CN109397262A - A kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot - Google Patents
A kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot Download PDFInfo
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- CN109397262A CN109397262A CN201811302124.XA CN201811302124A CN109397262A CN 109397262 A CN109397262 A CN 109397262A CN 201811302124 A CN201811302124 A CN 201811302124A CN 109397262 A CN109397262 A CN 109397262A
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- rope
- moving platform
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- ropes
- driving
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of space multiple degrees of freedom redundancy actuating mechanisms of rope parallel robot, including support device, driving device, executive device and terminal moving platform, driving device includes at least four driving units, and executive device includes the number execution unit equal with the number of driving unit；Each driving unit includes a rope drum, and each execution unit includes a pair of of leading block and a pair of of rope, and multipair leading block is arranged in a one-to-one correspondence up and down with multiple driving units；Two ropes in execution unit bypass corresponding leading block respectively, one end of two ropes is around to identical and be respectively wound around on same rope drum, the other end of the two ropes execution unit that is connected respectively with terminal moving platform connects, and the line of two tie points of two ropes and terminal moving platform passes through the position of centre of gravity of terminal moving platform.It applies the technical scheme of the present invention, which realizes the space multifreedom motion of terminal moving platform by the common cooperation of multiple driving devices and multiple execution units.
Description
Technical field
The present invention relates to parallel robot technical fields, and particularly, how free the space for being related to a kind of rope parallel robot is
Spend redundancy actuating mechanism.
Background technique
According to the difference of body construction type, existing robot is divided into serial manipulator and parallel robot two major classes type.
Serial manipulator development is more early, and technology development is more mature, and commercially produced product can have been widely used for various industries and neck
Domain.Compared with serial manipulator, parallel robot has many advantages, such as that rigidity is high, bearing capacity is good and movement velocity is fast, parallel machine
Device people is further divided into rigid parallel robot and flexible coding system according to the difference of driving part；Wherein, flexibility is driven
Dynamic component is that the parallel institution of rope is defined as cable parallel mechanism.The rigidity driving rod piece of relative stiffness parallel institution, rope is simultaneously
Online structure can realize that the motion control of terminal moving platform and pose are adjusted by the folding and unfolding campaign of control rope.
Chinese patent ZL 201410571166.9 discloses varistructure parameter Compliant Assembly system, including soft
Rope parallel robot, the liquid channel system of Compliant Assembly, Compliant Assembly control circuit, Compliant Assembly control
System processed, method are controlled by the parameter of feedback module acquisition in control system by master control industrial personal computer control movement in control system
Making sheet card sends control command to Compliant Assembly control circuit.The system can effectively control alterable machines robot mechanism ginseng
Heavy load operating, a wide range of working space high-performance movement output are counted up into, realizes controlled device end effector space three-dimensional
The high-precision motion of translational degree of freedom；But the Compliant Assembly in the system realizes that terminal is dynamic flat by a ring structure
The three-translational freedom of platform, its structure is complicated, and needs additional driving motor to control each ring structure and move synchronously, and controls
Required precision is high.
Summary of the invention
The purpose of the present invention is to provide a kind of space multiple degrees of freedom redundancy actuating mechanisms of rope parallel robot, to solve
The rope parallel robot technical problem that structure is complicated, control accuracy requirement is high in the prior art.
To achieve the above object, the present invention provides a kind of space multiple degrees of freedom redundant drive machines of rope parallel robot
Structure, including support device, driving device, executive device and terminal moving platform, the driving device include being arranged in the support
At least four driving units in device, each driving unit include a rope drum；The executive device includes number
The execution unit equal with the number of the driving unit, each execution unit include a pair of of leading block and a pair of of rope,
Multipair leading block is arranged in a one-to-one correspondence up and down with multiple driving units；Two ropes in each execution unit rotating around
Cross corresponding leading block, one end of two ropes is around to identical and be respectively wound around on the same rope drum, two
The other end of root rope is connected with the terminal moving platform respectively, the line of two tie points of two ropes and terminal moving platform
By the position of centre of gravity of the terminal moving platform；And in multiple execution units at least two pairs ropes and terminal moving platform company
The line of contact is not parallel to each other.
Further, the line between two leading blocks in the same execution unit, two ropes are led from described
To pulley to the line structure of two tie points of part and two ropes and terminal moving platform between the terminal moving platform
At a parallelogram.
Further, the support device includes braced frame, bottom plate and top plate；The driving unit further includes driving electricity
The main shaft of machine, shaft coupling and retarder, the driving motor is connected by the shaft coupling with the retarder, the retarder
It is drivingly connected with the shaft of the rope drum；The rope drum controls the collapsing length of a pair of of rope simultaneously.
Further, the driving motor level is fixed on the bottom plate；The leading block and the top plate
Redundancy rotation connection, and multiple leading blocks are located at sustained height position；In the structure setting, set between guiding sliding and top plate
There is redundancy, so that rope can follow terminal moving platform mobile.
Further, the terminal moving platform is cylindrical structure；The driving device includes four driving units, described
Four pairs of ropes of executive device are connected with the terminal moving platform respectively, the tie point of multipair rope and the terminal moving platform
Line intersect at the position of centre of gravity of the terminal moving platform.
Further, four ropes for being connected with the rope are laid on the lateral wall of the terminal moving platform
Suo Kong, the bottom centre position of the terminal moving platform are equipped with the installation interface for installation exercise device；The apparatus for work can
For manipulator or spray gun etc..
Further, one is equipped on the every rope for measuring the load cell of rope implementation capacity.
Compared with the prior art, the invention has the following advantages:
(1), the space multiple degrees of freedom redundancy actuating mechanism of a kind of rope parallel robot of the invention, including support device,
Driving device, executive device and terminal moving platform driving device include at least four driving units, executive device include number with
The equal execution unit of the number of driving unit；Each driving unit includes a rope drum, and each execution unit wraps
A pair of of leading block and a pair of of rope are included, multipair leading block is arranged in a one-to-one correspondence up and down with multiple driving units；Execution unit
In two ropes bypass corresponding leading block respectively, one end of two ropes is around to identical and be respectively wound around same
On rope drum, the other end of two ropes is connected with terminal moving platform respectively, two companies of two ropes and terminal moving platform
The line of contact passes through the position of centre of gravity of terminal moving platform；The structure setting passes through multiple driving devices and multiple execution units
The space multifreedom motion of terminal moving platform is realized in common cooperation.
(2), the line between two leading blocks in the present invention in same execution unit, two ropes are from leading block
Line to part and two ropes and two tie points of terminal moving platform between terminal moving platform constitute one it is parallel
Quadrangle；The structure setting is formed by parallelogram shape by a pair of of leading block, a pair of of rope and terminal moving platform
Constraint, realize cable parallel mechanism three-dimensional space three-translational freedom movement, break through to more in the prior art existing
The link position of rope and terminal moving platform is necessary for the limitation of the same tie point.
(3), driving motor level is fixed on bottom plate in the present invention；Leading block and top plate redundancy are rotatablely connected,
And multiple leading blocks are located at sustained height position；In the structure setting, it is equipped with redundancy between guiding sliding and top plate, so that
Rope can follow terminal moving platform mobile；Redundant drive mode can reduce the motion oscillations amplitude of cable parallel mechanism, improve
Kinematic accuracy.
(4), terminal moving platform is cylindrical structure in the present invention；Driving device includes four driving units, executive device
Four pairs of ropes be connected respectively with terminal moving platform, the line of the tie point of multipair rope and terminal moving platform intersects at terminal
The position of centre of gravity of moving platform；Four bridle ports for being connected with rope are laid on the lateral wall of terminal moving platform, eventually
The bottom centre position of moving platform is held to be equipped with the installation interface for installation exercise device；The use that the present invention passes through pairs of rope
Improve the security performance of human body, the generation of fortuitous event when can effectively avoid human-computer interaction process.
In conclusion space multiple degrees of freedom redundancy actuating mechanism structure of the invention is simple, control accuracy requirement is low；It uses
The rope parallel robot spatial movement range of the space multiple degrees of freedom redundancy actuating mechanism is wide, security performance is excellent, transports in logistics
The fields such as defeated and large area spray painting can be with extensive utilization.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of structural schematic diagram of the space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot of the present invention；
Fig. 2 is the structural schematic diagram of driving unit in Fig. 1；
Fig. 3 is the tie point distribution schematic diagram of terminal moving platform and more ropes in the present invention；
Wherein, 1, support device, 1.1, braced frame, 1.2, bottom plate, 1.3, top plate, 2, driving device, 2.1, rope volume
Cylinder, 2.2, driving motor, 2.3, shaft coupling, 2.4, retarder, 3, executive device, 3.1, leading block, 3.2, rope, 3.2a,
First pair of rope, 3.2b, second pair of rope, 3.2c, third are to rope, 3.2d, the 4th pair of rope, 4, terminal moving platform, 5, work
Industry device.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be limited according to claim
Fixed and covering multitude of different ways is implemented.
Referring to Fig. 1 and Fig. 2, the space multiple degrees of freedom redundancy actuating mechanism of a kind of rope parallel robot of the invention, including
Support device 1, driving device 2, executive device 3 and terminal moving platform 4, support device is by braced frame 1.1, bottom plate 1.2 and top
Plate 1.3 forms, and braced frame can be formed using aluminium section；Terminal moving platform is cylindrical structure.
Driving device includes the identical driving unit of at least four structures being arranged in support device, each driving unit
It include a rope drum 2.1, driving motor 2.2, shaft coupling 2.3 and retarder 2.4, the main shaft of driving motor passes through shaft coupling
Device is connected with retarder, and the shaft of retarder and rope drum is drivingly connected；In the structure setting, the same same time control of rope drum
Make the collapsing length of a pair of of rope.
Executive device includes the number execution unit equal with the number of driving unit, and each execution unit includes a pair
Leading block 3.1 and a pair of of rope 3.2, multipair leading block are arranged in a one-to-one correspondence up and down with multiple driving units；Each execution
Two ropes in unit bypass corresponding leading block respectively, and one end of two ropes is around to identical and be respectively wound around
On same rope drum, the other end of two ropes is connected with terminal moving platform respectively, and the two of two ropes and terminal moving platform
The line of a tie point passes through the position of centre of gravity of terminal moving platform；And at least two pairs of ropes and terminal are dynamic flat in multiple execution units
The line of the tie point of platform is not parallel to each other.The structure setting is real by the common cooperation of multiple driving devices and multiple execution units
The space multifreedom motion of existing terminal moving platform.
The line between two leading blocks, two ropes in a kind of specific embodiment, in same execution unit
Rope is from leading block to the line of two tie points of part and two ropes and terminal moving platform terminal moving platform
Constitute a parallelogram.The structure setting is formed by flat by a pair of of leading block, a pair of of rope and terminal moving platform
The constraint of row quadrangle form realizes the three-dimensional space three-translational freedom movement of cable parallel mechanism, breaks through to existing existing
There is in technology the link position of more ropes and terminal moving platform be necessary for the limitation of the same tie point.
In a kind of specific embodiment, driving motor level is fixed on bottom plate；Leading block is superfluous with top plate
Remaining rotation connection, and multiple leading blocks are located at sustained height position.In the structure setting, guiding sliding is equipped with redundancy, leads
To pulley in terminal moving platform motion process, can adaptive adjusting angle angle value, following terminal moving platform to reduce rope
When mobile with the friction of leading block side.
As shown in connection with fig. 3, driving device includes four driving units, first pair of rope of executive device in the present embodiment
3.2a, second couple of rope 3.2b, third are connected respectively to rope 3.2c and the 4th couple of rope 3.2d with terminal moving platform, and
First pair of rope, second pair of rope, third hand over the line of rope and the 4th pair of rope and the tie point of terminal moving platform jointly
It pitches in the position of centre of gravity of terminal moving platform；It is used for and rope phase specifically, being laid with four on the lateral wall of terminal moving platform
The bridle port of connection, the bottom centre position of terminal moving platform are equipped with the installation interface for installation exercise device 5.The structure is set
Set the security performance that human body is improved by the use of pairs of rope, the hair of fortuitous event when can effectively avoid human-computer interaction process
It is raw.
In a kind of specific embodiment, every it is flexible on a dynamometry for measuring rope implementation capacity be installed pass
Sensor.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot, which is characterized in that including support device (1),
Driving device (2), executive device (3) and terminal moving platform (4), the driving device include being arranged in the support device
At least four driving units, each driving unit include a rope drum (2.1)；The executive device includes number and institute
The equal execution unit of the number of driving unit is stated, each execution unit includes a pair of of leading block (3.1) and a pair of of rope
(3.2), multipair leading block is arranged in a one-to-one correspondence up and down with multiple driving units；Two ropes in each execution unit
Bypass corresponding leading block respectively, one end of two ropes is around to identical and be respectively wound around the same rope drum
On, the other end of two ropes is connected with the terminal moving platform respectively, two tie points of two ropes and terminal moving platform
Line pass through the terminal moving platform position of centre of gravity；And at least two pairs of ropes and terminal are dynamic flat in multiple execution units
The line of the tie point of platform is not parallel to each other.
2. the space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot according to claim 1, which is characterized in that same
The line between two leading blocks, two ropes in one execution unit move flat from the leading block to the terminal
The line of two tie points of part and two ropes and terminal moving platform between platform constitutes a parallelogram.
3. the space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot according to claim 1, which is characterized in that institute
Stating support device includes braced frame (1.1), bottom plate (1.2) and top plate (1.3)；The driving unit further includes driving motor
(2.2), the main shaft of shaft coupling (2.3) and retarder (2.4), the driving motor passes through the shaft coupling and the retarder phase
Even, the shaft of the retarder and the rope drum is drivingly connected；The rope drum controls the flexible of a pair of of rope simultaneously
Length.
4. the space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot according to claim 3, which is characterized in that institute
Driving motor level is stated to be fixed on the bottom plate；The leading block and the top plate redundancy are rotatablely connected, and multiple
Leading block is located at sustained height position.
5. the space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot according to claim 1, which is characterized in that institute
Stating terminal moving platform is cylindrical structure；The driving device includes four driving units, four pairs of ropes of the executive device
It is connected respectively with the terminal moving platform, the line of the tie point of multipair rope and the terminal moving platform intersects at the end
Hold the position of centre of gravity of moving platform.
6. the space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot according to claim 5, which is characterized in that institute
It states and is laid with four bridle ports for being connected with the rope on the lateral wall of terminal moving platform, the terminal moving platform
Bottom centre position be equipped with for installation exercise device (5) installation interface.
7. the space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot according to claim 1, which is characterized in that every
One is equipped on rope described in root for measuring the load cell of rope implementation capacity.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811302124.XA CN109397262A (en) | 2018-11-02 | 2018-11-02 | A kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot |
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| CN201811302124.XA CN109397262A (en) | 2018-11-02 | 2018-11-02 | A kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot |
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| CN201811302124.XA Pending CN109397262A (en) | 2018-11-02 | 2018-11-02 | A kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109887374A (en) * | 2019-04-17 | 2019-06-14 | 武汉誉琼科技有限公司 | Nature imitation experiment device is significantly waved in a kind of drive of rope |
| CN109909978A (en) * | 2019-04-15 | 2019-06-21 | 中国计量大学 | A kind of rope drives the remote operating device of three free translation parallel robots |
| CN110480614A (en) * | 2019-08-27 | 2019-11-22 | 上海大学 | A kind of scalable mechanical arm in parallel of the two-freedom based on Tape spring |
| CN110605703A (en) * | 2019-09-23 | 2019-12-24 | 燕山大学 | Parallel rope traction mechanism with deformable tail end of six degrees of freedom |
| CN110833493A (en) * | 2019-11-04 | 2020-02-25 | 湖南大学 | Leg rehabilitation mechanism device based on cable driving |
| CN111319028A (en) * | 2020-03-18 | 2020-06-23 | 中国科学技术大学 | Rope traction parallel robot with variable structure and kinematics multi-solution solving method thereof |
| CN111409069A (en) * | 2020-03-18 | 2020-07-14 | 中国科学技术大学 | Method for solving kinematic speed of rope traction parallel robot with variable structure |
| CN112247961A (en) * | 2020-10-15 | 2021-01-22 | 中国科学院自动化研究所 | Rope traction parallel mechanism experimental device |
| CN112647707A (en) * | 2020-12-05 | 2021-04-13 | 哈尔滨工业大学 | Large-forming-space cable-driven building 3D printing device easy to reconstruct |
| CN113650035A (en) * | 2021-09-16 | 2021-11-16 | 南京信息工程大学 | Rope-driven automobile gear shifting robot |
| CN114084855A (en) * | 2021-10-09 | 2022-02-25 | 四川美术学院 | Ruins search and rescue automation platform |
| CN114393567A (en) * | 2022-01-20 | 2022-04-26 | 清华大学 | Rope-driven parallel robot with three-dimensional translation and one-dimensional rotation |
| CN114393565A (en) * | 2022-01-20 | 2022-04-26 | 清华大学 | Rope-driven high-precision two-degree-of-freedom parallel robot |
| RU2791750C1 (en) * | 2022-10-24 | 2023-03-13 | ОБЩЕСТВО С ОГРАНИЧЕННОЙ ОТВЕТСТВЕННОСТЬЮ ООО "Кранстроймонтаж" | Loader cranes with cable drive |
| CN116729917A (en) * | 2023-05-23 | 2023-09-12 | 南京线控机器人科技有限公司 | Modularized mobile platform and moving method thereof |
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| CN109909978A (en) * | 2019-04-15 | 2019-06-21 | 中国计量大学 | A kind of rope drives the remote operating device of three free translation parallel robots |
| CN109909978B (en) * | 2019-04-15 | 2024-02-23 | 中国计量大学 | Teleoperation device of rope-driven three-freedom translation parallel robot |
| CN109887374A (en) * | 2019-04-17 | 2019-06-14 | 武汉誉琼科技有限公司 | Nature imitation experiment device is significantly waved in a kind of drive of rope |
| CN110480614A (en) * | 2019-08-27 | 2019-11-22 | 上海大学 | A kind of scalable mechanical arm in parallel of the two-freedom based on Tape spring |
| CN110480614B (en) * | 2019-08-27 | 2020-12-11 | 上海大学 | Two-degree-of-freedom parallel telescopic mechanical arm based on tape spring |
| CN110605703A (en) * | 2019-09-23 | 2019-12-24 | 燕山大学 | Parallel rope traction mechanism with deformable tail end of six degrees of freedom |
| CN110605703B (en) * | 2019-09-23 | 2022-07-01 | 燕山大学 | Parallel rope traction mechanism with deformable tail end of six degrees of freedom |
| CN110833493B (en) * | 2019-11-04 | 2021-09-03 | 湖南大学 | Leg rehabilitation mechanism device based on cable driving |
| CN110833493A (en) * | 2019-11-04 | 2020-02-25 | 湖南大学 | Leg rehabilitation mechanism device based on cable driving |
| CN111409069A (en) * | 2020-03-18 | 2020-07-14 | 中国科学技术大学 | Method for solving kinematic speed of rope traction parallel robot with variable structure |
| CN111319028B (en) * | 2020-03-18 | 2022-04-19 | 中国科学技术大学 | Rope traction parallel robot with variable structure and kinematics multi-solution solving method thereof |
| CN111409069B (en) * | 2020-03-18 | 2022-04-19 | 中国科学技术大学 | Method for solving kinematic speed of rope traction parallel robot with variable structure |
| CN111319028A (en) * | 2020-03-18 | 2020-06-23 | 中国科学技术大学 | Rope traction parallel robot with variable structure and kinematics multi-solution solving method thereof |
| CN112247961A (en) * | 2020-10-15 | 2021-01-22 | 中国科学院自动化研究所 | Rope traction parallel mechanism experimental device |
| CN112647707B (en) * | 2020-12-05 | 2022-03-04 | 哈尔滨工业大学 | Large-forming-space cable-driven building 3D printing device easy to reconstruct |
| CN112647707A (en) * | 2020-12-05 | 2021-04-13 | 哈尔滨工业大学 | Large-forming-space cable-driven building 3D printing device easy to reconstruct |
| CN113650035A (en) * | 2021-09-16 | 2021-11-16 | 南京信息工程大学 | Rope-driven automobile gear shifting robot |
| CN114084855A (en) * | 2021-10-09 | 2022-02-25 | 四川美术学院 | Ruins search and rescue automation platform |
| CN114393567A (en) * | 2022-01-20 | 2022-04-26 | 清华大学 | Rope-driven parallel robot with three-dimensional translation and one-dimensional rotation |
| CN114393565B (en) * | 2022-01-20 | 2023-09-05 | 清华大学 | Rope-driven high-precision two-degree-of-freedom parallel robot |
| CN114393567B (en) * | 2022-01-20 | 2023-09-08 | 清华大学 | Rope-driven parallel robot with three-dimensional translation and one-dimensional rotation |
| CN114393565A (en) * | 2022-01-20 | 2022-04-26 | 清华大学 | Rope-driven high-precision two-degree-of-freedom parallel robot |
| RU2791750C1 (en) * | 2022-10-24 | 2023-03-13 | ОБЩЕСТВО С ОГРАНИЧЕННОЙ ОТВЕТСТВЕННОСТЬЮ ООО "Кранстроймонтаж" | Loader cranes with cable drive |
| CN116729917A (en) * | 2023-05-23 | 2023-09-12 | 南京线控机器人科技有限公司 | Modularized mobile platform and moving method thereof |
| CN116729917B (en) * | 2023-05-23 | 2024-01-30 | 南京线控机器人科技有限公司 | Modularized mobile platform and moving method thereof |
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Application publication date: 20190301 |