CN1397414A - Three-freedom parallel mechanism driven by flexible rope - Google Patents
Three-freedom parallel mechanism driven by flexible rope Download PDFInfo
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- CN1397414A CN1397414A CN 01127939 CN01127939A CN1397414A CN 1397414 A CN1397414 A CN 1397414A CN 01127939 CN01127939 CN 01127939 CN 01127939 A CN01127939 A CN 01127939A CN 1397414 A CN1397414 A CN 1397414A
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- steel wire
- wire rope
- motion platform
- reel
- parallel mechanism
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Abstract
A flexible cable driven three-freedom parallel mechanism is composed of three drive units and moving platform. The said driven unit comprises base, reel installed along with motor and vertical column. The steel wire cable wound on the said reel passes through lower static pulley, counterweight and upper static pulley and then fixed to the moving platform. The steel wire cables for threed drive units are all fixed to the moving platform to form a triangle. Its advantages are big working space and high stressing performance and speed.
Description
Technical field
The present invention relates to parallel robot mechanism, specifically a kind of three-freedom parallel mechanism driven by flexible rope.
Technical background
In existing parallel robot mechanism, major part all adopts rigid member as transmission mechanism, and its component quality and rotary inertia are bigger, are difficult to realize high-speed motion.In addition, because the joint slewing area is less, its working space and range of movement are limited.
Summary of the invention
For overcoming the deficiency of rigid member parallel institution, make the lower-mobility parallel institution can satisfy application requirements widely, the purpose of this invention is to provide a kind of three-freedom parallel mechanism driven by flexible rope that working space is big, mechanical characteristic good, movement velocity is fast, can realize bidimensional rotation and one-dimensional translation that has.
Technical scheme of the present invention is: it is made up of three groups of driver elements and motion platform, wherein: each driver element comprise support, with together reel of motor mounting, column etc., steel wire rope twines on the reel, link to each other with the balancing weight bottom through down-place static pulley then, draw from balancing weight top, walk around upper static pulley again and be connected in motion platform; The steel wire rope that three groups of driver elements are drawn all is connected with motion platform, forms triangle;
Load clamp is equipped with in the junction that the steel wire rope that described three groups of driver elements are drawn is connected with motion platform, and the thimble on shackle and the steel wire rope is linked together.
The present invention has following advantage:
1. working space is big.In the application process of the present invention, the height by increasing column and the rope of steel wire rope are long, can realize bigger vertical direction displacement and bigger pitching, roll angle, and required expense is lower.When adopting rigid member,, then need increase the length of guide rail, leading screw or the stroke of increase oil cylinder, cause complex structure, and expense be big if seek out bigger vertical direction displacement as transmission mechanism.
2. movement velocity is fast.Because the present invention adopts gentle rope to drive, and has reduced quality, the rotary inertia of transmission mechanism widely, system can realize bigger acceleration, thereby, improved the movement velocity of system.
3. system power dissipation is low, simple in structure.Among the present invention, adopt three assembly pouring weights, reduced the driving power of motor, low cost of manufacture with deadweight of balance exercise platform and load.
4. mechanical characteristic is good, applied range.The present invention also has three and derives from motion except that having pitching (Pitch), roll (Roll) and moving in the vertical direction the three degree of freedom, promptly along X, Y to moving, rotate around the Z axle.Because the present invention has adopted gentle rope to drive, gravitational equilibrium, X, that the Y direction derives from displacement is bigger.According to the characteristics of platform motion, the present invention can simulate the multiple compound movement of naval vessel, aircraft and various vehicles, is specially adapted to make the Ship Motion analog platform, in addition, also can be used for making recreation, amusement equipment.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is another embodiment of the present invention structural representation.
Fig. 3 is a coordinate system schematic diagram of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
Embodiment 1
As shown in Figure 1, parallel institution of the present invention, form by three groups of driver elements and motion platform 8, wherein: each driver element comprise support 1, with motor mounting reel 2, column 5, balancing weight 6, upper and lower fixed pulley 7,3 and the steel wire rope 4 put together, column 5 vertical fixing are on support 1, and a fixed pulley is respectively arranged at its top and bottom, and steel wire rope 4 twines and has thereon on the spiral fluted reel 2, when reel 2 forward and reverse revolutions, can be involved in or emit steel wire rope 4; The steel wire rope 4 of being drawn by reel 2 places links to each other with balancing weight 6 bottoms through down-place static pulley 3, and the steel wire rope 4 of drawing from balancing weight 6 tops is walked around upper static pulley 7 and is connected in motion platform 8; The steel wire rope 4 that three groups of driver elements are drawn all is connected with motion platform 8, and the position of tie point becomes isosceles triangle, on the motion platform 8 at each tie point place load clamp is housed, and the thimble on shackle and the steel wire rope is linked together; Entire mechanism has three degree of freedom, by three motor-driven, adopts frequency converter to carry out frequency control.
Operation principle of the present invention is: motor produces gyration, drives the forward and reverse revolution of reel, is involved in or emits steel wire rope.When being involved in steel wire rope 4, balancing weight 6 moves down, and moves on the motion platform 8, and positive work is done in the motor-driven load; Otherwise, when emitting steel wire rope 4, moving on the balancing weight 6, motion platform 8 moves down, and load oppositely drives motor as driving force, and motor produces the moment of resistance and prevents that the load gliding speed is excessive.By the length that three groups of driver elements are regulated three steel wire ropes 4, motion platform 8 can be realized pitching (Pitch), rolls (Roll) and move in the vertical direction.
Present embodiment can be used as the Ship Motion simulator, is used for naval warfare combating vertigo training, because this mechanism is except that having pitching, roll and move in the vertical direction the three degree of freedom, X, Y are bigger to deriving from displacement, thereby, can simulate the motion on naval vessel more exactly.This simulator can be simulated the characteristics of motion on naval vessel under the different stage wave, its amplitude and frequency adjustable joint.
The triangle that motion platform 8 of the present invention forms can be arbitrary triangle.
Embodiment 2
As shown in Figure 2, difference from Example 1 of the present invention is: be fixed in eminence with motor mounting reel 2 together, six fixed pulleys have been saved, twine 5 steel wire ropes 4 on the reel 2 side by side, steel wire rope 4 one ends link to each other with motion platform 8, the other end links to each other with balancing weight 6, utilizes frictional force transmission campaign and power between reel 2 and the steel wire rope 4, and its drive principle is similar to elevator; Utilize three groups of driver elements to regulate three length of steel wire rope, motion platform 8 can be realized pitching, rolls and move in the vertical direction.
It is equilateral triangle that the described motion platform 8 of present embodiment forms triangle.
Claims (4)
1. three-freedom parallel mechanism driven by flexible rope, it is characterized in that: form by three groups of driver elements and motion platform (8), wherein: each driver element comprises support (1), with motor mounting reel (2) together, column (5), balancing weight (6), on, down-place static pulley (7,3) and steel wire rope (4), column (5) vertical fixing is on support (1), a fixed pulley is respectively arranged at its top and bottom, described steel wire rope (4) is walked around down-place static pulley (3) by reel (2) and is linked to each other with balancing weight (6) bottom, and the steel wire rope of drawing from balancing weight (6) top is walked around upper static pulley (7) and is connected in motion platform (8); The steel wire rope (4) that three groups of driver elements are drawn all is connected with motion platform (8), forms triangle.
2. according to the described three-freedom parallel mechanism driven by flexible rope of claim 1, it is characterized in that: be fixed in eminence with motor mounting reel (2) together, six fixed pulleys have been saved, twine many steel wire ropes (4) on the reel (2) side by side, steel wire rope (4) one ends link to each other with motion platform (8), and the other end links to each other with balancing weight (6).
3. according to the described three-freedom parallel mechanism driven by flexible rope of claim 2, it is characterized in that: described steel wire rope (4) is 5～10.
4. according to claim 1 or 2 described three-freedom parallel mechanism driven by flexible rope, it is characterized in that: the steel wire rope (4) that three groups of driver elements are drawn is equipped with load clamp with the junction that motion platform (8) is connected, and the thimble on shackle and the steel wire rope is linked together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01127939 CN1250374C (en) | 2001-07-16 | 2001-07-16 | Three-freedom parallel mechanism driven by flexible rope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01127939 CN1250374C (en) | 2001-07-16 | 2001-07-16 | Three-freedom parallel mechanism driven by flexible rope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1397414A true CN1397414A (en) | 2003-02-19 |
| CN1250374C CN1250374C (en) | 2006-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01127939 Expired - Fee Related CN1250374C (en) | 2001-07-16 | 2001-07-16 | Three-freedom parallel mechanism driven by flexible rope |
Country Status (1)
| Country | Link |
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| CN (1) | CN1250374C (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100366400C (en) * | 2005-06-21 | 2008-02-06 | 南京航空航天大学 | Flexible rope driven three and four degree of freedom decoupling parallel mechanism |
| CN101372036B (en) * | 2007-08-22 | 2010-05-19 | 中国科学院沈阳自动化研究所 | Novel pouring robot connected in parallel |
| CN101260904B (en) * | 2008-04-23 | 2010-06-02 | 中国科学院国家天文台南京天文光学技术研究所 | Ball hinge device based on flexible member |
| CN101858483A (en) * | 2010-04-26 | 2010-10-13 | 飞猫影视技术(北京)有限公司 | Three-dimensional ropeway system |
| CN101745916B (en) * | 2009-12-16 | 2011-06-01 | 电子科技大学 | Parallel robot device with functions of fault tolerance and fault correction and fault tolerating and correcting method thereof |
| CN102612423A (en) * | 2009-11-12 | 2012-07-25 | 株式会社安川电机 | Robot and control device for same |
| CN102602859A (en) * | 2012-03-28 | 2012-07-25 | 厦门大学 | Wire-traction wall lifting and carrying combining mechanism |
| CN102829970A (en) * | 2012-08-31 | 2012-12-19 | 江苏祥源电气设备有限公司 | Tension tester for hardware locking pin of composite insulator |
| CN103240737A (en) * | 2013-05-08 | 2013-08-14 | 中国矿业大学 | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism |
| CN103375662A (en) * | 2012-04-28 | 2013-10-30 | 刘建新 | Three-dimensional suspension movement control suspension system for high-altitude shooting and movably shooting method thereof |
| CN103711300A (en) * | 2013-12-20 | 2014-04-09 | 西安电子科技大学 | Cable-traction parallel-connection horizontal-movement scaffold platform device |
| CN103831819A (en) * | 2014-03-12 | 2014-06-04 | 合肥工业大学 | Modularized reconstructible soft rope parallel mechanism experiment platform |
| CN103846649A (en) * | 2014-03-20 | 2014-06-11 | 清华大学 | Two-stage parallel robot device applied to precision assembly |
| CN104440870A (en) * | 2014-10-23 | 2015-03-25 | 合肥工业大学 | Variable structure parameter flexible rope parallel connection robot system and control method |
| CN105171741A (en) * | 2015-10-26 | 2015-12-23 | 清华大学 | Planar two-degree-of-freedom super-span cable parallel robot structure |
| CN105364911A (en) * | 2015-11-23 | 2016-03-02 | 清华大学 | Top-supported type over-span space robot with four ropes |
| CN106078674A (en) * | 2016-03-25 | 2016-11-09 | 合肥工业大学 | A kind of modularity flexible cable parallel mechanism experiment porch and via Self-reconfiguration Method thereof |
| CN106120529A (en) * | 2016-08-22 | 2016-11-16 | 清华大学 | A kind of large-span multifunctional robotization engineering construction equipment |
| CN104236491B (en) * | 2014-06-27 | 2017-03-22 | 华东交通大学 | Four-rope traction three-freedom-degree intelligent measurement robot |
| CN110815170A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Heavy-load hoisting robot based on parallel flexible cable mechanism |
| CN110815178A (en) * | 2019-10-29 | 2020-02-21 | 汕头大学 | Rope-driven robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101659059B (en) * | 2009-09-25 | 2011-05-18 | 深圳职业技术学院 | Three-translating and one-rotating parallel robot mechanism |
-
2001
- 2001-07-16 CN CN 01127939 patent/CN1250374C/en not_active Expired - Fee Related
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100366400C (en) * | 2005-06-21 | 2008-02-06 | 南京航空航天大学 | Flexible rope driven three and four degree of freedom decoupling parallel mechanism |
| CN101372036B (en) * | 2007-08-22 | 2010-05-19 | 中国科学院沈阳自动化研究所 | Novel pouring robot connected in parallel |
| CN101260904B (en) * | 2008-04-23 | 2010-06-02 | 中国科学院国家天文台南京天文光学技术研究所 | Ball hinge device based on flexible member |
| CN102612423B (en) * | 2009-11-12 | 2014-09-03 | 株式会社安川电机 | Robot and control device for same |
| CN102612423A (en) * | 2009-11-12 | 2012-07-25 | 株式会社安川电机 | Robot and control device for same |
| CN101745916B (en) * | 2009-12-16 | 2011-06-01 | 电子科技大学 | Parallel robot device with functions of fault tolerance and fault correction and fault tolerating and correcting method thereof |
| CN101858483A (en) * | 2010-04-26 | 2010-10-13 | 飞猫影视技术(北京)有限公司 | Three-dimensional ropeway system |
| CN102602859A (en) * | 2012-03-28 | 2012-07-25 | 厦门大学 | Wire-traction wall lifting and carrying combining mechanism |
| CN102602859B (en) * | 2012-03-28 | 2015-01-21 | 厦门大学 | Wire-traction wall lifting and carrying combining mechanism |
| CN103375662A (en) * | 2012-04-28 | 2013-10-30 | 刘建新 | Three-dimensional suspension movement control suspension system for high-altitude shooting and movably shooting method thereof |
| CN102829970A (en) * | 2012-08-31 | 2012-12-19 | 江苏祥源电气设备有限公司 | Tension tester for hardware locking pin of composite insulator |
| CN102829970B (en) * | 2012-08-31 | 2015-11-11 | 江苏祥源电气设备有限公司 | Composite insulator hardware locking pin tension tester |
| CN103240737A (en) * | 2013-05-08 | 2013-08-14 | 中国矿业大学 | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism |
| CN103240737B (en) * | 2013-05-08 | 2015-02-04 | 中国矿业大学 | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism |
| CN103711300B (en) * | 2013-12-20 | 2016-06-08 | 西安电子科技大学 | A kind of rope traction parallel translational landing stage of scaffold device |
| CN103711300A (en) * | 2013-12-20 | 2014-04-09 | 西安电子科技大学 | Cable-traction parallel-connection horizontal-movement scaffold platform device |
| CN103831819B (en) * | 2014-03-12 | 2015-11-18 | 合肥工业大学 | A kind of modular reconfigurable flexible cable parallel mechanism experiment porch |
| CN103831819A (en) * | 2014-03-12 | 2014-06-04 | 合肥工业大学 | Modularized reconstructible soft rope parallel mechanism experiment platform |
| CN103846649A (en) * | 2014-03-20 | 2014-06-11 | 清华大学 | Two-stage parallel robot device applied to precision assembly |
| CN104236491B (en) * | 2014-06-27 | 2017-03-22 | 华东交通大学 | Four-rope traction three-freedom-degree intelligent measurement robot |
| CN104440870A (en) * | 2014-10-23 | 2015-03-25 | 合肥工业大学 | Variable structure parameter flexible rope parallel connection robot system and control method |
| CN105171741A (en) * | 2015-10-26 | 2015-12-23 | 清华大学 | Planar two-degree-of-freedom super-span cable parallel robot structure |
| CN105364911A (en) * | 2015-11-23 | 2016-03-02 | 清华大学 | Top-supported type over-span space robot with four ropes |
| CN106078674A (en) * | 2016-03-25 | 2016-11-09 | 合肥工业大学 | A kind of modularity flexible cable parallel mechanism experiment porch and via Self-reconfiguration Method thereof |
| CN106078674B (en) * | 2016-03-25 | 2020-12-15 | 合肥工业大学 | Modular flexible cable parallel mechanism experiment platform and self-reconfiguration method thereof |
| CN106120529A (en) * | 2016-08-22 | 2016-11-16 | 清华大学 | A kind of large-span multifunctional robotization engineering construction equipment |
| CN106120529B (en) * | 2016-08-22 | 2018-04-10 | 清华大学 | A kind of large-span multifunctional robotization engineering construction equipment |
| CN110815170A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Heavy-load hoisting robot based on parallel flexible cable mechanism |
| CN110815178A (en) * | 2019-10-29 | 2020-02-21 | 汕头大学 | Rope-driven robot |
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|---|---|
| CN1250374C (en) | 2006-04-12 |
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