Summary of the invention:
The objective of the invention is to overcome above-mentioned weak point, parallel robot of the present invention adopts the artificial-muscle with compliance to drive, expand as muscular motivation in elastomeric bellow in artificial-muscle inflation back, the elastomeric bellow of inflation can crooked and certain distortion, and old friend worker's muscle has compliance.6-SPS parallel robot and improvement structure are the parallel robots with 4,5,6 frees degree, and parallel robot of the present invention is the parallel robot that only has 3 rotational freedoms.3-PTT parallel robot and improvement structure are the parallel robots with 4,5,6 frees degree, and parallel robot of the present invention is the parallel robot that only has 2 rotational freedoms.As the base component of flexible working head and special flexible clutch, employing has the artificial-muscle of compliance, and the elastomeric bellow of its sealing is as the air spring of adjustable chamber pressure, but the rigidity of Adjustment System, the vibration characteristics of change system, thus different buffering effects obtained.
Main solution of the present invention is achieved in that
The formation of artificial-muscle of the present invention is: vertical sectional shape is that the elastomeric bellow 3 of " V ", " U ", " Ω " shape (2 in accompanying drawing has provided " V " shape structure) is by on the bayonet socket that revolves chuck 2 and be clamped in headstock 1 and tailstock 4,3 screwed holes that ball pivot 14 is installed are all arranged, the enclosed cavity that elastomeric bellow 3, headstock 1 and tailstock 4 constitute on the end face of headstock 1 and tailstock 4; Fluid enters the artificial-muscle cavity by angle coupling 5, and 4 of angle coupling 5 and tailstocks have sealing ring 6 sealings; Constituted parts a---artificial-muscle 9 that independent fluid drives by above-mentioned part.
The example I of parallel robot of the present invention is: as shown in Figure 3, be similar to 6-SPS parallel robot structure, workbench 7 and base platform 10 are equilateral triangle, and three identical little equilateral triangles are excised at the place again at three angles, form the hexagon with three long limits, three minor faces; The minor face two ends of base platform 10 are connected with two artificial-muscles 9 by ball pivot 14 respectively, and the other end of two artificial-muscles 9 is connected with the two ends, long limit of workbench 7 by ball pivot 14 respectively, and this parallel robot has six artificial- muscles 9 and 12 ball pivots 14; Place, circumcenter at base platform 10 and workbench 7 vertically has been connected universal ball joint 8, forms the parallel robot with 3 rotational freedoms.
The example II of parallel robot of the present invention is: as shown in Figure 4, be similar to 3-PTT parallel robot structure, three poles 12 have been fixed on the cup dolly platform 13 with being symmetrically distributed, pole 12 is connected with artificial-muscle 9 by ball pivot 14 respectively, the other end of artificial-muscle 9 is connected with circular workbench 11 by ball pivot 14 respectively, and this parallel robot has three artificial-muscles 9 and six ball pivots 14; Circle centre position at cup dolly platform 13 and circular workbench 11 vertically has been connected universal ball joint 8; The axial line of the universal ball joint of the axial line of its symmetrical distribution artificial-muscle and centre forms the parallel robot with 2 rotational freedoms in same plane.
As shown in Figure 5, in example I and the example II, the structure of universal ball joint is identical with installation form; The structure of ball pivot 14 as shown in Figure 6.
It can be air pressure, hydraulic pressure, fluid power, liquid viscosity transmission and the compound driving of their series and parallel that the fluid of indication of the present invention drives.
Compared with the prior art the present invention has the following advantages:
Parallel robot of the present invention adopts the artificial-muscle with compliance to drive, and expands as muscular motivation in the elastomeric bellow inflation back in the artificial-muscle, and the elastomeric bellow of inflation can crooked and certain distortion, so have compliance; Structure is similar to the 6-SPS parallel robot, moving sets changes artificial-muscle into and drives, because the compliance of the elastomeric bellow of artificial-muscle, also the middle part between base platform and workbench has vertically connected universal ball joint, forms the parallel robot with 3 rotational freedoms.Structure is similar to the 3-PTT parallel robot, and the axial line of the universal ball joint of the axial line of its symmetrical distribution artificial-muscle and centre is in same plane, and moving sets changes artificial-muscle into and drives, and forms the parallel robot with 2 rotational freedoms.As the base component of flexible working head and special flexible clutch, employing has the artificial-muscle of compliance, and the elastomeric bellow of its sealing is as the air spring of adjustable chamber pressure, but the rigidity of Adjustment System, the vibration characteristics of change system, thus different buffering effects obtained.