CN106369022B - The modular unit of Octahedral Truss Units variable geometry truss robot - Google Patents
The modular unit of Octahedral Truss Units variable geometry truss robot Download PDFInfo
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- CN106369022B CN106369022B CN201611014649.4A CN201611014649A CN106369022B CN 106369022 B CN106369022 B CN 106369022B CN 201611014649 A CN201611014649 A CN 201611014649A CN 106369022 B CN106369022 B CN 106369022B
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- modular unit
- variable geometry
- truss
- octahedral
- actuator
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- 230000007246 mechanism Effects 0.000 claims abstract description 35
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- 230000009471 action Effects 0.000 claims description 3
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- 238000013461 design Methods 0.000 description 12
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
- F16B7/10—Telescoping systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
Abstract
The invention discloses a kind of modular units of Octahedral Truss Units variable geometry truss robot, are used to connect the parallel connection of driving mechanism and driven member by lever including a set of driving mechanism, two sets of driven members and 12.Particularly, three actuators in driving mechanism have used a kind of series connection mode interted mutually, and the elongation of driving lever, the mobility of hoisting mechanism can be substantially improved in the case where not adding unit size.The modular unit of Octahedral Truss Units variable geometry truss robot of the invention has small size, big motion range, high-precision, high rigidity, folding storage, the characteristics such as can extend to the outside and can be used for aerospace development agency, operating-controlling mechanism, follower, Industry Control mechanism etc..
Description
Technical field
The present invention relates to a kind of modular units of Octahedral Truss Units variable geometry truss robot.
Background technique
Octahedral unit is a kind of static determinacy unit, and each node is changed any one bar by just right constraint
Therefore the configuration of long energy changing mechanism has derived a variety of parallel moving mechanisms based on octahedral unit.It will be multiple such
Octahedral unit is connected in series, and is formed variable geometry truss robot, relative to traditional serial mechanism, the case where keeping precision
Under, there are the advantages such as light weight, rigidity height, movement velocity is then slightly slow.Therefore, variable geometry truss mechanism is especially suitable for quality
It is required that harsh space industry.
The works such as Chen Wujun, Guan Fuling, Chen Xiangyang " research of regular octahedron unit extending arm " (aerospace journal, 1999,20
(2)：41-47) have studied regular octahedron truss element mechanism geometric analysis method and feature；
" a high rigidity synchronous expansion space mast design studies " for the works such as Chen Wujun, Dong Shilin, pair function justice (2000
China's post-doctors science conference collection of thesis, Beijing：Science Press) have studied stretching for trigone truss composition high rigidity synchronous extension
Swing arm；
" the space stretching, extension that Octahedral Truss Units and its derived line are constituted of Chen Wujun, Fu Gongyi, what work such as gorgeous
Arm " (Shanghai communications university's journal (natural science edition), 2001,35 (4)：It is special 509-513) to have studied regular octahedron truss element
Sign, octahedral truss element derived units and composition extending arm and basic structure specificity analysis；
" the A study on space masts based of the works such as CHEN Wu-jun, LUO Yao-zhi, FU Gong-y
on octahedral truss family”(International Journal of Space Structures,2001,16
(1)：19-26) have studied geometry, the structure feature of Octahedral Truss Units system；
CHEN Wu-jun, LUO Yao-zhi, " the Design conception and written by FU Gong-yi
deployment simualation for a highly synchronized extendable/retractable space
mast"(International Journal of Space Structures,2001,16(4)：261-269) have studied synchronization
Extending arm structural mechanism, node realization, Deployment Dynamic Analysis method etc.；
" deployable structure system and analysis introduction " (Chinese Yuhang Publishing House, 2006.3) written by Chen Wujun, Zhang Shujie
Research describes deployed configuration system and analysis theories comprising Octahedral Truss Units；
" Design and Construction of a four-Bay written by Stephen Oliver Oikawa
Variable-Geometry-Truss Manipulator " (University of Toronto, 1995) has developed to connect
The octahedral unit variable geometry truss robot of revolute pair configuration node system, and carried out kinematics, dynamic analysis of motion theoretical research；
" the FEM subsystem of the works such as Luis M.Macareno, Josu Agirrebeitia, Carlos Angulo
replacement techniques for strength problems in variable geometry trusses”
(Finite Elements in Analysis and Design,2008,44:346-357) have developed Octahedral Truss Units
Model machine proposes compact combination node, has carried out nonlinear analysis and experimental study.
The above research shows that Octahedral Truss Units variable geometry truss robot movenent performance is largely determined by the elongation of driving lever
Rate.
Application No. is 201310150753.6 Chinese patent " variable geometry truss driving rod for octahedral truss unit ", but its
Motor size is big, construction is complicated, power is big, thrust is small, node is big, impact is big.
Application No. is 201410223230.4 Chinese patent " a kind of variable geometry truss driving rod for octahedral truss unit ",
But its entire length is larger, and miniaturization and raising driving lever elongation are difficult.
" Octahedral Truss Units variable geometry truss robot actively saves the Chinese patent that granted patent number is 201310153044.3
Point " discloses a kind of active node of variable geometry truss of octahedral truss unit, but the node and the part that is connect up and down by lever
Movement coupling, causes each layer to move out existing irregularity and singular point by lever, part form is more.
Application No. is the Chinese patent of 201410217693.X " active node of variable geometry truss of octahedral truss unit ", but
It is connected by lever bias, causes dynamic model inaccurate, and there are a rotation redundancy, cause system overall stiffness compared with
It is low, there is singular point.
Application No. is the Chinese patent of 201510261004.X " Octahedral Truss Units variable geometry truss robot actuator " propositions
A kind of compact driving lever and host node integrated mechanism effectively increase driving lever ratio of elongation compared to other designs, but
It is when extending bigger, loss of rigidity is serious, and elongation (required elongation needed for being still unable to reach mechanism foldable integral
200%) rate is.In addition, the above active and passive mechanism of variable geometry truss robot closely connects, truss assembling is cumbersome, is unfavorable for extending.
Summary of the invention
In view of the above drawbacks of the prior art, technical problem to be solved by the invention is to provide it is a kind of it is novel, light,
Rigidity is high, rod piece elongation can be greatly improved in the case where not increasing size, the octahedra of hoisting mechanism folding extension ratio becomes
Geometry truss element, and the truss of unit composition has the characteristics that convenient for extension, handling.
To achieve the above object, the present invention provides a kind of modular unit of Octahedral Truss Units variable geometry truss robot,
It is used to connect the parallel connection of the driving mechanism and the driven member including a set of driving mechanism, two sets of driven members and 12
By lever.
Further, two sets of driven members are respectively arranged at the two sides of the driving mechanism, by motivation described in every set
It is movably connected by the way that the six roots of sensation is in parallel by lever between structure and the driving mechanism, the modular unit is unfolded
Or it folds.
Further, the driving mechanism includes three sets of actuators, three sets of actuators string in a manner of interting mutually
Connection connection, so that the elongation of driving lever, the mobility of hoisting mechanism are substantially improved in the case where not adding unit size.
Every set actuator is connected with corresponding servo motor, so that during the motion, servo motor drives lead screw, by the rolling on lead screw
Pearl nut drives another set of actuator to move back and forth on lead screw.
Further, the actuator include center ball nut support, ball nut, host node semiaxis, electric machine support,
U-shaped seat, flat extension nut, cross axle, U-shaped passive joint element for bar, the first ball bearing, first sliding axle hold, the second ball
Bearing, second sliding axle hold, third ball bearing；Wherein, the center ball nut support is core position part；The rolling
Pearl nut is fixed on the center ball nut support, and the lead screw in servo motor corresponding with another set of actuator is connected
It connects, forms controlled motion pair；The host node semiaxis passes through first ball bearing and the center ball nut support shape
At revolute；The electric machine support includes upper junction plate, lower connecting plate and connecting plate for electric motor, the upper junction plate and the lower company
Fishplate bar forms rotary motion pair respectively by second ball bearing and half axis connection of host node, and with the center
Lubrication is held by the first sliding axle between ball nut support, the connecting plate for electric motor and the upper junction plate and it is described under
Connecting plate is fixedly connected；The U-shaped seat forms rotary motion by the third ball bearing and half axis connection of host node
Pair, and lubrication is held by the second sliding axle with the upper junction plate of the electric machine support；The flat extension nut is fixed on
Half the tip of the axis of host node, plays position-limiting action, prevent the U-shaped seat, the electric machine support generate along swiveling counter shaft to
Movement；The cross axle and the U-shaped seat and the U-shaped passive joint element for bar are formed together universal joint kinematic pair；It is described U-shaped
Passive joint element for bar is connect by the cross axle with the U-shaped seat, and provides the external machine interface of the actuator, with fixation
The parallel connection is by lever.
Further, the actuator also has a corresponding servo motor, and the corresponding servo motor of the actuator is fixed
In on the connecting plate for electric motor of the electric machine support, the lead screw of the servo motor is connected with the ball nut, the rolling
Pearl nut is fixed on the center ball nut support of another set of actuator.
Further, the cross axle includes cross bore, cross axle long axis and cross axle short axle.
Further, the driven member includes three passive nodes, and there are two movements for each passive node tool certainly
By spending, three passive nodes are in parallel with three to be fixedly connected to form equilateral triangle by lever.
Further, the passive node includes triangular support base, shaft, connects ear, sliding shaft sleeve and sliding gasket,
In, in the axis hole of the triangular support base, the even ear is nested in the shaft shaft by the sliding shaft sleeve,
Rotary motion pair is formed, and is lubricated with the triangular support base by the sliding gasket.
Further, the parallel connection is fixed by bolts on actuator and passive node by lever.
Further, the parallel connection is light composite material, including carbon fiber pipe, the both ends of the carbon fiber pipe by lever
It is fixedly connected by adhesive with rod ends.Wherein rod ends are aluminum connector.
Further, the driven member provides a mounting plane, the mirror image assembly up and down of two driven members, shape
At the external machine interface of the modular unit, which can be with another modular unit or the fixed company of other cooperative devices
It connects.
The modular unit of Octahedral Truss Units variable geometry truss robot of the invention has small size, big motion range, height
Precision, folding storage, the characteristics such as can extend to the outside and can be used for aerospace development agency, operating-controlling mechanism, tracing machine high rigidity
Structure, Industry Control mechanism etc..
In preferable embodiment, the present invention by compact design and new-type actuator design, connection type,
In lesser size, the driving lever variation range from 130mm to 380mm is realized, elongation reaches 290%.In octahedron
In the case where truss element side length 190mm, the elongation of the more former length 200% of driving lever can be realized, so that octahedra truss
Unit realizes complete folding, and unit overall elongated ratio solves the disadvantage that previous variable geometry truss robot is unfavorable for transport up to 5,
Modular design improves the adaptability of truss, space mission demand preferably simultaneously.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Fig. 1 is the modular unit expansion of the Octahedral Truss Units variable geometry truss robot of a preferred embodiment of the invention
The front view of state；
Fig. 2 is the front view of the modular unit folded state of the Octahedral Truss Units variable geometry truss robot in Fig. 1；
Fig. 3 is the master of the modular unit of the Octahedral Truss Units variable geometry truss robot of a preferred embodiment of the invention
The top view of motivation structure；
Fig. 4 is the modular unit of the Octahedral Truss Units variable geometry truss robot of a preferred embodiment of the invention
The front view of actuator；
Fig. 5 is the cross-sectional view of the actuator in Fig. 3；
Fig. 6 is the quilt of the modular unit of the Octahedral Truss Units variable geometry truss robot of a preferred embodiment of the invention
The front view of dynamic node；
Fig. 7 be the modular unit of the Octahedral Truss Units variable geometry truss robot of a preferred embodiment of the invention and
Connection is by the front view of lever.
Specific embodiment
As shown in Fig. 1~7, a preferred embodiment of the invention provides a kind of Octahedral Truss Units variable geometry truss robot
Modular unit, 1, two set of driven member 2 and 12 piece of a set of driving mechanism is for connecting driving mechanism 1 and driven member 2
Parallel connection by lever 3.Wherein, two sets of driven members 2 are respectively arranged at the two sides of driving mechanism 1, every set driven member 2 and active
It is movably connected by six roots of sensation parallel connection by lever 3 between mechanism 1, modular unit is enabled to be unfolded or fold (referring to Fig. 1
~2).
Driving mechanism 1 includes three sets of actuators, and three sets of actuators are connected in series in a manner of interting mutually, every set actuator
It is connected with corresponding servo motor 105, so that during the motion, servo motor 105 drives lead screw, by the ball spiral shell on lead screw
Mother 102 drives another set of actuator to move back and forth on lead screw.
As seen in figures 3-5, actuator include center ball nut support 101, ball nut 102, host node semiaxis 103,
Electric machine support 104, U-shaped seat 106, flat extension nut 107, cross axle 108, U-shaped passive joint element for bar 109, the first ball axis
Hold that 110, first sliding axle holds the 111, second ball bearing 112, second sliding axle holds 113, third ball bearing 114；Wherein, it rolls
Pearl nut support 101 is core position part；Ball nut 102 is fixed on center ball nut support 101, and with it is another set of
Lead screw in the corresponding servo motor of actuator is connected, and forms controlled motion pair；Host node semiaxis 103 passes through the first ball axis
It holds 110 and forms revolute with center ball nut 102；Electric machine support 104 include upper junction plate 104-1, lower connecting plate 104-2 and
Connecting plate for electric motor 104-3, upper junction plate 104-1 and lower connecting plate 104-2 pass through the second ball bearing 112 and host node half respectively
Axis 103 connects, and forms rotary motion pair, and hold 111 lubrications by first sliding axle between center ball nut support 101,
Connecting plate for electric motor 104-3 is fixedly connected with upper junction plate 104-1 and lower connecting plate 104-2；U-shaped seat 106 passes through third ball axis
It holds 114 to connect with host node semiaxis 103, forms rotary motion pair, and pass through the with the upper junction plate 104-1 of electric machine support 104
Two sliding bearings 113 lubrication；Flat extension nut 107 is fixed on the end of host node semiaxis 103, plays position-limiting action, prevents U
Type seat 106, electric machine support 104 generate along swiveling counter shaft to movement；It cross axle 108 and U-shaped seat 106 and U-shaped is connect by lever
Part 109 is formed together universal joint kinematic pair；U-shaped passive joint element for bar 109 is connect by cross axle 108 with U-shaped seat, and provides master
The external machine interface of dynamic device, with fixed parallel connection by lever 3.
Actuator also has corresponding servo motor 105, and the corresponding servo motor 105 of actuator is fixed on electric machine support
On 104 connecting plate for electric motor 104-3, the lead screw of servo motor 105 is connected with ball nut 102, and ball nut 102 is fixed on separately
On the center ball nut support of a set of actuator.
Cross axle 108 includes cross bore, cross axle long axis and cross axle short axle.
Driven member 2 includes three passive nodes, and there are two freedom of motion, three passive nodes for each passive node tool
It is in parallel with three that equilateral triangle is fixedly connected to form by lever 3.Driven member 2 provides a mounting plane, two driven members 2
Upper and lower mirror image assembly, forms the external machine interface of modular unit, the machine interface can with another modular unit or other cooperate
Device is fixedly connected.
As shown in fig. 6, passive node includes triangular support base 201, shaft 202, even ear 203, sliding shaft sleeve 204 and sliding
Washer 205, wherein shaft 202 is in the axis hole of triangular support base 201, and even ear 203 is nested in shaft by sliding shaft sleeve 204
On 202, rotary motion pair is formed, and lubricate by sliding gasket 205 with triangular support base 201.
As shown in fig. 7, in parallel be fixed by bolts on actuator and passive node by lever 3.Parallel connection is by lever 3
Light composite material, including carbon fiber pipe 302, the both ends of carbon fiber pipe 301 pass through adhesive and the fixed company of rod ends 302
It connects.Wherein rod ends 302 are aluminum connector.
The present embodiment is real in lesser size by compact design and new-type actuator design, connection type
The driving lever variation range from 130mm to 380mm is showed, elongation reaches 290%.In Octahedral Truss Units side length 190mm
In the case where, it can be realized the elongation of the more former length 200% of driving lever, so that Octahedral Truss Units realize complete folding
Folded, unit overall elongated ratio solves the disadvantage that previous variable geometry truss robot is unfavorable for transport, while modular design up to 5
Improve the adaptability of truss, space mission demand preferably.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (7)
1. a kind of modular unit of Octahedral Truss Units variable geometry truss robot, which is characterized in that including a set of driving mechanism, two
By lever, two sets described passive for set driven member and 12 parallel connections for connecting the driving mechanism and the driven member
Mechanism is respectively arranged at the two sides of the driving mechanism, between driven member described in every set and the driving mechanism simultaneously by the six roots of sensation
Connection is movably connected by lever, and the modular unit is enabled to be unfolded or fold, and the driving mechanism includes three sets of masters
Dynamic device, three sets of actuators are connected in series in a manner of interting mutually, and every set actuator is connected with corresponding servo motor, is made
During the motion, servo motor drives lead screw, from the ball nut on lead screw drive another set of actuator on lead screw toward
Multiple movement；The actuator includes center ball nut support, ball nut, host node semiaxis, electric machine support, U-shaped seat, flat
Extension nut, cross axle, U-shaped passive joint element for bar, the first ball bearing, first sliding axle hold, the second ball bearing, second sliding
Dynamic bearing, third ball bearing；Wherein, the center ball nut support is core position part；The ball nut is fixed
It is connected in the lead screw on the center ball nut support, and in servo motor corresponding with another set of actuator, formation can
Control kinematic pair；The host node semiaxis forms revolute by first ball bearing and the center ball nut support；
The electric machine support includes upper junction plate, lower connecting plate and connecting plate for electric motor, and the upper junction plate and the lower connecting plate are distinguished
By second ball bearing and half axis connection of host node, form rotary motion pair, and with the center ball nut
Lubrication, the connecting plate for electric motor and the upper junction plate are held by the first sliding axle between support and the lower connecting plate is solid
Fixed connection；The U-shaped seat forms rotary motion pair by the third ball bearing and half axis connection of host node, and with
The upper junction plate of the electric machine support holds lubrication by the second sliding axle；The flat extension nut is fixed on the main section
Thirty the tip of the axis, plays position-limiting action, prevent the U-shaped seat, the electric machine support generate along swiveling counter shaft to movement；Institute
It states cross axle and the U-shaped seat and the U-shaped passive joint element for bar is formed together universal joint kinematic pair；It is described U-shaped to be connected by lever
Fitting is connect by the cross axle with the U-shaped seat, and provides the external machine interface of the actuator, with the fixation parallel connection
By lever.
2. the modular unit of Octahedral Truss Units variable geometry truss robot according to claim 1, which is characterized in that described
Actuator also has a corresponding servo motor, and the corresponding servo motor of the actuator is fixed on the electricity of the electric machine support
On machine connecting plate, the lead screw of the servo motor is connected with the ball nut, and the ball nut is fixed on another set of active
On the center ball nut support of device.
3. the modular unit of Octahedral Truss Units variable geometry truss robot according to claim 1, which is characterized in that described
Driven member includes three passive nodes, and there are two freedom of motion, three passive nodes for each passive node tool
It is in parallel with three that equilateral triangle is fixedly connected to form by lever.
4. the modular unit of Octahedral Truss Units variable geometry truss robot according to claim 3, which is characterized in that described
Passive node includes triangular support base, shaft, even ear, sliding shaft sleeve and sliding gasket, wherein the shaft is embedded in the triangle
In the axis hole of support, it is described even ear be nested in the shaft by the sliding shaft sleeve, formation rotary motion pair, and with it is described
Triangular support base is lubricated by the sliding gasket.
5. the modular unit of Octahedral Truss Units variable geometry truss robot according to claim 3, which is characterized in that described
Parallel connection is fixed by bolts on the actuator and the passive node by lever.
6. the modular unit of Octahedral Truss Units variable geometry truss robot according to claim 1, which is characterized in that described
Parallel connection is light composite material by lever, including carbon fiber pipe, the both ends of the carbon fiber pipe pass through adhesive and connect with rod end
Head is fixedly connected.
7. the modular unit of Octahedral Truss Units variable geometry truss robot according to claim 1, which is characterized in that described
Driven member provides a mounting plane, and it is external to form the modular unit for the mirror image assembly up and down of two driven members
Machine interface, the machine interface can be fixedly connected with another modular unit or other cooperative devices.
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|---|---|---|---|
| CN201611014649.4A CN106369022B (en) | 2016-11-18 | 2016-11-18 | The modular unit of Octahedral Truss Units variable geometry truss robot |
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| CN201611014649.4A CN106369022B (en) | 2016-11-18 | 2016-11-18 | The modular unit of Octahedral Truss Units variable geometry truss robot |
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| CN111015636B (en) * | 2020-01-10 | 2022-08-02 | 福州大学 | Six-freedom-degree expandable parallel mechanism |
| CN117799817B (en) * | 2024-02-26 | 2024-05-07 | 中国科学院工程热物理研究所 | Truss type wing structure, assembly method and preparation method of truss type girder |
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