CN109605333B - Spring and rope hybrid drive branched chain and three-rotational-freedom parallel robot - Google Patents
Spring and rope hybrid drive branched chain and three-rotational-freedom parallel robot Download PDFInfo
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- CN109605333B CN109605333B CN201811653561.6A CN201811653561A CN109605333B CN 109605333 B CN109605333 B CN 109605333B CN 201811653561 A CN201811653561 A CN 201811653561A CN 109605333 B CN109605333 B CN 109605333B
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- branched chain
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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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
- B25J9/10—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
Abstract
The embodiment of the invention discloses a spring and rope hybrid driving branched chain and three-rotational-freedom parallel robot, which comprises a static platform, a movable platform and a branched chain assembly connected with the static platform and the movable platform, wherein the branched chain assembly comprises a middle rod piece branched chain and three outer active branched chains which are spatially and symmetrically distributed, each outer active branched chain comprises an expansion sleeve, a compression spring arranged in the expansion sleeve and a rope which sequentially shuttles the static platform, the expansion sleeve and the compression spring, the tail end of the rope is connected with the movable platform, and the static platform is provided with a take-up mechanism connected with the head end of the rope. By adopting the invention, the invention has lighter weight and smaller inertia. The parallel robot formed by the spring and rope hybrid driving branched chains can realize three independent rotational degrees of freedom, can realize pure rotation around the direction vertical to the static platform, has simple structure, reduces the driving of rod pieces such as an electric cylinder and the like, reduces the mass of moving parts of the robot, and realizes the light weight of the robot to a certain extent. When the branched chain of the middle rod piece is driven, the robot is a one-translation three-rotation parallel robot and has larger working space.
Description
Technical Field
The invention relates to a parallel robot and a branched chain thereof, in particular to a spring and rope hybrid driving branched chain and a three-rotational-freedom parallel robot formed by the same.
Background
Parallel robots are an important branch of the field of robotic research. The moving platform and the static platform are connected together by a plurality of moving branched chains, and a closed loop mechanism with not less than two degrees of freedom is generated under the action of parallel driving, and is called a parallel robot. Common parallel robot branches have rigid links as drive elements, such as RRR, UPU, RPC, PUU, PRS, etc., wherein U, P, R, S denotes hooke joint, revolute joint, and ball joint, respectively. At present, some scholars have been studying drive elements such as ropes and springs, and have replaced rigid links with the drive elements. Compared with a rigid connecting rod, the rope is light in weight and small in inertia, and can meet specific performance requirements. But the rope can only provide tension but not thrust, and the rope with pure n degrees of freedom drives the parallel robot to realize definite movement only by at least n +1 rope branches. Some scholars introduce a spring into the rope-driven parallel robot, and replace a certain rope with the spring or connect the spring and the rope in series, so that under the condition that the number of robot drivers is equal to the number of degrees of freedom, the rope can meet a certain tension requirement. However, the introduced spring is a passive driving element generally, and the working space of the robot is smaller than that of a robot driven by rigid rods, ropes and the like.
Parallel robots have been used in industrial robots, motion simulators, parallel machine tools, precision positioning devices in microelectronics manufacturing, force sensors, and high speed manipulators in a typical grasping work environment. Among them, the three-rotational-freedom parallel mechanism is an extremely important one of the few-freedom parallel mechanisms. The parallel mechanism with three rotational degrees of freedom is generally used for occasions requiring compact structure and larger rotation angle, such as a robot shoulder joint, a agility eye, a satellite tracking follow-up device, a numerical control rotary table and the like. The existing three-rotational-freedom parallel mechanism is generally a spherical mechanism or a multi-rod moving pair mechanism. The spherical mechanism has the defects of strict structural requirements, difficult manufacturing and assembling and the like, and the load capacity and the static rigidity of the mechanism are not high due to the fact that a plurality of joint axes of the driving branched chain between the rotating platform and the static platform are required to be intersected at one point. The multi-rod moving pair mechanism has larger load capacity and stronger rigidity, but the moving rod comprises driving parts such as an electric cylinder and the like and has larger inertia. The parallel robot driven by three ropes and supported by a rod in the middle can also realize three rotational degrees of freedom, but the three rotational degrees of freedom of the robot are coupled because the rope drive can not generate thrust, the three rotations are not independent, and the robot can not realize the rotation around a Z axis.
Therefore, a parallel robot branched chain with simple structure, light weight and small inertia and a three-rotational-degree-of-freedom parallel robot which is composed of the branched chain and has the advantages of simple structure, convenience in installation, small weight, large load capacity and high rigidity are urgently needed.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a spring and rope hybrid driving branched chain and a three-rotational-degree-of-freedom parallel robot. The device is convenient to install, small in mass and large in load capacity.
In order to solve the above technical problems, an embodiment of the present invention provides a spring and rope hybrid driving branched chain and three rotational degrees of freedom parallel robot, which includes a static platform, a dynamic platform, and a branched chain assembly connecting the static platform and the dynamic platform, the branched chain assembly comprises a middle rod piece branched chain and three outer driving branched chains which are spatially and symmetrically distributed, one end of the middle rod piece branched chain is vertically fixedly connected with the static platform, the other end of the middle rod piece branched chain is hinged with the center of the movable platform, two ends of the three outer driving branched chains are respectively hinged between the static platform and the movable platform and are symmetrically distributed relative to the middle rod piece branched chain, the outer active branched chain comprises a telescopic sleeve, a compression spring arranged in the telescopic sleeve, and a rope which sequentially shuttles to the static platform, the telescopic sleeve, the compression spring and the tail end of the rope are connected with the movable platform, and the static platform is provided with a take-up mechanism connected with the head end of the rope.
Furthermore, one end of the telescopic sleeve is rotatably connected with the static platform through a hook hinge, and the other end of the telescopic sleeve is rotatably connected with the movable platform through a spherical hinge.
Furthermore, one end of the middle rod branched chain is vertically and fixedly connected to the center of the static platform, and the other end of the middle rod branched chain is rotatably connected to the center of the movable platform through a Hooke hinge.
Furthermore, the distribution of the joint of the outer driving branched chain and the static platform is in an equilateral triangle distribution, and the distribution of the joint of the outer driving branched chain and the movable platform is also in an equilateral triangle distribution.
Still further, the take-up mechanism includes a motor and a drum connected to the head end of the rope.
Furthermore, the middle rod piece can be added with one of the air cylinder, the electric cylinder and the hydraulic cylinder to be a driving rod piece, so that the robot is a parallel robot with one translation and three rotation degrees of freedom.
The embodiment of the invention has the following beneficial effects: the branched chain of the invention adopts a spring and rope combined driving structure, can carry out long-distance transmission, can replace rigid rod pieces such as an electric cylinder and the like with long-distance transmission and short movement stroke, greatly lightens the weight of the device, and is particularly suitable for parallel robots. The parallel robot formed by the spring and rope hybrid driving branched chains has three independent rotating degrees of freedom, the movable platform can rotate around the axis of the supporting rod, the structure is simple, the installation is convenient, and the weight is lighter compared with that of a three-degree-of-freedom parallel robot driven by a telescopic rod. In addition, the intermediate rod branched chain has the functions of supporting and restricting the motion of the movable platform, and can bear larger load relative to a three-degree-of-freedom spherical mechanism. When the middle supporting rod is a driving rod, the robot is a one-translation three-rotation parallel robot and has larger working space.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of another overall structure of the present invention.
The device comprises a movable platform 1, a revolute pair 2, a middle rod branched chain 3, a hooke hinge 4, a rope 5, a rope 6, a spherical hinge 7, a telescopic sleeve 8, a compression spring 9, a static platform 10, a winding drum 11 and a motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
The spring and rope hybrid drive branched chain and three-rotational-degree-of-freedom parallel robot comprises a static platform 9, a movable platform 1 and a branched chain assembly connected with the static platform 9 and the movable platform 1, wherein the branched chain assembly comprises a middle rod piece branched chain and three outer driving branched chains which are symmetrically distributed in space.
One end of the middle rod branched chain 3 is vertically and fixedly connected with the static platform 9, the other end of the middle rod branched chain is hinged with the center of the movable platform 1, specifically, one end of the middle rod branched chain 3 is vertically and fixedly connected with the center of the static platform, the other end of the middle rod branched chain is rotationally connected with the center of the movable platform through a Hooke hinge, and one of the air cylinder, the electric cylinder and the hydraulic cylinder can be added to the middle rod branched chain 3 to be a driving rod piece, so that the robot is a parallel robot with one translational motion and.
The two ends of the three outer driving branched chains are hinged between the static platform 9 and the movable platform 1 respectively and are symmetrically distributed about the middle rod branched chain 3, each outer driving branched chain comprises a telescopic sleeve 7, a compression spring 8 arranged in the telescopic sleeve 7 and a rope 5 which sequentially shuttles between the static platform 9, the telescopic sleeve and the compression spring and is connected with the movable platform at the tail end, and the static platform 9 is provided with a wire rewinding mechanism connected with the head end of the rope 5.
The take-up mechanism comprises a motor 11 and a winding drum 10 which are arranged at the bottom of the static platform 9, and the winding drum 10 is connected with the head end of the rope 5.
One end of the telescopic sleeve 7 is rotatably connected with the static platform 9 through a Hooke hinge 4, and the other end of the telescopic sleeve is rotatably connected with the movable platform 1 through a spherical hinge 6.
Preferably, the distribution of the joints of the outer active branched chains and the static platforms is in an equilateral triangle distribution, and the distribution of the joints of the outer active branched chains and the dynamic platforms is also in an equilateral triangle distribution.
In the invention, one end of the middle rod branched chain is vertically fixed on the static platform 9, the other end of the middle rod branched chain is connected with the movable platform 1 so as to play a role in supporting and restricting the movement of the movable platform 1, the three outer driving branched chains are driven by a spring rope combination and are of a telescopic structure and hinged between the movable platform 1 and the static platform 9, so that the whole mechanism has three rotational degrees of freedom, and the movable platform 1 can rotate around a fixed point in three coordinate axis directions. When the middle supporting rod is a driving rod piece, the movable platform 1 has a translational degree of freedom vertical to the direction of the static platform 9.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (4)
1. A spring and rope hybrid drive branched chain and three-rotational-freedom parallel robot is characterized by comprising a static platform, a movable platform and a branched chain assembly connected with the static platform and the movable platform, wherein the branched chain assembly comprises a middle rod branched chain and three outer driving branched chains which are symmetrically distributed in space, one end of the middle rod branched chain is vertically fixedly connected with the static platform, the other end of the middle rod branched chain is hinged with the center of the movable platform, two ends of the three outer driving branched chains are respectively hinged between the static platform and the movable platform and symmetrically distributed relative to the middle rod branched chain, each outer driving branched chain comprises a telescopic sleeve, a compression spring arranged in the telescopic sleeve, and a rope sequentially shuttled between the static platform, the telescopic sleeve and the compression spring, wherein the tail end of the rope is connected with the movable platform, the static platform is provided with a take-up mechanism connected with the head end of the rope, one end of the telescopic sleeve is rotatably connected with the static platform, the other end of the middle rod branched chain is rotationally connected with the movable platform through a spherical hinge, one end of the middle rod branched chain is vertically and fixedly connected with the center of the static platform, and the other end of the middle rod branched chain is connected with the center of the movable platform through a Hooke hinge and a revolute pair.
2. The spring and rope hybrid drive branched chain and three-rotational-degree-of-freedom parallel robot according to claim 1, wherein the distribution of the joints of the outer driving branched chain and the static platform is in an equilateral triangle, and the distribution of the joints of the outer driving branched chain and the dynamic platform is also in an equilateral triangle.
3. The spring-cable hybrid drive branched chain and three rotational degrees of freedom parallel robot of claim 1 or 2, wherein the take-up mechanism comprises a motor and a drum connected to the head end of the cable.
4. The spring and rope hybrid driving branched chain and three-rotational-degree-of-freedom parallel robot as claimed in claim 1 or 2, wherein when the intermediate rod is one of a cylinder, an electric cylinder and a hydraulic cylinder, the robot is a one-translation three-rotational-degree-of-freedom parallel robot.
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| CN109605333B true CN109605333B (en) | 2020-11-20 |
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