurable surgical navigation positioning robot |
| CN116766142A (en) * | 2023-08-23 | 2023-09-19 | 中国科学院长春光学精密机械与物理研究所 | Multi-degree-of-freedom parallel adjustment platform |
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| GB2088987A (en) * | 1980-11-12 | 1982-06-16 | Marconi Co Ltd | Drive Systems |
| 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 |
| CN2484156Y (en) * | 2001-07-16 | 2002-04-03 | 中国科学院沈阳自动化研究所 | Flexible-rope-driven three-free-degree parallel mechanism |
| US20050247144A1 (en) * | 2004-04-08 | 2005-11-10 | Curtis Steven A | Reconfigurable structure |
| CN102357882A (en) * | 2011-09-30 | 2012-02-22 | 汕头大学 | Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains |
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- 2014-11-28 CN CN201410700724.7A patent/CN104476567A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2088987A (en) * | 1980-11-12 | 1982-06-16 | Marconi Co Ltd | Drive Systems |
| 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 |
| CN2484156Y (en) * | 2001-07-16 | 2002-04-03 | 中国科学院沈阳自动化研究所 | Flexible-rope-driven three-free-degree parallel mechanism |
| US20050247144A1 (en) * | 2004-04-08 | 2005-11-10 | Curtis Steven A | Reconfigurable structure |
| CN102357882A (en) * | 2011-09-30 | 2012-02-22 | 汕头大学 | Rope and rod hybrid-driven six-degree-of-freedom parallel robot with few branched chains |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196278A (en) * | 2015-11-11 | 2015-12-30 | 山东理工大学 | Six-degree-of-freedom parallel robot with planar contact pair |
| CN106725855A (en) * | 2016-06-08 | 2017-05-31 | 中国矿业大学 | A kind of series-parallel connection six degree of freedom minimally invasive surgical operation robot |
| CN106363616A (en) * | 2016-09-30 | 2017-02-01 | 芜湖瑞思机器人有限公司 | Six-degree-of-freedom parallel robot |
| CN108687745A (en) * | 2017-04-10 | 2018-10-23 | 韩泽方 | Six degree of freedom cable platform |
| CN108942899A (en) * | 2018-09-28 | 2018-12-07 | 穆特科技（武汉）股份有限公司 | A kind of parallel connection six degree of freedom structure |
| CN111591840A (en) * | 2020-04-16 | 2020-08-28 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Rope winding and unwinding devices, rope drive equipment and rope drive robot |
| 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 |
| CN116766142A (en) * | 2023-08-23 | 2023-09-19 | 中国科学院长春光学精密机械与物理研究所 | Multi-degree-of-freedom parallel adjustment platform |
| CN116766142B (en) * | 2023-08-23 | 2024-02-06 | 中国科学院长春光学精密机械与物理研究所 | Multi-degree-of-freedom parallel adjustment platform |
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Application publication date: 20150401 |