CN105729443A - Rigid-flexible coupling type three rotation parallel-connection locating mechanism - Google Patents

Rigid-flexible coupling type three rotation parallel-connection locating mechanism Download PDF

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Publication number
CN105729443A
CN105729443A CN201610176249.7A CN201610176249A CN105729443A CN 105729443 A CN105729443 A CN 105729443A CN 201610176249 A CN201610176249 A CN 201610176249A CN 105729443 A CN105729443 A CN 105729443A
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CN
China
Prior art keywords
platform
rigid
flexible coupling
fixed platform
coupling type
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
Application number
CN201610176249.7A
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Chinese (zh)
Inventor
李彬
赵新华
王收军
葛为民
丁跃达
张会义
戴旻
刘小龙
张海康
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tianjin University of Technology
China Automobile Industry Engineering Co Ltd
Original Assignee
Tianjin University of Technology
China Automobile Industry Engineering Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tianjin University of Technology, China Automobile Industry Engineering Co Ltd filed Critical Tianjin University of Technology
Priority to CN201610176249.7A priority Critical patent/CN105729443A/en
Publication of CN105729443A publication Critical patent/CN105729443A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0045Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary

Abstract

The invention discloses a rigid-flexible coupling type three rotation parallel-connection locating mechanism and relates to the technical field of robots and advanced manufacturing. The rigid-flexible coupling type three rotation parallel-connection locating mechanism comprises a movable platform, a fixed platform, a support rod and three driving ropes. The movable platform and the fixed platform are connected through the support rod and the three driving ropes. One end of the support rod is connected with the fixed platform perpendicularly and fixedly. The other end of the support rod is connected with the movable platform through a ball pair. One end of each of the three driving ropes is fixedly connected with one corresponding endpoint of the three endpoints of the movable platform. The other end of each of the three driving ropes penetrates through one up-down corresponding endpoint of the three endpoints of the fixed platform and is connected with a corresponding rope wheel which is installed on the other end of the fixed platform. Each rope wheel is connected with a motor through a speed reducer. Through the working platform (namely the movable platform) in the rigid-flexible coupling type three rotation parallel-connection locating mechanism, movement output of three-dimensional rotation under the Cartesian coordinate system can be achieved. Due to the fact that movement output of the rigid-flexible coupling type three rotation parallel-connection locating mechanism is achieved through transmission of the rigid support rod and the three driving ropes, the rigid-flexible coupling movement characteristic is achieved.

Description

A kind of Coupled Rigid-flexible type three rotates detent mechanism in parallel
[technical field]
The present invention relates to robot mechanism and advanced manufacturing technology field, rotate detent mechanism in parallel particularly to a kind of Coupled Rigid-flexible type three.
[background technology]
Parallel institution is one group of mechanism being formed in parallel by two or more branches.Its feature is that all branches can accept driver input simultaneously, and finally jointly provides output, belongs to multichannel closed loop mechanical system in theory of mechanisms.It is 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 thus forms, is that a kind of novel manufacture having broad prospect of application that development in recent years is got up is equipped.Having the parallel institution of three rotational freedoms to may be used on the field such as positioner, machine tool accessories and have broad application prospects, such mechanism has been studied by numerous scholars.
Patent documentation 2012105136776 discloses a kind of three-rotation freedom parallel mechanism, and this mechanism includes fixed platform, moving platform and connects the first branch between fixed platform and moving platform, the second branch and the 3rd branch.Moving platform includes upper mounting plate, middle platform and lower platform.One group of planar parallelogram structure it is respectively equipped with in first and second branch, first branch's inner plane parallelogram sturcutre place plane intersects with second branch's inner plane parallelogram sturcutre place plane, four hinge centres on middle platform, lower platform are coplanar, and the intersection point of the two hinge centres lines axis of rotation by the revolute pair between middle platform and lower platform on two hinge centres lines and middle platform on lower platform, rotated by master arm in three branches, it may be achieved the rotation of upper mounting plate, middle platform and lower platform and then realize the Three dimensional rotation of moving platform.This mechanism connects motion platform and fixed platform by three rigidity side chains, is three one-rotation parallel mechanisms of a kind of pure rigidity, is not suitable for the occasion of high-speed motion.
Patent documentation 2009100543810 discloses the three-rotation freedom parallel mechanism of a kind of decoupling, this mechanism is made up of frame, moving platform and the first movement branched chain being connected between frame and moving platform, the second movement branched chain, the 3rd movement branched chain, and three turns auxiliary shaft congruences of the first movement branched chain meet at the central point of moving platform.This mechanism can be exported by simple control realization three rotational motion, but kinematic pair number is more, the processing of part, manufacture, assembling is had higher requirement, and its movement output is also rigidity three rotational motion mode.
[summary of the invention]
Present invention aim to address that the existing three parallel detent mechanisms of rotation exist the problem that rod member is many, kinematic pair is many, the inertia of execution part causes mechanism's speed of service not high greatly and movement output is rigidity output, there is provided a kind of simple in construction, manufacture, installation easy, transmission accuracy and the speed of service are high, and cost is low;And work space is relatively big, there is the three of Rigid-flexible Coupled Motion output and rotate detent mechanism in parallel.
The technical solution adopted in the present invention
A kind of Coupled Rigid-flexible type three rotates detent mechanism in parallel, this mechanism by motion platform 1, fixed platform 2 and couple the support bar 3 of above-mentioned two platforms and three drive rope (L1, L2, L3) composition.Wherein:
One end of described support bar 3 is vertical with fixed platform 2 to be connected, and the other end is connected with motion platform 1 by ball secondary S1;
Described three drive rope to be distributed on around support bar 3, every each the fixing with an end points in three end points of motion platform in one end driving rope is connected, the other end is through a corresponding up and down end points in three end points of fixed platform and is connected with a rope sheave (SL1, SL2 or SL3) of fixed platform opposite side installation respectively, and described rope sheave is connected with motor (M1, M2 or M3) respectively through reductor (J1, J2 or J3).
The invention has the beneficial effects as follows:
1, mechanism kinematic platform can realize the movement output of three rotation formulas.
2, owing to have employed the mode that rope drives, the driving of the rigidity side chain greatly reducing traditional three one-rotation parallel mechanisms is impacted, it is achieved that the three of Coupled Rigid-flexible rotate parallel localization method, such that it is able to realize the high speed location of mechanism.
3, mechanism is only containing a ball pair, simple in construction, manufactures, installs easily, and transmission accuracy is high, and cost is low;And work space is relatively big, drive characteristic is good;The positive and negative solution of kinesiology of mechanism is simple simultaneously, simplifies the series of technical such as trajectory planning, control, correction.
[accompanying drawing explanation]
A kind of Coupled Rigid-flexible three that Fig. 1 is the present invention rotates parallel detent mechanism structural representation.
Fig. 2 is the specific embodiment of the present invention schematic diagram.
In figure, 1 motion platform, 2 fixed platforms, 3 support bars, S1 ball is secondary, and L1 drives rope 1, L2 to drive rope 2, L3 to drive rope 3, SL1 rope sheave 1, SL2 rope sheave 2, SL3 rope sheave 3, M1 motor 1, M2 motor 2, M3 motor 3, J1 reductor 1, J2 reductor 2, J3 reductor 3.
Detailed narration is will make reference to below in conjunction with embodiments of the invention.
[detailed description of the invention]
As it is shown in figure 1, a kind of Coupled Rigid-flexible type three provided by the invention rotates detent mechanism in parallel, by motion platform 1, fixed platform 2 and couple the support bar 3 of above-mentioned two platforms and three drive rope (L1, L2, L3) composition.
One end of described support bar 3 is vertical with fixed platform 2 to be connected, and the other end is connected with motion platform 2 by ball secondary S1;
Described three drive rope to be distributed on around support bar 3, every each the fixing with an end points in three end points of motion platform in one end driving rope is connected, the other end is through a corresponding up and down end points in three end points of fixed platform and is connected with a rope sheave (SL1, SL2 or SL3) of fixed platform opposite side installation respectively, and described rope sheave is connected with motor (M1, M2 or M3) respectively through reductor (J1, J2 or J3).
As shown in Figure 1, 2, driving rope sheave to carry out rotating forward or reversing by motor and speed reducer, three drive cable traction motion platform to reach different positions, thus realizing motion platform to do three rotational motions in work space.

Claims (1)

1. a Coupled Rigid-flexible type three rotates detent mechanism in parallel, it is characterised in that this mechanism is made up of a support bar and three driving ropes of above-mentioned two platforms of motion platform, fixed platform and connection;
One end of described support bar is vertical with fixed platform to be connected, and the other end is connected with motion platform by ball pair;
Described three drive rope to be distributed on around support bar, every each the fixing with an end points in three end points of motion platform in one end driving rope is connected, the other end is through a corresponding up and down end points in three end points of fixed platform and is connected with a rope sheave of fixed platform opposite side installation respectively, and described rope sheave is connected with motor respectively through reductor.
CN201610176249.7A 2016-03-24 2016-03-24 Rigid-flexible coupling type three rotation parallel-connection locating mechanism Pending CN105729443A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610176249.7A CN105729443A (en) 2016-03-24 2016-03-24 Rigid-flexible coupling type three rotation parallel-connection locating mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610176249.7A CN105729443A (en) 2016-03-24 2016-03-24 Rigid-flexible coupling type three rotation parallel-connection locating mechanism

Publications (1)

Publication Number Publication Date
CN105729443A true CN105729443A (en) 2016-07-06

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Application Number Title Priority Date Filing Date
CN201610176249.7A Pending CN105729443A (en) 2016-03-24 2016-03-24 Rigid-flexible coupling type three rotation parallel-connection locating mechanism

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CN (1) CN105729443A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107433623A (en) * 2017-08-17 2017-12-05 上海大学 A kind of four-degree-of-freedom bionic mechanical head based on Wire driven robot
CN110252560A (en) * 2019-07-16 2019-09-20 合肥工业大学 A kind of mobile mixed connection spray robot for high-speed rail car body coating
CN110723255A (en) * 2019-10-24 2020-01-24 上海大学 Unmanned ship laying and recycling device based on rope parallel robot

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN1701927A (en) * 2005-06-21 2005-11-30 南京航空航天大学 Flexible rope driven three and four degree of freedom decoupling parallel mechanism
CN101863018A (en) * 2010-04-29 2010-10-20 汕头大学 Three-rotational-freedom parallel mechanism driven by rope
CN202100903U (en) * 2010-12-24 2012-01-04 汕头大学 Three-rotation and one-movement DOF (degree of freedom) parallel-connection mechanism driven by rope rod in mixed way
DE102011101206A1 (en) * 2011-05-11 2012-11-15 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Drive system for driving e.g. delta robot in food industry, has Bowden cables arranged between driving apparatus and joint, where force is exerted on joint through cables for movement of joint with degree of freedom of driving apparatus
CN103895005A (en) * 2014-04-10 2014-07-02 东南大学 Humanoid-neck parallel robot and control method thereof

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN1701927A (en) * 2005-06-21 2005-11-30 南京航空航天大学 Flexible rope driven three and four degree of freedom decoupling parallel mechanism
CN101863018A (en) * 2010-04-29 2010-10-20 汕头大学 Three-rotational-freedom parallel mechanism driven by rope
CN202100903U (en) * 2010-12-24 2012-01-04 汕头大学 Three-rotation and one-movement DOF (degree of freedom) parallel-connection mechanism driven by rope rod in mixed way
DE102011101206A1 (en) * 2011-05-11 2012-11-15 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Drive system for driving e.g. delta robot in food industry, has Bowden cables arranged between driving apparatus and joint, where force is exerted on joint through cables for movement of joint with degree of freedom of driving apparatus
CN103895005A (en) * 2014-04-10 2014-07-02 东南大学 Humanoid-neck parallel robot and control method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107433623A (en) * 2017-08-17 2017-12-05 上海大学 A kind of four-degree-of-freedom bionic mechanical head based on Wire driven robot
CN110252560A (en) * 2019-07-16 2019-09-20 合肥工业大学 A kind of mobile mixed connection spray robot for high-speed rail car body coating
CN110252560B (en) * 2019-07-16 2021-05-11 合肥工业大学 Movable type series-parallel spraying robot for coating high-speed rail body
CN110723255A (en) * 2019-10-24 2020-01-24 上海大学 Unmanned ship laying and recycling device based on rope parallel robot
CN110723255B (en) * 2019-10-24 2020-07-14 上海大学 Unmanned ship laying and recycling device based on rope parallel robot

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Application publication date: 20160706

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