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
- Publication number
- 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
- Authority
- CN
- China
- Prior art keywords
- rope
- linear joint
- driving
- parallel mechanism
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 34
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 15
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
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 invention relates to the fields of robotics, medical instruments and the like, in particular to a six-degree-of-freedom parallel mechanism with a rope-driven linear joint.
Background
The parallel mechanism is a group of mechanisms formed by connecting two or more branch mechanisms in parallel. It features that all branch mechanisms can receive the input of driver at the same time and give out output together finally, and belongs to multi-way closed-loop mechanical system in mechanics. The numerical control machine tool and the robot manipulator which take the parallel mechanism as the transmission feeding mechanism and the manufacturing unit composed of the same are collectively called as parallel configuration equipment, and the parallel configuration equipment is novel manufacturing equipment with wide application prospect developed in recent years. The parallel robot mechanism is widely applied to the technical fields of large-scale simulation equipment, robots, numerical control machines, sensors, micromanipulators, engraving machines, measuring machines and the like. The Stewart platform is a typical parallel robot mechanism with 6 degrees of freedom, and the first use of the mechanism in parallel robots and numerically controlled machine tools is considered as a revolution of the machine tool structure since the twentieth century, and a plurality of 6-degree-of-freedom parallel mechanisms are invented later.
The existing driving mode of the 6-freedom parallel mechanism mainly has two modes: the device is driven by a motor, namely, components such as a motor, a screw rod, a nut and the like are combined together to form linear sliding motion, and a motion platform is driven to reach an expected position and posture through the sliding motion; the other way is to adopt a fluid transmission way, namely, a hydraulic cylinder or an air cylinder stretches and retracts to drive the motion platform to move. In view of the current practical application, the two driving modes have advantages and disadvantages. The motor drive has the advantages of high corresponding speed, high transmission efficiency, high movement precision, easy control and the like, but has the defects of high cost, poor environmental adaptability, poor rigidity, low load capacity and the like; for the hydraulic cylinder driving mode, the hydraulic cylinder driving device has the advantages of large bearing capacity, strong environmental adaptability, stable movement and the like, but also has the defects of high maintenance cost, easiness in leakage, poor movement precision and the like.
In engineering applications, for example, in certain situations such as medical operation auxiliary equipment, dangerous goods handling and the like, a driving mode which combines the advantages of the two driving modes is often required, and related reports are not available at present.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a six-degree-of-freedom parallel mechanism with a rope-driven linear joint.
The technical scheme adopted by the invention
A six-freedom-degree parallel mechanism containing a rope-driven linear joint comprises a fixed platform, a moving platform and six branched chains which are connected with the fixed platform and the moving platform and have the same structural form; each branched chain consists of a motor, a speed reducer, a hooke hinge, a rope-driven linear joint and a spherical hinge from the fixed platform to the moving platform; wherein,
the rope driving linear joint comprises a hollow outer sleeve rod and an inner telescopic rod which are sleeved together and telescopic, the lower end of the telescopic rod is connected with a driving rope through an idle wheel at the bottom of the hollow outer sleeve rod, the other driving rope is connected with the lower end of the telescopic rod through an idle wheel at the upper end of the hollow outer sleeve rod in a turning-back mode, and the other ends of the two driving ropes are fixed with a rope wheel and wound reversely.
The motor and the speed reducer rotate forward and backward to drag (release) the first driving rope 8 (or the second driving rope 7), and the first driving rope (or the second driving rope) is released (dragged) to realize the extension and the shortening of the rope driving linear joint (namely the movement branched chain). When the motors driving all the 6 branched chains to rotate forwards or reversely at the same time, the corresponding branched chains can extend or shorten, so that the motion platform is driven to reach different positions, and different postures are realized.
The invention has the beneficial effects that:
1. the rope is used for driving the linear joint to realize the 6-degree-of-freedom motion of the parallel mechanism.
2. The driving motor of the mechanism is completely arranged on the fixed platform, so that the movement inertia of the whole mechanism is greatly reduced, high-speed movement of the mechanism can be realized, and the movement flexibility of the mechanism is improved.
3. Due to the fact that the linear joints are driven by the ropes, the vibration of each branched chain of the mechanism is greatly reduced in the movement process, and the mechanism has wide application prospects in the fields of surgical auxiliary instruments, dangerous goods carrying and the like.
Drawings
FIG. 1 is a schematic structural diagram of a six-degree-of-freedom parallel mechanism with a rope-driven linear joint according to the present invention.
FIG. 2 is a schematic diagram of a portion of a moving branch chain of the present invention.
Fig. 3 is an enlarged partial schematic view of the cord-driven linear joint of fig. 2.
FIG. 4 is a schematic diagram of the complete structure of a moving branch chain of the present invention.
In the figure, 1 moving platform, 2 ball hinges, 3 rope driving linear joints, 4 motor seats, 5 motors and speed reducers, 6 rope wheels, 7 second driving ropes, 8 first driving ropes, 9 hooke hinges, 10 fixed platforms, 11 intermediate wheels, 12 hollow outer sleeve rods and 13 telescopic rods.
The following detailed description refers to the accompanying drawings that illustrate embodiments of the invention.
Detailed Description
As shown in fig. 1 and 4, the six-degree-of-freedom parallel mechanism with a rope-driven linear joint provided by the invention comprises a fixed platform 10, a moving platform 1 and six branched chains which are connected with the two platforms and have the same structural form; each branched chain consists of a motor, a speed reducer 5, a hooke hinge 9, a rope-driven linear joint 3 and a spherical hinge 2 from the fixed platform to the moving platform; wherein,
the rope driving linear joint is characterized in that the motor and the speed reducer are arranged on a motor base 4 fixedly connected with the fixed platform, the upper end of the moving branch chain is connected with the moving platform through a ball hinge, the lower end of the moving branch chain is connected with the fixed platform through a hooke hinge, a rope driving linear joint is arranged between the ball hinge and the hooke hinge (see fig. 1 and 4), the rope driving linear joint is driven by the motor and the speed reducer through a rope pulley 6 to drive two driving ropes 7 and 8, the rope driving linear joint comprises a hollow outer sleeve rod 12 and an inner telescopic rod 13 which are sleeved together and telescopic, the lower end of the telescopic rod is connected with one driving rope through an idle wheel at the bottom of the hollow outer sleeve rod, the idle wheel 11 at the upper end of the hollow outer sleeve rod turns back to the lower end of the telescopic rod, and the other ends of the two.
The motor and the speed reducer rotate forward and backward to drag (release) the first driving rope (or the second driving rope), and the first driving rope (or the second driving rope) is released (dragged) to realize the extension and the shortening of the moving branch chain.
When the motors driving all the 6 branched chains to rotate forwards or reversely at the same time, the corresponding branched chains can extend or shorten, so that the motion platform is driven to reach different positions, and different postures are realized. Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (2)
1. A six-degree-of-freedom parallel mechanism containing a rope-driven linear joint is characterized by comprising a fixed platform, a moving platform and six branched chains which are connected with the fixed platform and the moving platform and have the same structural form; each branched chain consists of a motor, a speed reducer, a hooke hinge, a rope-driven linear joint and a spherical hinge from the fixed platform to the moving platform; wherein,
the motor and the speed reducer are installed on a motor base fixedly connected with the fixed platform, the upper end of the moving branch chain is connected with the moving platform through a ball hinge, the lower end of the moving branch chain is connected with the fixed platform through a hooke hinge, and the rope driving linear joint is installed between the ball hinge and the hooke hinge.
2. The six degree-of-freedom parallel mechanism with the rope-driven linear joint as recited in claim 1, wherein: the rope driving linear joint is driven by a motor and a speed reducer through a rope pulley to drive two driving ropes, the rope driving linear joint comprises a hollow outer sleeve rod and an inner telescopic rod which are sleeved together and telescopic, the lower end of the telescopic rod is connected with one driving rope through an idle wheel at the bottom of the hollow outer sleeve rod, the idle wheel at the upper end of the hollow outer sleeve rod is turned back to the other driving rope and is connected with the lower end of the telescopic rod, and the other ends of the two driving ropes are fixed with the rope pulley and are reversely wound.
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 |
Applications Claiming Priority (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 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104476567A true CN104476567A (en) | 2015-04-01 |
Family
ID=52751238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410700724.7A Pending CN104476567A (en) | 2014-11-28 | 2014-11-28 | Six-degree-of-freedom parallel mechanism with rope-driven linear joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104476567A (en) |
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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2014
- 2014-11-28 CN CN201410700724.7A patent/CN104476567A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104476567A (en) | Six-degree-of-freedom parallel mechanism with rope-driven linear joint | |
| CN104760054B (en) | The orthogonal Three Degree Of Freedom joint that Pneumatic artificial muscle drives | |
| CN107598910B (en) | Tendon-driven variable-scale continuous robot | |
| CN101407059B (en) | Four-freedom degree industrial robot | |
| CN105020537B (en) | Pipeline non-destructive testing robot | |
| CN103707292B (en) | Based on the 6DOF industrial robot of XYZ rectangular co-ordinate joint and attitude wrist | |
| CN105729458A (en) | Rigid-flexible coupled trunk-shaped continuous robot | |
| US20130164107A1 (en) | Robot module and robot | |
| CN106903712B (en) | Two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN102350697A (en) | 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism | |
| CN108247622B (en) | Seven-degree-of-freedom modular rope-driven mechanical arm | |
| CN105856191A (en) | Rope parallel-driving type high-speed multi-body mechanism | |
| CN201979513U (en) | 2-PRR (Planning Release Record) and PPRR (Persistent Programming Research Report) three-degree-of-freedom spatial parallel robot mechanism | |
| WO2018187881A1 (en) | High-performance cartesian robot | |
| CN103144100A (en) | Moving parallel robot mechanism with three freedom degrees | |
| CN107932482B (en) | Five-freedom-degree parallel mechanism capable of realizing three-dimensional rotation and two-dimensional movement | |
| CN104875187A (en) | (2T1R)&(2R) Double-acting platform decoupling parallel serial robot mechanism | |
| CN203245874U (en) | Three-freedom-degree movable parallel robot mechanism | |
| CN103895008A (en) | Space three-dimensional translation parallel robot mechanism only containing revolute pairs | |
| CN202399270U (en) | Controllable mechanism six-degree-of-freedom parallel robot platform | |
| CN103481278A (en) | Three-translational spatial parallel robot mechanism | |
| JP2012045710A (en) | Parallel mechanism | |
| CN207747038U (en) | A kind of plane grasping mechanism | |
| CN102873681A (en) | Novel two-degree-of-freedom manipulator mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150401 |