CN110744525B - Self-adjusting anti-collision bearable parallel actuator with compact structure - Google Patents
Self-adjusting anti-collision bearable parallel actuator with compact structure Download PDFInfo
- Publication number
- CN110744525B CN110744525B CN201911047348.5A CN201911047348A CN110744525B CN 110744525 B CN110744525 B CN 110744525B CN 201911047348 A CN201911047348 A CN 201911047348A CN 110744525 B CN110744525 B CN 110744525B
- Authority
- CN
- China
- Prior art keywords
- actuator
- piston
- platform
- hinge
- piston cylinder
- 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.)
- Active
Links
Images
Classifications
-
- 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A self-adjusting anti-collision bearable parallel actuator with a compact structure relates to the technical field of universal robots. The invention aims to solve the problems of mechanical damage caused by obstruction and collision when a tail end tool of the existing universal mechanical arm is in close contact with a processing receptor and the local property of the detection space of the traditional sensor. The invention comprises an actuator movable platform, an actuator static platform and a plurality of actuator mechanisms, wherein the actuator movable platform and the actuator static platform are oppositely arranged, the actuator mechanisms are uniformly distributed between the actuator movable platform and the actuator static platform, each actuator mechanism comprises an actuator bearing rod, a ball hinge and a hooke hinge, one end of each actuator bearing rod is connected with the inner side end face of the actuator movable platform through the ball hinge, and the other end of each actuator bearing rod is connected with the inner side end face of the actuator static platform through the hooke hinge. The invention is used for the universal mechanical arm.
Description
Technical Field
The invention relates to the technical field of universal robots, in particular to a self-adjusting anti-collision bearable parallel actuator with a compact structure.
Background
In the field of universal robots, the tail ends of mechanical arms in the shapes of ABB and KUKA need to carry special tool ends in specific working environments for working. In precise mechanical automatic operation such as ultra-precise spraying and polishing, a tool end of a mechanical arm needs to be attached to a machining receptor at a close distance or a zero distance, and blocking collision is inevitable in the moving process of the robot. Therefore, there is a need for a self-adjusting collision avoidance loadable parallel actuator of the general type used to connect robotic arms to tool ends for flexible protection in the event of a hazard.
Disclosure of Invention
The invention aims to solve the problems of mechanical damage caused by obstruction and collision when a terminal tool of the conventional universal mechanical arm is in close contact with a processing receptor and the local terminal of the detection space of the traditional sensor, and further provides a self-adjusting anti-collision bearable parallel actuator with a compact structure.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a self-adjusting anti-collision bearable parallel actuator with a compact structure comprises an actuator moving platform, an actuator static platform and a plurality of actuator mechanisms, wherein the actuator moving platform and the actuator static platform are oppositely arranged, the actuator mechanisms are uniformly distributed between the actuator moving platform and the actuator static platform, each actuator mechanism comprises an actuator bearing rod, a ball hinge and a hooke hinge, one end of each actuator bearing rod is connected with the end surface of the inner side of the actuator moving platform through the ball hinge, the other end of each actuator bearing rod is connected with the end surface of the inner side of the actuator static platform through the hooke hinge,
the executor carrier bar includes hooke hinged joint pole, flexible dish, the piston telescopic link, compression spring, piston barrel and ball hinged joint pole, hooke hinged joint pole's one end and hooke hinged joint rotate to be connected, hooke hinged joint pole's the other end is connected with the one end of piston telescopic link through flexible dish, the other end cartridge of piston telescopic link is in the piston barrel, the outside cover of piston telescopic link and piston barrel is equipped with compression spring, the outside of piston barrel is connected with the one end of ball hinged joint pole, the other end and the ball hinged joint of ball hinged joint pole rotate to be connected.
Compared with the prior art, the invention has the following beneficial effects:
the invention solves the defects of mechanical damage caused by obstruction and collision when the tool end of the existing universal mechanical arm is in close contact with a processing receptor and the local property of the detection space of the traditional sensor, solves the emergency possibly encountered by the tool end in the working track, and designs the self-adjusting anti-collision bearable parallel actuator with compact structure, so that the mechanical arm has the capacity of giving consideration to the working quality and the efficiency when working, and the safety of a terminal tool can be increased to a certain extent. The invention can realize the motion detection in six freedom directions and can be widely popularized in the field of universal mechanical arms as a protection device.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a partial cross-sectional view of FIG. 1;
FIG. 3 is a schematic view of the construction of the actuator carrier bar 3 according to the present invention;
fig. 4 is a sectional view of fig. 3.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 4, the self-adjusting anti-collision bearable parallel actuator with a compact structure according to the embodiment includes a movable actuator platform 1, a static actuator platform 2 and a plurality of actuator mechanisms, the movable actuator platform 1 and the static actuator platform 2 are oppositely arranged, the plurality of actuator mechanisms are uniformly distributed between the movable actuator platform 1 and the static actuator platform 2, each actuator mechanism includes an actuator bearing rod 3, a ball hinge 4 and a hooke hinge 5, one end of the actuator bearing rod 3 is connected with the inner end face of the movable actuator platform 1 through the ball hinge 4, the other end of the actuator bearing rod 3 is connected with the inner end face of the static actuator platform 2 through the hooke hinge 5,
the actuator bearing rod 3 comprises a Hooke hinge connecting rod 3-1, a telescopic disc 3-2, a piston telescopic rod 3-4, a compression spring 3-7, a piston cylinder 3-8 and a ball hinge connecting rod 3-17, one end of a Hooke hinge connecting rod 3-1 is rotatably connected with a Hooke hinge 5, the other end of the Hooke hinge connecting rod 3-1 is connected with one end of a piston telescopic rod 3-4 through a telescopic disc 3-2, the other end of the piston telescopic rod 3-4 is inserted into a piston cylinder 3-8, a compression spring 3-7 is sleeved outside the piston telescopic rod 3-4 and the piston cylinder 3-8, the outer side of the piston cylinder 3-8 is connected with one end of a ball hinge connecting rod 3-17, and the other end of the ball hinge connecting rod 3-17 is rotatably connected with the ball hinge 4.
In the embodiment, the number of the actuator mechanisms is six, the six actuator mechanisms are divided into three groups, each group comprises two actuator mechanisms, the three groups of actuator mechanisms are uniformly distributed between the actuator moving platform 1 and the actuator static platform 2, the actuator moving platform 1 is connected with an end tool, the actuator static platform 2 is connected with a universal mechanical arm, and the whole structure can realize six-degree-of-freedom motion through the extension and contraction of the piston telescopic rods 3-4.
The second embodiment is as follows: with reference to fig. 1 to 4, the actuator carrier rod 3 of the present embodiment further includes a hollow cock 3-14 and a gas circuit quick-change connector 3-15, one end of the hollow cock 3-14 is communicated with the cylinder bottom of the piston cylinder 3-8, and the other end of the hollow cock 3-14 is connected with the gas circuit quick-change connector 3-15. Other components and connection modes are the same as those of the first embodiment.
In the embodiment, the upper end of the piston cylinder 3-8 is connected with a 90-degree hollow cock 3-14 and an air circuit quick-change connector 3-15, and the piston cylinder 3-8 can be inflated through the air circuit quick-change connector 3-15 during working so as to extend and retract the piston telescopic rod 3-4.
The third concrete implementation mode: the embodiment is described with reference to fig. 4, the mouth of the piston cylinder 3-8 in the embodiment is provided with a hollow ring-type electromagnet 3-11, the piston telescopic rod 3-4 is inserted in the middle of the ring-type electromagnet 3-11, the exterior of the ring-type electromagnet 3-11 is provided with a piston cylinder screw cap 3-12, and the piston cylinder screw cap 3-12 is arranged at the mouth of the piston cylinder 3-8. Other components and connection modes are the same as those of the second embodiment.
In the embodiment, the bottom of the piston cylinder 3-8 is provided with a hollow ring type electromagnet 3-11 which is attached to the opening of the piston cylinder 3-8 through a piston cylinder screw cap 3-12 in a pre-tightening manner to play a role in limiting the piston telescopic rod 3-4. When the device works, the piston telescopic rod 3-4 can be sucked, and the piston telescopic rod 3-4 can be controlled to be switched between a free state and a fixed state at will. Meanwhile, the upper end of the piston cylinder 3-8 is connected with a 90-degree hollow cock 3-14 and an air circuit quick-change connector 3-15, and the piston cylinder 3-8 can be pressurized through the air circuit quick-change connector 3-15 during working, so that the piston telescopic rod 3-4 and the ring type electromagnet 3-11 can be stably attracted.
The fourth concrete implementation mode is as follows: the embodiment is described with reference to fig. 1 to 2, in the embodiment, six gas circuit electromagnetic valves 2 to 3 are arranged in the middle of the actuator static platform 2, and each gas circuit quick-change connector 3 to 15 is connected with one branch of the six gas circuit electromagnetic valves 2 to 3. Other components and connection modes are the same as those of the second embodiment or the third embodiment.
In the embodiment, a six-branch gas circuit electromagnetic valve 2-3 is arranged on the actuator static platform 2, the six-branch gas circuit electromagnetic valve 2-3 respectively controls the air input in the piston in a feedback manner, and the piston telescopic rod 3-4 is applied with pressure through air pressure to enable the piston telescopic rod 3-4 to be attracted with the ring type electromagnet 3-11.
The fifth concrete implementation mode: the present embodiment will be described with reference to fig. 1 to 4, and the hollow faucet 3 to 14 according to the present embodiment is provided with a force sensor 3 to 16. Other components and connection modes are the same as those of the fourth embodiment.
In the embodiment, a hollow cock 3-14 is connected with a force sensor 3-16 for transmitting a stress signal, the stress condition of each bearing rod 3 can be monitored and transmitted, and the other end of the force sensor 3-16 is connected with a spherical hinge 4 through a spherical hinge connecting rod 3-17 so as to be connected with an actuator moving platform 1.
The sixth specific implementation mode: the embodiment is described with reference to fig. 4, the inner side wall of the piston cylinder 3-8 in the embodiment is provided with a piston bushing 3-10, and the other end of the piston telescopic rod 3-4 is connected with the piston bushing 3-10 in a sliding manner. Other compositions and connecting modes are the same as those of the first embodiment, the second embodiment, the third embodiment or the fifth embodiment.
In the embodiment, a piston bushing 3-10 is arranged in the piston cylinder 3-8, and the piston telescopic rod 3-4 can slide relatively in the piston bushing 3-10.
The seventh embodiment: the present embodiment will be described with reference to fig. 1 to 2, and the actuator moving platform 1 of the present embodiment is provided with gyroscopes 1 to 3. Other components and connection modes are the same as those of the sixth embodiment.
The gyroscope 1-3 is arranged on the actuator moving platform 1, and the gyroscope 1-3 can monitor the vector direction of the bearing object in real time along with the change of the motion state of the actuator moving platform 1.
The specific implementation mode is eight: the embodiment is described with reference to fig. 1 to 4, one end of a piston telescopic rod 3-4 in the embodiment is provided with a lower spring tray 3-3, the lower spring tray 3-3 is fixedly connected with the end face of a telescopic disc 3-2, the bottom end of a piston cylinder 3-8 is sequentially screwed with a screwing nut 3-9 and an upper spring tray 3-13 from outside to inside, and a compression spring 3-7 is clamped between the lower spring tray 3-3 and the upper spring tray 3-13. Other components and connecting modes are the same as those of the first embodiment, the second embodiment, the third embodiment, the fifth embodiment or the seventh embodiment.
The compression spring 3-7 is clamped between the upper spring tray 3-12 and the lower spring tray, is integrally sleeved outside the piston cylinder 3-8, is pre-tightened through threaded connection of the upper spring tray 3-13 and the piston cylinder 3-8, and the screwing nut 3-9 is installed on the upper spring tray 3-13 in a matched mode and works together with the screwing nut to adjust the compression amount of the compression spring 3-7, so that a double-nut pre-tightening structure is achieved.
The specific implementation method nine: the embodiment is described with reference to fig. 4, the inner side end surface of the lower spring tray 3-3 of the embodiment is provided with a fastening nut 3-6, the fastening nut 3-6 is screwed on the telescopic piston rod 3-4, and a connecting gasket 3-5 is arranged between the fastening nut 3-6 and the lower spring tray 3-3. The other components and the connection mode are the same as those of the eighth embodiment. The design is convenient for realizing the definition of the position of the tray 3-3 under the spring.
The specific implementation mode is ten: the embodiment is described by combining fig. 1 to fig. 2, in the embodiment, the actuator moving platform 1 comprises an upper platform flange 1-1 and a plurality of ball hinge direction-adjusting seats 1-2, the plurality of ball hinge direction-adjusting seats 1-2 are uniformly and fixedly connected to the inner side end surface of the upper platform flange 1-1, a ball hinge 4 is rotatably connected with the ball hinge direction-adjusting seats 1-2, the actuator static platform 2 comprises a lower platform flange 2-1 and a plurality of hooke hinge direction-adjusting seats 2-2, the plurality of hooke hinge direction-adjusting seats 2-2 are uniformly and fixedly connected to the inner side end surface of the lower platform flange 2-1, and a hooke hinge 5 is rotatably connected with the hooke hinge direction-adjusting seats 2-2. Other components and connection modes are the same as those of the first embodiment, the second embodiment, the third embodiment, the fifth embodiment, the seventh embodiment or the ninth embodiment.
In the embodiment, the number of the actuator mechanisms is six, the six actuator mechanisms are divided into three groups, each group comprises two actuator mechanisms, the shapes of the upper platform flange plate 1-1 and the lower platform flange plate 2-1 are both triangular, the upper platform flange plate 1-1 and the lower platform flange plate 2-1 are oppositely arranged, the vertex angles of the upper platform flange plate 1-1 and the lower platform flange plate 2-1 are mutually staggered, namely, the upper platform flange plate 1-1 is provided with a first vertex angle, a second vertex angle and a third vertex angle, the lower platform flange plate 2-1 is provided with a fourth vertex angle, a fifth vertex angle and a sixth vertex angle, the first vertex angle is correspondingly arranged between the fourth vertex angle and the fifth vertex angle, the second vertex angle is correspondingly arranged between the fifth vertex angle and the sixth vertex angle, the third vertex angle is correspondingly arranged between the sixth vertex angle and the fourth vertex angle, the number of the plurality of ball hinge direction-adjusting seats 1-2 and the number of the plurality of hook hinge direction-adjusting seats 2-2 are six, each vertex angle of the upper platform flange plate 1-1 is respectively provided with two ball hinge direction-adjusting seats 1-2, each vertex angle of the lower platform flange plate 2-1 is respectively provided with two hook hinge direction-adjusting seats 2-2, in the first group of actuator mechanisms, the ball hinges 4 of the two actuator mechanisms are respectively connected with the two ball hinge direction-adjusting seats 1-2 in the first vertex angle of the upper platform flange plate 1-1, the hook hinges 5 of the two actuator mechanisms are respectively connected with the adjacent two hook hinge direction-adjusting seats 2-2 in the fourth vertex angle and the fifth vertex angle of the lower platform flange plate 2-1, in the second group of actuator mechanisms, the ball hinges 4 of the two actuator mechanisms are respectively connected with the two ball hinge direction-adjusting seats 1-2 in the second vertex angle of the upper platform flange plate 1-1, the Hooke hinges 5 of the two actuator mechanisms are respectively connected with two adjacent Hooke hinge direction adjusting seats 2-2 in a fifth vertex angle and a sixth vertex angle of the lower platform flange plate 2-1, in the third group of actuator mechanisms, the ball hinges 4 of the two actuator mechanisms are respectively connected with two ball hinge direction adjusting seats 1-2 in a third vertex angle of the upper platform flange plate 1-1, and the Hooke hinges 5 of the two actuator mechanisms are respectively connected with two adjacent Hooke hinge direction adjusting seats 2-2 in the sixth vertex angle and the fourth vertex angle of the lower platform flange plate 2-1. The ball hinge is adjusted to the seat 1-2, and the direction of the ball hinge 4 can be adjusted, so that the movement range of the ball hinge 4 is just in the bearing movement range of the actuator.
Examples
The maximum outer diameter of the actuator movable platform 1 is 170mm, the maximum outer diameter of the actuator static platform 2 is 280mm, and the telescopic stroke of the actuator bearing rod 3 is 30 mm. During normal operation, the self-adjusting anti-collision actuator needs to be connected correctly: the actuator moving platform 1 is connected with an end tool, and the actuator static platform 2 is connected with a universal mechanical arm.
A preparation stage: hollow ring type electromagnets 3-11 in the six actuator bearing rods 3 are in an electrified state and adsorb the piston compression rods 3-4, and the whole bearing parallel actuator is in a rigid state. The compression springs 3-7 are adjusted to the appropriate amount of compression by tightening nuts 3-6 and spring upper trays 3-13. The gravity vector of the end tool is acquired by the gyroscope 1-3 and the force sensors 3-16 on the actuator carrier bar 3. The force sensors 3-16 on the six actuator bearing rods 3 are enabled to be zero through computer analysis and reasonable calculation compensation of kinematic inverse solution.
The working stage is as follows: the mechanical arm carries the parallel actuators capable of being carried and the end tool to work simultaneously, and with the continuous change of the swing direction of the end tool, the computer can reasonably calculate and compensate according to the positioning of the gyroscopes 1 to 3, so that the data of the force sensors 3 to 16 on the six actuator bearing rods 3 are always zero.
Sudden collision: when the end tool works, the end tool encounters an obstacle and cannot be identified, and the end tool collides with the obstacle. The data of the force sensors 3-16 on the six actuator bearing rods 3 are suddenly changed, the computer collects sudden change signals and sends signals to the ring-type electromagnets 3-11 on the six actuator bearing rods 3, and at the moment, the electromagnets are powered off, so that the parallel actuators can be in a loose flexible state. The parallel actuator carries an end tool to flexibly adjust the collided obstacles. Avoiding mechanical damage to the end tool. The reaction time of this sudden collision needs only 20ms to be conducted via the electrical signal.
When the crisis is relieved, the six-branch gas circuit electromagnetic valve 2-3 ventilates the piston cylinder 3-8, compresses the piston telescopic rod 3-4 to enable the piston telescopic rod to be adsorbed with the ring type electromagnet 3-11, and restores the working state.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (2)
1. A compact structure's self-interacting anticollision can bear parallelly connected executor which characterized in that: the self-adjusting anti-collision bearable parallel actuator with a compact structure comprises an actuator moving platform (1), an actuator static platform (2) and a plurality of actuator mechanisms, wherein the actuator moving platform (1) and the actuator static platform (2) are oppositely arranged, the actuator mechanisms are uniformly distributed between the actuator moving platform (1) and the actuator static platform (2), each actuator mechanism comprises an actuator bearing rod (3), a ball hinge (4) and a Hooke hinge (5), one end of each actuator bearing rod (3) is connected with the inner side end face of the actuator moving platform (1) through the ball hinge (4), the other end of each actuator bearing rod (3) is connected with the inner side end face of the actuator static platform (2) through the Hooke hinge (5),
the actuator bearing rod (3) comprises a Hooke hinge connecting rod (3-1), a telescopic disc (3-2), a piston telescopic rod (3-4), a compression spring (3-7), a piston cylinder (3-8) and a ball hinge connecting rod (3-17), one end of the Hooke hinge connecting rod (3-1) is rotatably connected with a Hooke hinge (5), the other end of the Hooke hinge connecting rod (3-1) is connected with one end of the piston telescopic rod (3-4) through the telescopic disc (3-2), the other end of the piston telescopic rod (3-4) is inserted into the piston cylinder (3-8), the compression spring (3-7) is sleeved outside the piston telescopic rod (3-4) and the piston cylinder (3-8), the outside of the piston cylinder (3-8) is connected with one end of the ball hinge connecting rod (3-17), the other ends of the ball hinge connecting rods (3-17) are rotatably connected with the ball hinge (4);
the actuator bearing rod (3) further comprises a hollow cock (3-14) and a gas circuit quick-change connector (3-15), one end of the hollow cock (3-14) is communicated with the cylinder bottom of the piston cylinder (3-8), and the other end of the hollow cock (3-14) is connected with the gas circuit quick-change connector (3-15);
a hollow ring-type electromagnet (3-11) is arranged at the cylinder opening of the piston cylinder (3-8), a piston telescopic rod (3-4) is inserted in the middle of the ring-type electromagnet (3-11), a piston cylinder screw cover (3-12) is arranged outside the ring-type electromagnet (3-11), and the piston cylinder screw cover (3-12) is arranged at the cylinder opening of the piston cylinder (3-8);
six-branch gas circuit electromagnetic valves (2-3) are arranged in the middle of the actuator static platform (2), and each gas circuit quick-change connector (3-15) is connected with one branch of each six-branch gas circuit electromagnetic valve (2-3);
the hollow cock (3-14) is provided with a force sensor (3-16);
the inner side wall of the piston cylinder (3-8) is provided with a piston bushing (3-10), and the other end of the piston telescopic rod (3-4) is connected with the piston bushing (3-10) in a sliding manner;
a gyroscope (1-3) is arranged on the actuator moving platform (1);
one end of the piston telescopic rod (3-4) is provided with a lower spring tray (3-3), the lower spring tray (3-3) is fixedly connected with the end face of the telescopic disc (3-2), the bottom end of the piston cylinder (3-8) is sequentially screwed with a screwing nut (3-9) and an upper spring tray (3-13) from outside to inside, and the compression spring (3-7) is clamped between the lower spring tray (3-3) and the upper spring tray (3-13);
a fastening nut (3-6) is arranged on the end face of the inner side of the lower spring tray (3-3), the fastening nut (3-6) is screwed on the piston telescopic rod (3-4), and a connecting gasket (3-5) is arranged between the fastening nut (3-6) and the lower spring tray (3-3);
the self-adjusting anti-collision mode with compact structure and capable of bearing parallel actuators comprises the following steps:
a preparation stage: hollow ring-type electromagnets (3-11) in the six actuator bearing rods (3) are in an electrified state and adsorb piston compression rods (3-4), the whole bearing parallel actuator is in a rigid state, compression springs (3-7) are adjusted to a proper compression amount through tightening nuts (3-6) and upper spring trays (3-13), gravity vectors of end tools are collected through gyroscopes (1-3) and force sensors (3-16) on the actuator bearing rods (3), and data of the force sensors (3-16) on the six actuator bearing rods (3) are zero through computer analysis and reasonable operation compensation of kinematic inverse solution;
the working stage is as follows: the mechanical arm carries the bearing parallel actuators and the end tool to work simultaneously, and along with the continuous change of the swing position of the end tool, the computer can reasonably calculate and compensate according to the positioning of the gyroscopes (1-3) to enable the data of the force sensors (3-16) on the six actuator bearing rods (3) to be zero all the time;
sudden collision: when the tail end tool works, the tail end tool cannot be identified when meeting an obstacle and collides with the obstacle, data of force sensors (3-16) on six actuator bearing rods (3) suddenly change, a computer collects sudden change signals and sends signals to ring type electromagnets (3-11) on the six actuator bearing rods (3), and at the moment, the electromagnets are powered off and can bear parallel actuators and be in a loose flexible state.
2. The compact, self-adjusting collision avoidance loadable parallel actuator of claim 1 wherein: the actuator moving platform (1) comprises an upper platform flange plate (1-1) and a plurality of ball hinge direction-adjusting seats (1-2), the ball hinge direction-adjusting seats (1-2) are uniformly and fixedly connected to the inner side end face of the upper platform flange plate (1-1), a ball hinge (4) is rotatably connected with the ball hinge direction-adjusting seats (1-2), the actuator static platform (2) comprises a lower platform flange plate (2-1) and a plurality of hook hinge direction-adjusting seats (2-2), the hook hinge direction-adjusting seats (2-2) are uniformly and fixedly connected to the inner side end face of the lower platform flange plate (2-1), and the hook hinge (5) is rotatably connected with the hook hinge direction-adjusting seats (2-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911047348.5A CN110744525B (en) | 2019-10-30 | 2019-10-30 | Self-adjusting anti-collision bearable parallel actuator with compact structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911047348.5A CN110744525B (en) | 2019-10-30 | 2019-10-30 | Self-adjusting anti-collision bearable parallel actuator with compact structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110744525A CN110744525A (en) | 2020-02-04 |
| CN110744525B true CN110744525B (en) | 2022-06-24 |
Family
ID=69281300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911047348.5A Active CN110744525B (en) | 2019-10-30 | 2019-10-30 | Self-adjusting anti-collision bearable parallel actuator with compact structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110744525B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112847417B (en) * | 2020-12-31 | 2022-07-29 | 洛阳尚奇机器人科技有限公司 | Mechanical arm tail end execution device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2233383A1 (en) * | 1997-03-28 | 1998-09-28 | Homayoon Kazerooni | Pneumatic human power amplifier module |
| CN2488777Y (en) * | 2001-07-31 | 2002-05-01 | 张庆光 | Automatic brake device for car collision accident |
| CN101428420A (en) * | 2008-12-17 | 2009-05-13 | 哈尔滨工业大学 | Ultra-redundancy all-directional movable operating arm |
| CN201573210U (en) * | 2009-08-06 | 2010-09-08 | 汕头大学 | Three-rotational freedom parallel robot with active telescopic link |
| CN102962848A (en) * | 2012-11-14 | 2013-03-13 | 北京航空航天大学 | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot |
| CN204774669U (en) * | 2015-07-20 | 2015-11-18 | 朱荣根 | Throttle brake equipment |
| CN105796296A (en) * | 2016-05-18 | 2016-07-27 | 虞田乐 | Intelligent armpit massage device based on Stewart parallel mechanisms |
| CN109434535A (en) * | 2018-11-28 | 2019-03-08 | 苏州市职业大学 | Electromagnetic piston type tool changing device |
| CN209335651U (en) * | 2018-11-12 | 2019-09-03 | 库曼机器人(武汉)有限公司 | A kind of power-off protector |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101539084B (en) * | 2009-03-20 | 2010-12-29 | 天津大学 | Common rail electronic control jet apparatus |
| CN107527973B (en) * | 2017-08-16 | 2019-05-28 | 深圳市华星光电技术有限公司 | Transfer device and micro-led transfer method |
-
2019
- 2019-10-30 CN CN201911047348.5A patent/CN110744525B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2233383A1 (en) * | 1997-03-28 | 1998-09-28 | Homayoon Kazerooni | Pneumatic human power amplifier module |
| CN2488777Y (en) * | 2001-07-31 | 2002-05-01 | 张庆光 | Automatic brake device for car collision accident |
| CN101428420A (en) * | 2008-12-17 | 2009-05-13 | 哈尔滨工业大学 | Ultra-redundancy all-directional movable operating arm |
| CN201573210U (en) * | 2009-08-06 | 2010-09-08 | 汕头大学 | Three-rotational freedom parallel robot with active telescopic link |
| CN102962848A (en) * | 2012-11-14 | 2013-03-13 | 北京航空航天大学 | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot |
| CN204774669U (en) * | 2015-07-20 | 2015-11-18 | 朱荣根 | Throttle brake equipment |
| CN105796296A (en) * | 2016-05-18 | 2016-07-27 | 虞田乐 | Intelligent armpit massage device based on Stewart parallel mechanisms |
| CN209335651U (en) * | 2018-11-12 | 2019-09-03 | 库曼机器人(武汉)有限公司 | A kind of power-off protector |
| CN109434535A (en) * | 2018-11-28 | 2019-03-08 | 苏州市职业大学 | Electromagnetic piston type tool changing device |
Non-Patent Citations (2)
| Title |
|---|
| 冶金机器人重载回转附加轴的设计与分析研究;冯冰;《冶金机器人重载回转附加轴的设计与分析研究》;哈尔滨商业大学学报(自然科学版);20190415;第35卷(第2期);第204-213页 * |
| 多足步行机器人液压控制系统研究现状与发展趋势;翟硕;《多足步行机器人液压控制系统研究现状与发展趋势》;机器人;20180611;第40卷(第6期);第959-968页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110744525A (en) | 2020-02-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9737985B2 (en) | Parallel link robot connected by ball joints | |
| US9840011B2 (en) | Parallel robot | |
| US8601897B2 (en) | Force limiting device and method | |
| CN106514703B (en) | Spoke type flexible mechanical arm based on rope driving | |
| CN110744525B (en) | Self-adjusting anti-collision bearable parallel actuator with compact structure | |
| US20120103128A1 (en) | Parallel robot | |
| CN107283405B (en) | Mechanical arm | |
| CN105196305B (en) | Robot flexible flange and robot | |
| CN109605333B (en) | Spring and rope hybrid drive branched chain and three-rotational-freedom parallel robot | |
| CN101543997B (en) | Joint driving device of flexible manipulator and flexible manipulator thereof | |
| CN103958133B (en) | Shock resistance structure | |
| GB2454721A (en) | Controlling the translation and orientation of a moveable platform with six-degrees-of--freedom | |
| CN104596363B (en) | Carrier rocket connector system space articulation error compensation mechanism | |
| CN103934825A (en) | Horizontal joint robot | |
| KR20150085056A (en) | Hexapod system | |
| CN110065058A (en) | A kind of imitative trunk flexible mechanical arm | |
| WO2022003339A1 (en) | Manipulator module | |
| CN100460164C (en) | Safety type rigidity variable mechanical joint | |
| CN103692452B (en) | Brake device and control method for multi-degree-of-freedom mechanical arm | |
| CN107102657B (en) | Active flexible force control equipment | |
| WO2021105932A1 (en) | Mooring robot | |
| CN107901029A (en) | Six axis parallel institutions and robot | |
| CN208496978U (en) | Six axis parallel institutions and robot | |
| KR102051511B1 (en) | Stewart platform-based automatic radome polishing grinding system | |
| Kim et al. | Multi-DOF counterbalance mechanism for low-cost, safe and easy-usable robot arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |